Servo electric three-finger chuck based on gear and rack transmission

Abstract

The utility model discloses a servo electric three-finger chuck based on gear and rack transmission, which comprises a bottom chuck, a case is fixedly arranged in the middle of the top end of the bottom chuck, a worm and gear reducer is fixedly mounted in the case, a servo motor is fixedly mounted on one side of the case, and a servo motor is fixedly mounted on the other side of the case. According to the servo electric three-finger chuck based on gear and rack transmission, gear and rack transmission is adopted, transmission is reliable, output force is stable, the structure is compact, and stroke maximization can be achieved under a certain boundary dimension; 2, worm and gear transmission is adopted, the transmission ratio is large, large stroke and large locking force can be achieved under the same motor output condition, and the device can be applied to industrial automation scenes such as workpiece feeding and discharging and automatic assembling links; and 3, the mechanical self-locking of the worm gear and the worm is utilized, so that stable gripping is kept during power failure, the power consumption is low, the gripping safety and stability are improved, the service life of the product is prolonged, the stability is high, and the industrial-grade application requirement is better met.

Description

Technical Field

[0001] The utility model relates to the technical field of robots in the industrial automation equipment industry, in particular to a servo electric three-finger chuck based on gear rack transmission. Background Art

[0002] In an electric or servo chuck, a motor controls the movement of the chuck jaws via electrical input from a controller. Currently, electric chucks on the market are generally used for high-precision positioning, adapting to varying shapes, and requiring low loads. Heavy-duty three-finger electric grippers with extended travel are almost nonexistent.

[0003] In the robotics sector of industrial automation equipment, efficient and stable high-load servo chucks are in urgent need of replacing manual labor. Due to their flexibility and compatibility, they have become a key core technology for robotic assembly and loading and unloading. The application of this innovative technology not only significantly improves production efficiency but also ensures stable production line operation, injecting new vitality into the intelligent upgrade of the manufacturing industry. With their high precision, high speed, and high stability, high-load servo chucks demonstrate excellent performance in the clamping, gripping, handling, and assembly of workpieces in automated production lines.

[0004] The combination of traditional gear rack can provide stable output force. Through the innovative application of the mechanism, the motion stroke of a single claw is fully improved without changing its traditional performance, resulting in a compact structure and stable operation.

[0005] Modular design, using customized worm gear reducer, compact transmission structure, large transmission ratio, effectively reducing motor speed, increasing torque, strong and durable, with smooth transmission.

[0006] The traditional servo electric three-finger chuck based on gear rack transmission has the following defects:

[0007] (1) Existing electric chuck solutions are mostly used in situations where small parts are grasped, such as mobile phones, televisions, and household appliances. Moreover, most of them are open-and-close jaw solutions, that is, two-finger electric claws, which are not effective in grasping objects with unusual shapes.

[0008] (2) Traditional electric chucks generally use wire-disk transmission, which has large gaps and poor repeatability, about 0.5mm. Regular zeroing and calibration are required during the production process to ensure repeatability.

[0009] (3) The screw transmission mechanism cooperates with the guide rail sliding to achieve clamping and loosening through the forward and reverse rotation of the motor, which can achieve a large torque output. However, the structure is large and cannot be self-locked when the power is off, which can easily cause accidents or equipment damage. Utility Model Content

[0010] The purpose of the present utility model is to provide a servo electric three-finger chuck based on gear rack transmission, so as to solve the problem that the existing electric chuck solutions proposed in the above background technology are mostly used in occasions for grasping smaller parts, such as mobile phones, televisions and household appliances, and most of them are open and close jaw type solutions, that is, two-finger electric claws, which are not effective in clamping objects with irregular shapes; traditional electric chucks generally use wire reel transmission, with large gap and poor repeatability positioning accuracy of about 0.5MM, and regular zeroing correction is required during the production process to ensure repeatability positioning accuracy; the screw transmission mechanism, in conjunction with the guide rail sliding, realizes clamping and loosening through the forward and reverse rotation of the motor, and can achieve a large torque output, but the structure is large and cannot be self-locked when the power is off, which can easily cause accidents or equipment damage.

[0011] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a servo electric three-finger chuck based on gear rack transmission, comprising a bottom chuck, a chassis is fixedly arranged in the middle of the top of the bottom chuck, a worm gear reducer is fixedly installed in the chassis, a servo motor is fixedly installed on one side of the chassis, the output end of the servo motor passes through the chassis and is fixedly arranged inside the worm gear reducer, the output end of the worm gear reducer is fixedly connected to a central shaft, a gear block is fixedly arranged on the surface of the central shaft, and the central A bearing is fixedly provided on the top end of the shaft surface, a bearing seat is fixedly provided on the surface of the bearing, a three-finger main disk is engaged and connected to the surface of the bearing seat, a guide rail one, a guide rail two and a guide rail three are sequentially provided on the top of the three-finger main disk, a rack one, a rack two and a rack three are fixedly provided in the three-finger main disk in sequence, a claw one, a claw two and a claw three are meshed and connected in the guide rail one, the guide rail two and the guide rail three in sequence, and the chassis is used to ensure the lubrication of the transmission parts and to achieve sealing with the outside world so as to adapt to various harsh environments and increase the service life.

[0012] Preferably, a plurality of evenly distributed heat dissipation openings are provided on the surface of the top card cover, and a mounting bayonet is provided on the periphery of the bottom of the bottom chuck for mounting equipment.

[0013] Preferably, one side of the bottom of claw one, claw two and claw three is respectively meshed with the surface of rack one, rack two and rack three, and the corresponding ends of rack one, rack two and rack three are all meshed with the surface of the gear block, and claw one, claw two and claw three are used to fix the structure.

[0014] Preferably, a round flat cover is fixedly provided on the top of the bearing seat, and the round flat cover is used to protect the bearing seat.

[0015] Preferably, dust covers are fixedly provided on the tops of the guide rails one, two and three, and movable grooves are provided on the tops of the multiple dust covers, and the dust covers are used to protect the guide rails one, two and three.

[0016] Preferably, the outer periphery of the top of the bottom chuck is connected with a top card cover, and the top card cover is used for the completeness of the equipment.

[0017] Preferably, the clamping claw one, the clamping claw two and the clamping claw three are all located above the dust cover for using the clamping claw one, the clamping claw two and the clamping claw three.

[0018] Preferably, support blocks are fixedly provided on the outer sides of the three-finger main disk, and the support blocks are used to stabilize the three-finger main disk.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. It adopts rack and pinion transmission, which has reliable transmission, stable output force and compact structure, and can maximize the stroke within a certain size;

[0021] 2. The worm gear and gear transmission with a large transmission ratio can achieve a large stroke and a large locking force under the same motor output. It can be applied to industrial automation scenarios such as workpiece loading and unloading and automated assembly.

[0022] 3. The mechanical self-locking of the worm gear is used to achieve stable gripping when power is off, with low power consumption, improved gripping safety and stability, long product life and stability, and better meet the needs of industrial applications;

[0023] 4. The gear transmission and worm gear transmission are encapsulated in the box to ensure the lubrication of the transmission parts and achieve sealing with the outside world to adapt to various harsh environments and increase service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The three-dimensional structure of the utility model Figure 1 ;

[0025] Figure 2 The three-dimensional structure of the utility model Figure 2 ;

[0026] Figure 3 The local three-dimensional Figure 1 ;

[0027] Figure 4 The local three-dimensional Figure 2 ;

[0028] Figure 5 The local three-dimensional Figure 3 ;

[0029] Figure 6 It is a three-dimensional cross-sectional view of the utility model.

[0030] In the figure: 1. Bottom chuck; 2. Top chuck cover; 3. Chassis; 4. Worm gear reducer; 5. Servo motor; 6. Center shaft; 7. Bearing seat; 8. Bearing; 9. Gear block; 10. Three-finger main plate; 11. Guide rail 1; 12. Guide rail 2; 13. Guide rail 3; 14. Claw 1; 15. Claw 2; 16. Claw 3; 17. Rack 1; 18. Rack 2; 19. Rack 3; 20. Dust cover; 21. Moving bar groove; 22. Support block; 23. Heat dissipation vent; 24. Mounting bracket; 25. Round flat cover. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] See also Figure 1-6 The utility model provides a servo electric three-finger chuck based on gear rack transmission, including a bottom chuck 1, a chassis 3 is fixedly set in the middle of the top of the bottom chuck 1, a worm gear reducer 4 is fixedly installed in the chassis 3, a servo motor 5 is fixedly installed on one side of the chassis 3, the output end of the servo motor 5 passes through the chassis 3 and is fixedly set inside the worm gear reducer 4, the output end of the worm gear reducer 4 is fixedly connected to the center shaft 6, and a gear block 9 is fixedly set on the surface of the center shaft 6. A bearing 8 is fixedly provided on the top of the surface of the central shaft 6, a bearing seat 7 is fixedly provided on the surface of the bearing 8, a three-finger main disk 10 is engaged and connected to the surface of the bearing seat 7, a guide rail 11, a guide rail 2 12 and a guide rail 3 13 are sequentially provided on the top of the three-finger main disk 10, a rack 17, a rack 2 18 and a rack 3 19 are fixedly provided in the three-finger main disk 10 in sequence, and a claw 14, a claw 2 15 and a claw 3 16 are engaged and connected in the guide rail 11, the guide rail 2 12 and the guide rail 3 13 in sequence.

[0033] When in use, the gear transmission and the worm gear transmission are encapsulated in the chassis 3 to ensure lubrication of the transmission parts and to achieve sealing with the outside world, so as to adapt to various harsh environments and increase service life.

[0034] A plurality of evenly distributed heat dissipation openings 23 are provided on the surface of the top card cover 2, and a mounting bayonet 24 is provided on the periphery of the bottom of the bottom chuck 1. One side of the bottom of the claw 14, the claw 2 15 and the claw 3 16 are respectively meshed with the surfaces of the rack 1 17, the rack 2 18 and the rack 3 19. The corresponding ends of the rack 1 17, the rack 2 18 and the rack 3 19 are all meshed with the surface of the gear block 9. A round flat cover 25 is fixedly provided on the top of the bearing seat 7.

[0035] When in use, the clamping claw 14, the clamping claw 2 15 and the clamping claw 3 16 are used to grasp the object. The equipment adopts gear rack transmission, the transmission is reliable and the output force is stable.

[0036] Dust covers 20 are fixedly installed on the top of guide rail 1 11, guide rail 2 12 and guide rail 3 13. A movable groove 21 is opened on the top of multiple dust covers 20. The outer periphery of the top of the bottom chuck 1 is connected with the top chuck 2. Claw 1 14, claw 2 15 and claw 3 16 are all located above the dust cover 20. Support blocks 22 are fixedly installed on the outside of the three-finger main disk 10.

[0037] When in use, a dust cover 20 is provided on the top of the guide rail 1 11 , the guide rail 2 12 and the guide rail 3 13 , and the dust cover 20 is used to protect the internal structure of the equipment.

[0038] During specific use, the utility model is a servo electric three-finger chuck based on gear rack transmission. When using the servo electric three-finger chuck based on gear rack transmission, the servo motor 5 is enabled to transmit the power through the worm gear reducer 4 and then control the speed, driving the center shaft 6 to rotate, and the center shaft 6 drives the gear block 9 to rotate, and then the three-finger main disk 10 is used, and the claw one 14, the claw two 15 and the claw three 16 are used to grab objects. The equipment adopts gear rack transmission, which has reliable transmission, stable output force and compact structure. It can maximize the stroke within a certain external size, and encapsulate the gear transmission and worm gear transmission in the chassis 3 to ensure the lubrication of the transmission parts and achieve sealing with the outside world to adapt to various harsh environments and increase service life.

[0039] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A servo-electric three-finger chuck based on a rack and pinion transmission, comprising a bottom chuck (1), characterized in that: A case (3) is fixedly provided in the middle of the top of the bottom chuck (1), a worm gear reducer (4) is fixedly provided in the case (3), a servo motor (5) is fixedly provided on one side of the case (3), an output end of the servo motor (5) passes through the case (3) and is fixedly provided inside the worm gear reducer (4), the output end of the worm gear reducer (4) is fixedly connected to a central shaft (6), a gear block (9) is fixedly provided on the surface of the central shaft (6), and a bearing (8) is fixedly provided on the top of the surface of the central shaft (6). A bearing seat (7) is fixedly provided on the surface of the bearing (8), and a three-finger main disk (10) is engaged with the surface of the bearing seat (7), and a guide rail 1 (11), a guide rail 2 (12) and a guide rail 3 (13) are sequentially provided on the top of the three-finger main disk (10), and a rack 1 (17), a rack 2 (18) and a rack 3 (19) are fixedly provided in the three-finger main disk (10), and a clamping claw 1 (14), a clamping claw 2 (15) and a clamping claw 3 (16) are sequentially engaged with the guide rail 1 (11), the guide rail 2 (12) and the guide rail 3 (13).

2. The servo electric three-finger chuck based on gear rack transmission according to claim 1, characterized in that: The outer periphery of the top of the bottom chuck (1) is snap-connected with a top card cover (2), a surface of the top card cover (2) is provided with a plurality of evenly distributed heat dissipation openings (23), and the outer periphery of the bottom of the bottom chuck (1) is provided with a mounting card opening (24).

3. The servo electric three-finger chuck based on gear rack transmission according to claim 1, characterized in that: The bottom sides of the clamping claw 1 (14), the clamping claw 2 (15) and the clamping claw 3 (16) are respectively meshed with the surfaces of the rack 1 (17), the rack 2 (18) and the rack 3 (19), and the corresponding ends of the rack 1 (17), the rack 2 (18) and the rack 3 (19) are all meshed with the surface of the gear block (9).

4. The servo-electric three-finger chuck based on rack and pinion transmission according to claim 1, characterized in that: A round flat cover (25) is fixedly provided on the top of the bearing seat (7).

5. The servo electric three-finger chuck based on gear rack transmission according to claim 1, characterized in that: The tops of the guide rail 1 (11), the guide rail 2 (12) and the guide rail 3 (13) are all fixedly provided with dust covers (20), and the tops of the plurality of dust covers (20) are all provided with movable grooves (21).

6. The servo electric three-finger chuck based on gear rack transmission according to claim 1, characterized in that: The clamping claw 1 (14), the clamping claw 2 (15) and the clamping claw 3 (16) are all located above the dust cover (20).

7. The servo-electric three-finger chuck based on rack and pinion transmission according to claim 1, characterized in that: Support blocks (22) are fixedly provided on the outer sides of the three-finger main disk (10).

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