Electric clamping jaw

Abstract

The utility model discloses an electric clamping jaw which comprises a clamping jaw body, a speed reduction motor, a gear and racks, the gear and the output end of the speed reduction motor are coaxially installed, the racks are installed on the two opposite sides of the gear in a meshed mode respectively, and the clamping jaw body is installed on the racks. According to the scheme, the clamping jaw structure is simple and compact in structure, specifically, the long-strip-shaped racks are symmetrically installed on the two sides of the gear in a meshed mode, when the gear motor drives the gear to rotate, the two long-strip-shaped racks move in the opposite directions or in the opposite directions, and then the clamping jaw bodies on the racks can be driven to be relatively close to or away from each other; the functions of object clamping and loosening of the clamping jaw are achieved, and the rotating motion of the gear motor and the gear is converted into the linear motion of the rack. The device is simple and compact in structure, few in parts and small in occupied space, and the equipment manufacturing cost can be reduced on the premise that the clamping jaws move.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment, and particularly relates to an electric gripper. Background Technique

[0002] Currently, in automation equipment, electric grippers are gradually showing a trend of replacing pneumatic grippers; pneumatic grippers require a gas source gas circuit and many accessories, and their use and maintenance are relatively cumbersome, while electric grippers have high integration, high control precision, are easy to adjust, and are convenient to apply.

[0003] In the prior art, an electric actuator can achieve a clamping action and a releasing action through two oppositely linearly moving actuators. The electric actuator usually uses a motor to drive a reducer, and through a transmission mechanism, the rotation of the motor is converted into a linear motion of the actuator. Currently, the structures of electric grippers on automation equipment are basically relatively complex, with many parts, large volume, and high price, which slows down the application and popularization progress of electric grippers.

[0004] In order to solve the problems of complex structure, many parts, large volume and high price of electric grippers, the embodiments of the present application provide an electric gripper with a simple and compact structure, which is convenient for production, manufacturing and installation; Content of the Utility Model

[0005] In order to solve the technical problems of complex structure, large volume and many parts of the electric gripper in the background technique, the purpose of the utility model is to provide an electric gripper that can solve the above problems.

[0006] The technical solution for achieving the purpose of the utility model is: an electric gripper, including a gripper body, a reduction motor, a gear and a rack, the gear is coaxially installed at the output end of the reduction motor, the rack is meshed and installed on both opposite sides of the gear respectively, and the gripper body is installed on the rack.

[0007] This solution provides a simple and compact gripper structure. Specifically, long strip-shaped racks are symmetrically meshed and installed on both sides of the gear. When the reduction motor drives the gear to rotate, the two long strip-shaped racks move towards or away from each other, and then can drive the gripper body on each rack to approach or move away relatively, completing the functions of clamping and releasing the object by the gripper, and converting the rotational motion of the reduction motor and the gear into a linear motion of the rack. The structure of this device is simple and compact, with fewer components, small occupied space, and can reduce the manufacturing cost of the equipment on the premise of realizing the movement of the gripper.

[0008] Further, it further includes a base, and the base is provided with two parallel chutes. The racks located on the opposite sides of the gear slide in the two chutes respectively. The chute can also be understood as a limiting groove, that is, the rack can only slide in the chute along the direction of the chute, which can ensure the stability of the rack during sliding.

[0009] Further, the chute is a T-shaped groove, and the bottom of the jaw body and the rack form a T-shaped structural part, and the T-shaped structural part is installed in the T-shaped groove. That is to say, the rack slides in the large groove, and the bottom of the jaw body is limited to slide in the small groove. The cooperation of the T-shaped groove and the T-shaped structural part realizes the stable sliding of the jaw.

[0010] Further, a gear installation cavity is also provided on the base, and the gear installation cavity is communicated with the chute. The outer periphery of the gear extends into the chute to mesh with the rack. In this way, when the gear rotates, it can drive the rack to perform a linear motion along the chute.

[0011] Further, it further includes a front end cover and a housing. The base is installed on one side of the front end cover, the housing is installed on the other side of the front end cover, the housing is sleeved outside the reduction motor, and the front end cover is installed between the housing and the base to ensure the tightness of the installation between components.

[0012] Further, one side of the front end cover has a convex portion, and the base has a matching groove. The convex portion is installed in the groove; the convex portion has an installation through hole, and the output end of the reduction motor is connected and installed with the gear through the installation through hole; the other side of the front end cover has a boss, and the top of the housing is provided with a groove portion corresponding to the boss, and the boss is clamped in the groove portion. The convex portion and the groove, the boss and the groove portion respectively realize the quick installation and positioning between the front end cover and the base, and the housing, improving the installation efficiency and assembly accuracy.

[0013] Further, a plurality of installation holes and positioning pin holes are provided on the housing; a waterproof joint installation hole is also provided on one side of the housing for installing a waterproof joint. The plurality of installation holes and the positioning pin holes facilitate the subsequent installation and fixation. After installing the waterproof joint in the waterproof joint installation hole, it is convenient to fix the power line and the communication line. The joint has the ability of waterproof sealing and can also achieve the effect of waterproof sealing.

[0014] Further, it further includes a brake, a brake rotor and a rear end cover. The input end of the reduction motor is fixed on the brake rotor, the brake is installed outside the brake rotor, and the brake is installed on the rear end cover through a flange. Adding a braking device at the input end of the reduction motor is beneficial to effectively realize the power-off holding function of the reduction motor.

[0015] Further, the brake rotor includes a braking portion, a magnetic sheet mounting portion, and an encoder magnetic sheet. The braking portion cooperates with the friction sheet of the brake. The encoder magnetic sheet is adhered to the magnetic sheet mounting portion by glue, facilitating the monitoring of the rotation of the reduction motor.

[0016] Further, it further includes a middle layer plate and a driving plate. The brake is fixed to one side of the middle layer plate, and the driving plate is fixed to the other side of the middle layer plate. An encoder sensing chip is further mounted on the side of the driving plate facing the reduction motor to sense and feedback the position of the reduction motor through the encoder sensing chip; the driving plate is located between the middle layer plate and the rear end cover. Adding the middle layer plate and the driving plate facilitates the installation of components such as the brake and the brake rotor, avoids the segmented structure of the housing, and makes the overall structure look more compact and orderly.

[0017] Adopting the above technical solution, the utility model has the following beneficial effects:

[0018] (1) Long strip-shaped racks are meshed and installed in parallel on opposite sides of the gear. The jaw body is installed on the long strip-shaped rack and is driven by a reduction motor to form an electric jaw structure with a simple and compact structure, small volume and low manufacturing cost;

[0019] (2) A T-shaped groove is provided on the base. The bottom of the jaw body and the rack form a T-shaped structural part to cooperate and slide in the T-shaped groove; and a gear installation cavity is also provided on the base. The outer periphery of the gear extends into the chute to mesh with the rack, so that when the gear rotates, it can drive the rack to move linearly along the chute;

[0020] (3) The convex portion and the concave groove, and the boss and the concave groove respectively achieve the quick installation and positioning between the front end cover and the base, and the housing, improving the installation efficiency and assembly accuracy;

[0021] (4) A brake and a brake rotor structure are added to the input end of the reduction motor to achieve the power-off holding function of controlling the reduction motor;

[0022] (5) Adding a side-mounted middle layer plate facilitates the installation of the brake and the driving plate, avoids the segmentation of the housing, and makes the overall structure look more compact and orderly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the utility model easier to be clearly understood, the following further details the utility model according to specific embodiments in conjunction with the drawings, wherein

[0024] Figure 1 is a schematic diagram of the overall structure of the electric jaw in the utility model;

[0025] Figure 2 This is the overall cross-sectional view of the electric gripper in the present utility model;

[0026] Figure 3 This is the overall exploded view of the electric gripper in the present utility model;

[0027] Figure 4 This is the structural cross-sectional view of the gear driving the rack and the gripper body installed on the base in the present utility model;

[0028] Figure 5 is Figure 1 the enlarged view at position A in;

[0029] Figure 6 This is the partial cross-sectional view of the base in the present utility model;

[0030] Figure 7 This is the structural schematic diagram of the front end cover in the present utility model;

[0031] Figure 8 This is the structural schematic diagram of the housing in the present utility model;

[0032] Figure 9 This is the structural schematic diagram of the cooperation between the brake and the brake rotor in the present utility model;

[0033] Figure 10 This is the structural schematic diagram of the brake rotor in the present utility model.

[0034] The reference numerals in the drawings are: 1 gripper body; 2 reduction motor; 3 gear; 4 rack; 5 base; 6 chute; 7 T-shaped structure part; 8 large groove; 9 small groove; 10 gear installation cavity; 11 front end cover; 12 housing; 13 convex part; 14 groove; 15 installation through hole; 16 boss; 17 groove part; 18 waterproof joint installation hole; 19 brake; 20 brake rotor; 21 rear end cover; 22 braking part; 23 magnetic sheet installation part; 24 encoder magnetic sheet; 25 middle layer plate; 26 drive plate; 27 installation hole. Specific embodiments

[0035] Example:

[0036] As Figures 1-4As shown in the figure, this embodiment provides an electric gripper, which includes a gripper body 1, a reduction motor 2, a gear 3, and a rack 4. The gear 3 and the output end of the reduction motor 2 are coaxially installed. The rack 4 is meshed and installed on each of the opposite sides of the gear 3. The gripper body 1 is installed on the rack 4. In this solution, a gripper structure with a simple and compact structure is provided. Specifically, long strip-shaped racks 4 are symmetrically meshed and installed on both sides of the gear 3. When the reduction motor 2 drives the gear 3 to rotate, the two long strip-shaped racks 4 move towards or away from each other, and then the gripper body 1 on each rack 4 can be driven to move relatively closer or farther away, completing the functions of clamping and releasing objects by the gripper, and converting the rotational motion of the reduction motor 2 and the gear 3 into the linear motion of the rack 4. The structure of this device is simple and compact, with fewer components, occupying less space. On the premise of realizing the movement of the gripper, the manufacturing cost of the equipment can be reduced.

[0037] As Figure 5 and Figure 6 shown, it further includes a base 5. There are two parallel sliding grooves 6 on the base 5. The racks 4 located on the opposite sides of the gear 3 slide in the two sliding grooves 6 respectively. The sliding groove 6 can also be understood as a limiting groove, that is, the rack 4 can only slide in the sliding groove 6 along the direction of the sliding groove 6, which can ensure the stability of the rack 4 during sliding. The sliding groove 6 is a T-shaped groove. The bottom of the gripper body 1 and the rack 4 form a T-shaped structure part 7, and the T-shaped structure part 7 is installed in the T-shaped groove. That is to say, the rack 4 slides in the large groove 8, and the bottom of the gripper body 1 is limited to slide in the small groove 9. The cooperation between the T-shaped groove and the T-shaped structure part 7 realizes the stable sliding of the gripper.

[0038] Preferably, a gear installation cavity 10 is further provided on the base 5. The gear installation cavity 10 is communicated with the sliding groove 6. The outer circumference of the gear 3 extends into the sliding groove 6 and meshes with the rack 4. In this way, when the gear 3 rotates, it can drive the rack 4 to perform a linear motion along the sliding groove 6.

[0039] As Figure 7 and Figure 8As shown in the figure, it further includes a front end cover 11 and a housing 12. The base 5 is installed on one side of the front end cover 11, and the housing 12 is installed on the other side of the front end cover 11. The housing 12 is sleeved outside the reduction motor 2, and the front end cover 11 is installed between the housing 12 and the base 5 to ensure the tightness of the installation between components. One side of the front end cover 11 has a convex portion 13, and the base 5 has a matching groove 14. The convex portion 13 is installed in the groove 14; the convex portion 13 has a mounting through hole 15, and the output end of the reduction motor 2 is connected and installed with the gear 3 through the mounting through hole 15; the other side of the front end cover 11 has a boss 16, and the top of the housing 12 is provided with a groove portion 17 corresponding to the boss 16. The boss 16 is snapped into the groove portion 17. The convex portion 13 and the groove 14, the boss 16 and the groove portion 17 respectively realize the quick installation and positioning between the front end cover 11 and the base 5, and the housing 12, improving the installation efficiency and assembly accuracy.

[0040] Preferably, the housing 12 is provided with a plurality of mounting holes 27 and positioning pin holes; one side of the housing 12 is also provided with a waterproof joint mounting hole 18 for mounting a waterproof joint. The plurality of mounting holes 27 and the positioning pin holes facilitate the subsequent installation and fixation. After the waterproof joint is installed in the waterproof joint mounting hole 18, it is convenient to fix the power line and communication line, and the sealing performance is better.

[0041] As Figure 2 , Figure 3 , Figure 9 and Figure 10As shown, it further includes a brake 19, a brake rotor 20 and a rear end cover 21. The input end of the reduction motor 2 is fixed on the brake rotor 20. The brake 19 is installed outside the brake rotor 20, and the brake 19 is installed on the rear end cover 21 through a flange. Adding a braking device at the input end of the reduction motor 2 is beneficial to effectively control the power-off holding function of the reduction motor 2. The brake rotor 20 includes a braking part 22, a magnetic sheet mounting part 23 and an encoder magnetic sheet 24. The braking part 22 cooperates with the friction sheet of the brake 19. The encoder magnetic sheet 24 is pasted in the magnetic sheet mounting part 23 with glue, which is convenient for monitoring the rotation of the reduction motor 2. It further includes an intermediate plate 25 and a driving plate 26. The brake 19 is fixed on one side of the intermediate plate 25, and the driving plate 26 is fixed on the other side of the intermediate plate 25. An encoder induction chip is also installed on the side of the driving plate 26 facing the reduction motor 2, and the position of the reduction motor 2 is sensed and fed back through the encoder induction chip; the driving plate 26 is located between the intermediate plate 25 and the rear end cover 21. Adding the intermediate plate 25 and the driving plate 26 facilitates the installation of components such as the brake 19 and the brake rotor 20, avoids the segmented structure of the housing 12, and makes the overall structure look more compact and orderly.

[0042] Working principle: The reduction motor 2 drives the gear 3 to rotate. When the gear 3 rotates, it will drive the two racks 4 meshing with it to move relatively or in opposite directions, and then drive the two jaw bodies 1 to close or separate, realizing the function of an electric gripper; while the input end of the reduction motor 2 realizes the control of the power-off holding function of the reduction motor 2 through the cooperation of the brake 19 and the brake rotor 20.

[0043] In the specific embodiments described above, the purpose, technical solutions and beneficial effects of the present invention have been further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An electric gripper, characterized in that, It includes a jaw body (1), a reduction motor (2), a gear (3) and a rack (4). The gear (3) and the output end of the reduction motor (2) are coaxially installed. The rack (4) is meshingly installed on each of the opposite sides of the gear (3), and the jaw body (1) is installed on the rack (4).

2. The electric gripper according to claim 1, wherein, It further includes a base (5). Two parallel chutes (6) are provided on the base (5). The racks (4) on the opposite sides of the gear (3) slide in the two chutes (6) respectively.

3. The electric gripper according to claim 2, characterized in that, The chute (6) is a T-shaped groove. The bottom of the jaw body (1) and the rack (4) form a T-shaped structure part (7), and the T-shaped structure part (7) is installed in the T-shaped groove.

4. The electric gripper according to claim 2, wherein, A gear installation cavity (10) is further provided on the base (5). The gear installation cavity (10) communicates with the chute (6), and the outer circumference of the gear (3) extends into the chute (6) to mesh with the rack (4).

5. An electric gripper according to claim 2, wherein, It further includes a front end cover (11) and a housing (12). The base (5) is installed on one side of the front end cover (11), and the housing (12) is installed on the other side of the front end cover (11). The housing (12) is sleeved outside the reduction motor (2).

6. The electric gripper according to claim 5, characterized in that, One side of the front end cover (11) has a protrusion (13), and the base (5) has a matching groove (14). The protrusion (13) is installed in the groove (14). An installation through hole (15) is provided on the protrusion (13), and the output end of the reduction motor (2) is connected and installed with the gear (3) through the installation through hole (15). The other side of the front end cover (11) has a boss (16), and the top of the housing (12) is provided with a groove part (17) corresponding to the boss (16). The boss (16) is snap-fitted in the groove part (17).

7. The electric gripper according to claim 5, characterized in that, A plurality of installation holes (27) and positioning pin holes are provided on the housing (12). A waterproof joint installation hole (18) is further provided on one side of the housing (12) for installing a waterproof joint.

8. An electric gripper according to claim 1, characterized in that, It further includes a brake (19), a brake rotor (20) and a rear end cover (21). The input end of the reduction motor (2) is fixed on the brake rotor (20). The brake (19) is installed outside the brake rotor (20), and the brake (19) is installed on the rear end cover (21) through a flange.

9. The electric gripper according to claim 8, wherein, The brake rotor (20) includes a braking part (22), a magnetic sheet installation part (23) and an encoder magnetic sheet (24). The braking part (22) cooperates with the friction sheet of the brake (19), and the encoder magnetic sheet (24) is pasted in the magnetic sheet installation part (23) by glue.

10. The electric gripper according to claim 8, wherein, It further includes an intermediate layer plate (25) and a drive plate (26). The brake (19) is fixed to one side of the intermediate layer plate (25), and the drive plate (26) is fixed to the other side of the intermediate layer plate (25). An encoder sensing chip is further installed on one side of the drive plate (26) facing the reduction motor (2), and the position of the reduction motor (2) is sensed and fed back through the encoder sensing chip; the drive plate (26) is located between the intermediate layer plate (25) and the rear end cover (21).

Images