Energy-saving two-finger translation electric clamping jaw

Abstract

The utility model discloses an energy-saving two-finger translation electric clamping jaw. The energy-saving two-finger translation electric clamping jaw comprises a driving motor, a driving controller, a gear box and a clamping jaw assembly, the gear box is provided with a gear linkage mechanism; the gear linkage mechanism comprises a first gear, a second gear, a third gear, a fourth gear and a fifth gear; and the second gear and the third gear form a stable assisting structure. The gear linkage mechanism is arranged to achieve the effect of superposition linkage and increase torque force, so that the driving motor guarantees the maximum clamping force through the minimum current, the clamping force and stability are guaranteed, and energy consumption is reduced; a stable assisting structure is formed by the second gear and the third gear, a fifth fluted disc and a sixth fluted disc which are arranged on the fifth gear are combined to be used for guaranteeing stable action of the fifth gear, the situation that vibration deviation occurs when the driving end of the driving motor drives the fifth gear to act is prevented, and clamping stability and the service life are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of automation applications, and particularly relates to an energy-saving two-finger parallel electric gripper. Background Technique

[0002] In the automation industry, mechanical grippers used for grasping actions are widely applied. Among them, pneumatic grippers are the most commonly used. However, pneumatic grippers have limitations such as high noise, inability to control the stroke and clamping force, and cannot be applied to some specific occasions.

[0003] Currently, there are some electric gripper products on the market. For example, grippers driven by electromagnets and springs cannot solve problems such as stroke and clamping force control like pneumatic grippers; there are also electric grippers that use motors to drive mechanisms such as lead screws and cams, but such products have complex structures, are too large in volume, and are too expensive in cost. The drive motor and the gripper mechanism are integrated in design, with poor interchangeability, and a drive controller product needs to be equipped, further increasing the use cost and space occupation. In response to the above problems, people have invented Patent No.: 202122425996.9, which discloses an electric gripper based on a motor, which consists of an integrated stepper motor, a driver arranged at the tail of the integrated stepper motor, a gripper mounting plate arranged on the integrated stepper motor, and a gripper assembly arranged on the gripper mounting plate. The beneficial effects of an electric gripper based on a motor of the utility model are as follows: 1. The mechanical grasping part of the electric gripper is made independent, and it can be installed on standard model motors with any corresponding base size without customizing the motor, and when it is necessary to change the gripper specifications, the original model motor can be directly reused and only the gripper needs to be replaced; 2. The gripper fingers are driven by a gear rack, the base is designed with a structure that directly uses the inner wall for micro-guide rail assembly and positioning, and the limit positions of the gripper fingers are limited. Its overall structure is compact, concise, and low in cost.

[0004] However, this electric gripper still has the following problems: 1. The existing electric gripper drives the gear through a stepper motor, and then directly drives the rack gripper fingers to act. The clamping force of this method is directly controlled by the output of the stepper motor. When a large clamping force is required, a large-power stepper motor needs to be used to ensure the clamping force. This method causes the overall volume and weight of the electric gripper to increase, affecting the application range of the electric gripper; and the existing electric gripper needs to continuously output current to maintain stability or drive, increasing the energy consumption of the electric gripper; 2. The existing electric gripper has no stable assistance function. Due to the distance between the gear and the driving end, vibration and deviation occur after long-term use, affecting the service life and stability of the electric gripper. Content of the Utility Model

[0005] The present utility model aims at the deficiencies of the current technology and provides an energy-saving two-finger translational electric gripper, aiming to solve the technical problems of high energy consumption, low clamping force and short service life of the electric gripper in the existing technology.

[0006] The technical solution adopted by the present utility model to achieve the above object is as follows:

[0007] An energy-saving two-finger translational electric gripper includes a driving motor, a driving controller, a gearbox and a gripper assembly; the driving controller is arranged at the bottom of the driving motor, the gearbox is arranged above the driving motor, and the gripper assembly is arranged above the gearbox; a gear linkage mechanism is arranged in the gearbox, and the driving motor drives the gripper assembly to act through the gear linkage mechanism; the driving controller is electrically connected to the driving motor; the driving controller is provided with an absolute position encoder and a temperature sensor; the driving motor, the driving controller, the gearbox and the gripper assembly are all connected and fixed by a threaded connection structure.

[0008] For further improvement, the gearbox is provided with a central through hole, two convex platforms and a plurality of positioning grooves. The central through hole is arranged at the top of the gearbox. The two convex platforms are arranged on the side plate below the central through hole in a mirror-image relative manner. The positioning grooves are respectively arranged at the central positions of the convex platforms and the bottom plate of the gearbox; one of the convex platforms is provided with a through hole, and the through hole is provided with a through port;

[0009] The gear linkage mechanism includes a first gear, a second gear, a third gear, a fourth gear and a fifth gear. The first gear is connected to the driving end of the driving motor. The second gear and the third gear are respectively arranged in the positioning grooves on the convex platforms in a mirror-image manner, and the second gear and the third gear form a stable assisting structure; the fourth gear is respectively arranged in the positioning groove on the bottom plate of the gearbox, and the fifth gear is arranged above the fourth gear; the first gear is connected to the fourth gear, the fourth gear is meshed and connected to the second gear, and the fifth gear is meshed and connected to both the second gear and the third gear.

[0010] For further improvement, the fourth gear includes a first tooth disc and a second tooth disc. The positioning groove on the bottom plate of the gearbox is provided with a positioning shaft. The first tooth disc and the second tooth disc are arranged at the center of the bottom of the gearbox through the positioning shaft. The second tooth disc is arranged above the first tooth disc, and the first tooth disc is meshed and connected to the first gear.

[0011] For further improvement, the second gear includes a third tooth disc and a fourth tooth disc. The fourth tooth disc is arranged above the third tooth disc, and the third tooth disc is meshed and connected to the second tooth disc.

[0012] For further improvement, the fifth gear is arranged above the second toothed disc through a positioning shaft; the fifth gear includes a fifth toothed disc, a sixth toothed disc and a seventh toothed disc, and the sixth toothed disc is arranged between the fifth toothed disc and the seventh toothed disc; the fifth toothed disc is meshed and connected with the fifth gear, and the sixth toothed disc is meshed and connected with the second toothed disc; the seventh toothed disc passes through a central through hole and is connected with the jaw assembly.

[0013] For further improvement, the jaw assembly includes a bin body, two groups of guide rod groups and two clamping blocks. The two groups of guide rod groups are arranged in the bin body in a mirror-image and opposite manner; the clamping blocks are respectively arranged on the guide rod groups in a mirror-image and misaligned manner, and the clamping blocks can move along the direction of the guide rod groups; the clamping blocks are respectively provided with racks, and the racks are all meshed and connected with the seventh toothed disc.

[0014] For further improvement, the number of teeth of the first gear is 10; the number of teeth of the first toothed disc is 28; the number of teeth of the second toothed disc is 9; the number of teeth of the third toothed disc is 30; the number of teeth of the fourth toothed disc is 12; the number of teeth of the third gear is 42; the number of teeth of the fifth toothed disc is 13; the number of teeth of the sixth toothed disc is 33; the number of teeth of the seventh toothed disc is 12.

[0015] For further improvement, the clamping blocks are respectively further provided with a plurality of threaded holes for installing clamping claws; the driving motor is a DC brushless motor; the outer wall of the bin body is provided with a plurality of threaded hole groups.

[0016] For further improvement, the driving controller is an in-built FOC algorithm driver; the driving controller is provided with an electrical connection joint.

[0017] Compared with the prior art, one or more of the above technical solutions in the novel multi-specification chassis provided by the embodiment of the present utility model at least have the following technical effects:

[0018] 1. The present utility model uses a gear linkage mechanism composed of a first gear, a second gear, a third gear, a fourth gear and a fifth gear to realize superimposed linkage for increasing the torque force, so that the driving motor can ensure the maximum clamping force with the minimum driving current, ensure the clamping force and stability, greatly reduce the energy consumption, and improve the reaction efficiency and speed of the energy-saving two-finger translational electric jaw; and when a larger clamping force needs to be output, there is no need to use a high-power driving motor, which greatly reduces the volume and weight while improving the application range of the energy-saving two-finger translational electric jaw;

[0019] 2. By forming a stable assistance structure by the second gear and the third gear, and combining the fifth toothed disc and the sixth toothed disc arranged on the fifth gear to ensure the stable movement of the fifth gear, preventing the driving end of the driving motor from vibrating and shifting when driving the fifth gear to move, while ensuring the clamping stability, greatly increasing the service life of each gear.

[0020] The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the accompanying drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the overall structure of the energy-saving two-finger translational electric gripper of this embodiment;

[0023] Figure 2 It is a top view schematic diagram of the energy-saving two-finger translational electric gripper of this embodiment;

[0024] Figure 3 is Figure 2 the sectional view taken along line A-A in

[0025] Figure 4 It is a connection schematic diagram of the gearbox and the drive motor of this embodiment. Specific Embodiments

[0026] The following is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited thereby.

[0027] Embodiment, referring to the attached Figures 1 to 4 , an energy-saving two-finger translational electric gripper 1 includes a drive motor 2, a drive controller 3, a gearbox 4 and a gripper assembly 5; the drive controller 3 is arranged at the bottom of the drive motor 2, the gearbox 4 is arranged above the drive motor 2, and the gripper assembly 5 is arranged above the gearbox 4; a gear linkage mechanism 6 is arranged in the gearbox 4, and the drive motor 2 is connected through the gear linkage mechanism 6 to drive the gripper assembly 5 to act; the drive controller 3 is electrically connected to the drive motor 2; the drive controller 3 is provided with an absolute position encoder 30 and a temperature sensor 31; the drive motor 2, the drive controller 3, the gearbox 4 and the gripper assembly 5 are all connected and fixed by a threaded connection structure.

[0028] The gearbox 4 is provided with a central through hole, two bosses and a plurality of positioning grooves. The central through hole is arranged at the top of the gearbox 4, the two bosses are arranged on the lower side plate of the central through hole in a mirror-image relative manner, and the positioning grooves are respectively arranged at the central positions of the bosses and the bottom plate of the gearbox 4; one of the bosses is provided with a through hole, and the through hole is provided with a through port;

[0029] The gear linkage mechanism 6 includes a first gear 60, a second gear 61, a third gear 62, a fourth gear 63 and a fifth gear 64. The first gear 60 is connected to the driving end of the driving motor 2. The second gear 61 and the third gear 62 are respectively arranged on the positioning grooves on the convex platform in a mirror image manner, and the second gear 61 and the third gear 62 form a stable assisting structure, so as to ensure the stable movement of the fifth gear 64, ensure the clamping stability, and greatly increase the service life of each gear at the same time. The fourth gear 63 is respectively arranged on the positioning grooves on the bottom plate of the gear box 4, and the fifth gear 64 is arranged above the fourth gear 63. The first gear 60 is connected to the fourth gear 63, the fourth gear 63 is meshed and connected to the second gear, and the fifth gear 64 is meshed and connected to both the second gear 61 and the third gear 62. The gear linkage mechanism 6 is used for superimposed linkage to increase the torque force, so that the driving motor 2 can ensure the maximum clamping force with the minimum driving current, ensure the clamping force and stability, and greatly reduce the energy consumption.

[0030] The fourth gear 63 includes a first gear disk 630 and a second gear disk 631. The positioning groove on the bottom plate of the gear box 4 is provided with a positioning shaft. The first gear disk 630 and the second gear disk 631 are arranged at the center of the bottom of the gear box 4 through the positioning shaft. The second gear disk 631 is arranged above the first gear disk 630, and the first gear disk 630 is meshed and connected to the first gear 60.

[0031] The second gear 61 includes a third gear disk 610 and a fourth gear disk 611. The fourth gear disk 611 is arranged above the third gear disk 610, and the third gear disk 610 is meshed and connected to the second gear disk 631.

[0032] The fifth gear 64 is arranged above the second gear disk 631 through a positioning shaft. The fifth gear 64 includes a fifth gear disk 640, a sixth gear disk 641 and a seventh gear disk 642. The sixth gear disk 641 is arranged between the fifth gear disk 640 and the seventh gear disk 642. The fifth gear disk 640 is meshed and connected to the fifth gear 64, and the sixth gear disk 641 is meshed and connected to the second gear disk 631. The seventh gear disk 642 passes through the central through hole and is connected to the jaw assembly 5.

[0033] The jaw assembly 5 includes a bin body 50, two sets of guide rod groups 51, and two jaw blocks 52. The two sets of guide rod groups 51 are arranged in the bin body 50 in a mirror-image and opposite manner; the jaw blocks 52 are respectively arranged on the guide rod groups 51 in a mirror-image and offset manner, and the jaw blocks 52 can move along the direction of the guide rod groups 51; the jaw blocks 52 are each provided with a rack 520, and the racks 520 are each meshed and connected with the seventh gear disk 642; each of the guide rod groups 51 includes two guide rods, the jaw blocks 52 are each provided with two guide holes, and the jaw blocks 52 are arranged on the guide rods through the guide holes. The guide rod groups 51 are used to ensure the stable movement of the jaw blocks 52.

[0034] The number of teeth of the first gear 60 is 10; the number of teeth of the first gear disk 630 is 28; the number of teeth of the second gear disk 631 is 9; the number of teeth of the third gear disk 610 is 30; the number of teeth of the fourth gear disk 611 is 12; the number of teeth of the third gear 62 is 42; the number of teeth of the fifth gear disk 640 is 13; the number of teeth of the sixth gear disk 641 is 33; the number of teeth of the seventh gear disk 642 is 12.

[0035] The jaw blocks 52 are each further provided with a plurality of threaded holes 521 for installing jaws; the driving motor 2 is a DC brushless motor; the outer wall of the bin body 50 is provided with a plurality of threaded hole groups for fixing the energy-saving two-finger translational electric jaw 1; the driving controller 3 is a built-in FOC algorithm driving controller; the driving controller 3 is provided with an electrical connection joint 33, and the electrical connection joint 33 is a space connection joint.

[0036] In the present utility model, a gear linkage mechanism composed of a first gear, a second gear, a third gear, a fourth gear, and a fifth gear is used to achieve superimposed linkage for increasing the torque force, so that the driving motor can ensure the maximum clamping force with the minimum driving current, ensure the clamping force and stability, greatly reduce the energy consumption, and improve the reaction efficiency and speed of the energy-saving two-finger translational electric jaw; and when a larger clamping force needs to be output, there is no need to use a high-power driving motor, which greatly reduces the volume and weight while expanding the application range of the energy-saving two-finger translational electric jaw; a stable assistance structure is formed by the second gear and the third gear, and the fifth gear disk and the sixth gear disk on the fifth gear are used to ensure the stable movement of the fifth gear, prevent vibration and offset when the driving end of the driving motor drives the fifth gear to move, ensure the clamping stability, and greatly increase the service life of each gear.

[0037] The present utility model is not limited to the above embodiments. Other energy-saving two-finger translational electric jaws obtained by adopting the same or similar structures, devices, processes, or methods as those of the above embodiments of the present utility model are within the protection scope of the present utility model.

Claims

1. An energy-saving two-finger translation electric gripper, characterized in that: The energy-saving two-finger translational electric gripper comprises a drive motor, a drive controller, a gear box and a gripper assembly; the drive controller is arranged at the bottom of the drive motor, the gear box is arranged above the drive motor, and the gripper assembly is arranged above the gear box; a gear linkage mechanism is arranged in the gear box, and the drive motor is connected to drive the gripper assembly to move through the gear linkage mechanism; the drive controller is electrically connected to the drive motor; the drive controller is provided with an absolute position encoder and a temperature sensor; the drive motor, the drive controller, the gear box and the gripper assembly are all connected and fixed by a threaded connection structure.

2. The energy-saving two-finger translation electric gripper according to claim 1 is characterized in that: The gearbox is provided with a central through hole, two bosses and a plurality of positioning grooves, wherein the central through hole is arranged at the top of the gearbox, the two bosses are arranged at the lower side plate of the central through hole in a mirror-image manner, and the positioning grooves are respectively arranged at the central positions of the bosses and the bottom plate of the gearbox; one of the bosses is provided with a through hole, and the through hole is provided with a through opening; The gear linkage mechanism includes a first gear, a second gear, a third gear, a fourth gear and a fifth gear. The first gear is connected to the driving end of the driving motor. The second gear and the third gear are respectively arranged on the positioning grooves on the boss in a mirrored manner, and the second gear and the third gear constitute a stable assisting structure; the fourth gears are respectively arranged on the positioning grooves of the bottom plate of the gear box, and the fifth gear is arranged above the fourth gear; the first gear is connected to the fourth gear, the fourth gear is meshed with the second gear, and the fifth gear is meshed with the second gear and the third gear.

3. The energy-saving two-finger translation electric gripper according to claim 2 is characterized in that: The fourth gear includes a sprocket one and a sprocket two. The positioning groove of the bottom plate of the gear box is provided with a positioning shaft. The sprocket one and the sprocket two are arranged at the center of the bottom of the gear box through the positioning shaft. The sprocket two is arranged above the sprocket one, and the sprocket one is meshed and connected with the first gear.

4. The energy-saving two-finger translation electric gripper according to claim 3 is characterized in that: The second gear includes a third gear and a fourth gear, wherein the fourth gear is arranged above the third gear, and the third gear is meshedly connected with the second gear.

5. The energy-saving two-finger translation electric gripper according to claim 4 is characterized in that: The fifth gear is arranged above the second gear through a positioning shaft; the fifth gear includes a fifth gear, a sixth gear and a seventh gear, and the sixth gear is arranged between the fifth gear and the seventh gear; the fifth gear is meshed and connected with the fifth gear, and the sixth gear is meshed and connected with the second gear; the seventh gear passes through a central through hole and is connected to the clamping jaw assembly.

6. The energy-saving two-finger translation electric gripper according to claim 5 is characterized in that: The clamping jaw assembly includes a warehouse body, two groups of guide rod groups and two clamping blocks. The two groups of guide rod groups are arranged in the warehouse body in a mirror-image manner; the clamping blocks are respectively arranged on the guide rod groups in a mirror-image displaced manner, and the clamping blocks can move along the direction of the guide rod groups; the clamping blocks are all provided with racks, and the racks are all meshed and connected with the toothed disc seven.

7. The energy-saving two-finger translation electric gripper according to claim 6 is characterized in that: The number of teeth of the first gear is 10; the number of teeth of the sprocket one is 28; the number of teeth of the sprocket two is 9; the number of teeth of the sprocket three is 30; the number of teeth of the sprocket four is 12; the number of teeth of the third gear is 42; the number of teeth of the sprocket five is 13; the number of teeth of the sprocket six is ​​33; and the number of teeth of the sprocket seven is 12.

8. The energy-saving two-finger translation electric gripper according to claim 7 is characterized in that: The clamping blocks are each further provided with a plurality of threaded holes, and the threaded holes are used to install the clamping jaws; the driving motor is a brushless DC motor; and the outer wall of the bin body is provided with a plurality of threaded hole groups.

9. The energy-saving two-finger translation electric gripper according to claim 8 is characterized in that: The drive controller is a built-in FOC algorithm driver; the drive controller is provided with an electrical connection connector.

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