Novel floating parallel electric claw

Abstract

The utility model discloses a novel floating parallel electric claw which comprises a clamping part and a driving part, the clamping part is movably connected to the driving part, the clamping part comprises a clamping base, a sliding rail is fixedly arranged in the middle of the clamping base, a first clamping claw is arranged on one side of the sliding rail, and a second clamping claw is arranged on the other side of the sliding rail. A first clamping jaw is arranged on one side of the clamping part, a second clamping jaw is arranged on the other side of the clamping part, the first clamping jaw and the second clamping jaw can slide in parallel along the sliding rail, the bottom of the first clamping jaw and the bottom of the second clamping jaw are each fixedly connected with a rack, the driving part comprises a middle transmission part and a driving motor, and the middle transmission part comprises a worm gear, a worm and a driving gear. The middle transmission part is installed in the clamping base and can drive the first clamping jaw and the second clamping jaw to move in parallel along the sliding rail. The utility model has the advantages of reasonable structural design, self-locking function, low manufacturing cost and strong working condition adaptability.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical drive technical field especially relates to a novel floating parallel electric claw. BACKGROUND

[0002] The electric claw mechanical hand is a kind of automation equipment with motor as power, in addition to motor, electric claw mechanical hand also includes claw, intermediate transmission part and other components.

[0003] The intermediate transmission part of existing electric claw generally adopts planetary reduction mechanism cooperation gear rack, the output shaft of driving motor is driven by gear rack after planetary reduction mechanism and is transmitted to the rack with claw to realize the clamping and loosening between the two claws of electric claw.

[0004] However, the intermediate transmission part of the prior art has complex structure and high cost, and does not have self-locking capability, and when power is off or communication is disconnected or internal structure of motor is damaged, the object clamped has the risk of falling, although some electric claws will install brake in driving motor to prevent the above phenomenon. However, the installation of brake will increase the manufacturing cost and the size of the device.

[0005] Meanwhile, the clamping mechanism of the existing electric claw mechanical hand is generally fixed between the motor frame, and the clamping mechanism cannot realize floating expansion along the motor frame, and the working condition adaptability is poor. UTILITY MODEL CONTENTS

[0006] In order to solve the problems in the background art, the utility model discloses a novel floating parallel electric claw, which solves the problems of the electric claw mechanical hand without self-locking function, the need for installing brake device in the motor, the increase of device size and manufacturing cost, and the clamping mechanism without floating expansion along the motor frame and poor working condition adaptability.

[0007] A novel floating parallel electric claw, comprising a clamping part and a driving part, the clamping part is movably connected to the driving part,

[0008] The clamping part comprises a clamping base, a slide rail is fixedly arranged in the middle of the clamping base, a first clamping claw is arranged on one side of the slide rail, and a second clamping claw is arranged on the other side, the first clamping claw and the second clamping claw can slide along the slide rail in parallel, and a rack is fixedly connected to the bottom of the first clamping claw and the second clamping claw;

[0009] The driving part comprises an intermediate transmission part and a driving motor, the intermediate transmission part comprises a worm wheel, a worm and a driving gear, the intermediate transmission part is installed in the clamping base, the driving motor is fixedly installed on a motor frame, the worm sleeve is installed on the output shaft of the driving motor, the worm is provided with a worm wheel meshing with the worm on each side, a driving gear is fixedly arranged on the end face of each worm wheel, the driving gear is meshed with the rack at the bottom of the first clamping claw and the second clamping claw, and the driving gear can drive the first clamping claw and the second clamping claw to move in parallel along the slide rail through the rack.

[0010] Further, the clamping part is connected to the driving part through a movable connection mechanism.

[0011] Further, the movable connection mechanism comprises an adjusting bolt, a guide rod, a compression spring and a top block, an installation cavity is formed in the clamping base, the guide rod is fixedly installed in the installation cavity, the compression spring is sleeved on the guide rod, a threaded hole opposite to the installation cavity is formed in the motor frame, the adjusting bolt is threadedly connected in the threaded hole, the top block is arranged on the top of the adjusting bolt, and one side of the compression spring towards the motor frame abuts against the top block.

[0012] Further, a window is formed in the motor frame, the window is aligned with the adjusting bolt, the position of the adjusting bolt can be observed through the window, a scale mark is arranged on the window, and the adjusting bolt is also provided with a circle of scale lines, so that the position of the adjusting bolt can be observed through the scale lines on the adjusting bolt and the scale mark on the window.

[0013] Further, at least one set of movable connection mechanisms is arranged between the clamping part and the driving part.

[0014] Further, two sets of movable connection mechanisms are arranged between the clamping part and the driving part, and the two sets of movable connection mechanisms are arranged at opposite angles.

[0015] Further, a special-shaped round hole is formed in the worm, the output shaft of the driving motor is matched with the special-shaped round hole, the worm is sleeved on the output shaft of the driving motor through the special-shaped round hole, the output shaft of the driving motor can move axially along the special-shaped round hole, and the output shaft of the driving motor can drive the worm to rotate.

[0016] Further, the first clamping jaw and the second clamping jaw each comprise a moving slider and a clamping jaw body, the clamping jaw body is fixedly arranged on the moving slider, a sliding cavity is arranged on the top of the clamping base, the sliding rail is fixedly installed on the middle part of the sliding cavity, the two ends of the sliding cavity are each provided with a side wall, the side wall is provided with a protruding guide rail on the side facing the sliding rail, the two ends of the sliding rail are also provided with a protruding guide rail, the two ends of the moving slider are each provided with a sliding groove matched with the protruding guide rail, and the first clamping jaw and the second clamping jaw are installed on the clamping base through the matching of the sliding groove and the protruding guide rail.

[0017] The utility model discloses reasonable structure design, and the middle transmission mechanism of electric claw realizes transmission through worm and gear, and the worm and gear has self-locking function, and does not need to additionally increase brake, thereby reducing the volume and manufacturing cost of electric claw.

[0018] On the other hand, the clamping part and the driving part are movably connected, the clamping part can axially extend and retract along the driving part during use, the working condition adaptability of the electric claw manipulator is greatly improved, various working conditions can be coped with, the operation efficiency is improved, and the operation cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0020] Figure 1 It is a perspective view of the device of the utility model.

[0021] Figure 2 It is a front view of the device of the utility model.

[0022] Figure 3 It is an exploded view of the device of the utility model.

[0023] Figure 4 It is a cross-sectional structure schematic view of the device of the utility model.

[0024] Figure 5 It is a structure schematic view of the clamping part of the device of the utility model.

[0025] Figure 6 It is a structure schematic view of the driving part of the device of the utility model.

[0026] In the figure: 1. Clamping base; 2. Slide rail; 3. First clamping jaw; 4. Second clamping jaw; 5. Rack; 6. Drive motor; 7. Worm gear; 8. Worm; 9. Drive gear; 10. Motor frame; 11. Output shaft; 12. Adjusting bolt; 13. Guide rod; 14. Compression spring; 15. Top block; 16. Window; 17. Scale mark; 18. Special-shaped circular hole; 19. Slider; 20. Clamping jaw body; 21. Sliding cavity; 22. Side wall; 23. Protruding guide rail; 24. Slide groove; 25. Distance sensor. DETAILED DESCRIPTION

[0027] The following detailed description of the embodiments of the present invention will facilitate understanding of the advantages and features of the present invention by those skilled in the art, thereby more clearly defining the scope of protection of the present invention. The accompanying drawings form part of the disclosure of the present invention and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will be able to understand other possible implementations and the advantages of the present invention.

[0028] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0031] Example 1

[0032] Refer to the attached Figures 1-6 The utility model provides a novel floating parallel electric claw, comprising a clamping part and a driving part, wherein the clamping part is movably connected to the driving part;

[0033] The clamping part comprises a clamping base 1, a middle part of the clamping base 1 is fixedly provided with a sliding rail 2, one side of the sliding rail 2 is provided with a first clamping jaw 3, and the other side is provided with a second clamping jaw 4, the first clamping jaw 3 and the second clamping jaw 4 can slide in parallel along the sliding rail 2, and the bottom of the first clamping jaw 3 and the second clamping jaw 4 is fixedly connected with a rack 5;

[0034] The driving part comprises an intermediate transmission part and a driving motor 6, the intermediate transmission part comprises worm gears 7, a worm 8 and driving gears 9, the intermediate transmission part is installed in the clamping base 1, the driving motor 6 is fixedly installed on a motor frame 10, the worm 8 is sleeved on the output shaft 11 of the driving motor 6, the two sides of the worm 8 are respectively provided with a worm gear 7 engaged with the worm 8, one driving gear 9 is fixedly arranged on the end face of each worm gear 7, the driving gears 9 are respectively engaged with the racks 5 at the bottom of the first clamping claw 3 and the second clamping claw 4, the driving gears 9 can drive the first clamping claw 3 and the second clamping claw 4 to move along the slide rail 2 in parallel through the racks 5. The clamping part is connected to the driving part through a movable connection mechanism. The movable connection mechanism comprises an adjusting bolt 12, a guide rod 13, a compression spring 14 and a top block 15, the clamping base 1 is provided with an installation cavity, the guide rod 13 is fixedly installed in the installation cavity, the compression spring 14 is sleeved on the guide rod 13, the motor frame 10 is provided with a threaded hole opposite to the installation cavity, the adjusting bolt 12 is threadedly connected in the threaded hole, the top block 15 is arranged on the top of the adjusting bolt 12, and one side of the compression spring 14 towards the motor frame 10 abuts against the top block 15. The clamping part and the driving part are provided with two groups of movable connection mechanisms, and the two groups of movable connection mechanisms are diagonally arranged. The worm 8 is provided with a special-shaped round hole 18, the output shaft 11 of the driving motor 6 is matched with the special-shaped round hole 18, the worm 8 is sleeved on the output shaft 11 of the driving motor 6 through the special-shaped round hole 18, the output shaft 11 of the driving motor 6 can move axially along the special-shaped round hole 18, and the output shaft 11 of the driving motor 6 can drive the worm 8 to rotate. The first clamping claw 3 and the second clamping claw 4 each comprise a moving block 19 and a clamping claw body 20, the clamping claw body 20 is fixedly arranged on the moving block 19, the top of the clamping base 1 is provided with a sliding cavity 21, the slide rail 2 is fixedly installed in the middle of the sliding cavity 21, the two ends of the sliding cavity 21 are each provided with a side wall 22, one side of the side wall 22 towards the slide rail 2 is provided with a protruding guide rail 23, the two ends of the slide rail 2 are also provided with a protruding guide rail 23, the two ends of the moving block 19 are each provided with a sliding groove 24 matched with the protruding guide rail 23, and the first clamping claw 3 and the second clamping claw 4 are installed on the clamping base 1 through the matching of the sliding groove 24 and the protruding guide rail 23.

[0035] The working process of the embodiment is as follows: when clamping operation is needed, the driving motor 6 is rotated forward, at this time, the output shaft 11 of the driving motor 6 is rotated forward, the output shaft of the driving motor 6 drives the worm 8 to rotate, the worm 8 transmits the motion to the turbine 7, the turbine 7 drives the driving gear 9 to rotate, when the driving gear 9 rotates, the rack 5 at the bottom of the first clamping jaw 3 and the second clamping jaw 4 meshing with the driving gear 9 moves along the slide rail 2 in parallel, so that the first clamping jaw 3 and the second clamping jaw 4 move towards each other, until the clamped object is clamped. When the clamping operation is finished and needs to be released, only the driving motor 6 needs to be reversed, at this time, the output shaft 11 of the driving motor 6 is reversed, the output shaft 11 of the driving motor 6 drives the worm 8 to rotate, the worm 8 transmits the motion to the turbine 7, the turbine 7 drives the driving gear 9 to rotate, when the driving gear 9 rotates, the rack 5 at the bottom of the first clamping jaw 3 and the second clamping jaw 4 meshing with the driving gear 9 moves along the slide rail 2 in parallel, so that the first clamping jaw 3 and the second clamping jaw 4 move away from each other, and the clamping jaw can release the clamped object. The whole clamping jaw deceleration ratio is achieved by adjusting the deceleration ratio between the worm and the gear and the deceleration ratio between the gear and the rack.

[0036] When facing the clamping working condition with more complex working conditions, the electric claw manipulator needs to have a certain elastic expansion allowance, the adjusting screw 12 can be rotated to adjust a certain gap between the top block 15 and the guide rod 13, at this time, the gap between the top block 15 and the guide rod 15 is the expansion allowance between the clamping part and the driving part. When the clamping part faces the working condition that needs to be compressed, the clamping part can compress the compression spring 14 to realize the axial expansion of the clamping part along the driving part. In the embodiment, the tightness of the compression spring 14 can also be adjusted by the adjusting screw 12, so as to adjust the tightness of the expansion of the clamping part and the driving part and the expansion allowance between the clamping part and the driving part. When the electric claw manipulator does not need the expansion allowance, the adjusting screw 12 can be adjusted to the top block abutting on the guide rod 13, at this time, the clamping part and the driving part will not have axial expansion.

[0037] Embodiment 2

[0038] The difference between the embodiment and embodiment 1 is that a window 16 is formed on the motor frame 10, the window 16 is aligned with the adjusting screw 12, the window 16 can observe the position of the adjusting screw 12, a scale mark 17 is arranged on the window 16, and the adjusting screw 12 is also provided with a circle of scale lines, the position of the adjusting screw 12 can be observed by the scale lines on the adjusting screw 12 and the scale mark 17 on the window 16.

[0039] The embodiment can quantitatively adjust the gap between the top block 15 and the guide rod 13 through the window 16 and the scale mark 17 on the window 16, so as to improve the adjustment accuracy of the clamping jaw device.

[0040] Embodiment 3

[0041] The difference between this embodiment and embodiment 1 is that at least one distance sensor 25 is further arranged in the motor frame 10, which can detect the real-time offset between the clamping part and the driving part.

[0042] In this embodiment, the offset position and offset amount of the clamping part relative to the driving part can be detected in real time by the distance sensor, and the operator can adjust it according to the real-time data, thereby improving the stability and safety of the entire device during operation.

[0043] In summary, the utility model discloses reasonable structure design, and the intermediate transmission mechanism of electric claw realizes transmission through worm and gear, simple structure, and worm and gear has self-locking function, does not need to increase brake, reduces the volume and manufacturing cost of electric claw. On the other hand, the clamping part and the driving part are movably connected in the utility model, and the clamping part can be axially telescopic along the driving part during use, greatly improves the working condition adaptability of the electric claw manipulator, can cope with various working conditions, improves the operation efficiency and reduces the operation cost.

Claims

1. A new type of floating parallel electric claw, characterized by: It comprises a clamping part and a driving part, wherein the clamping part is movably connected to the driving part.

2. A novel floating parallel electric claw according to claim 1, characterized in that: The clamping part comprises a clamping base (1), a slide rail (2) is fixedly provided in the middle of the clamping base (1), a first clamping claw (3) is provided on one side of the slide rail (2), and a second clamping claw (4) is provided on the other side, the first clamping claw (3) and the second clamping claw (4) can both slide parallel to the slide rail (2), and the bottoms of the first clamping claw (3) and the second clamping claw (4) are fixedly connected to a rack (5); The driving part includes an intermediate transmission part and a driving motor (6), and the intermediate transmission part includes a worm wheel (7), a worm (8) and a driving gear (9). The intermediate transmission part is installed in the clamping base (1), the driving motor (6) is fixedly installed on the motor frame (10), and the worm (8) is sleeved and installed on the output shaft (11) of the driving motor (6). A turbine (7) meshing with the worm (8) is respectively provided on both sides of the worm (8), and a driving gear (9) is fixedly provided on the end face of each turbine (7). The driving gear (9) is respectively meshed with the rack (5) at the bottom of the first clamping claw (3) and the second clamping claw (4). The driving gear (9) can drive the first clamping claw (3) and the second clamping claw (4) to move parallel to the slide rail (2) through the rack (5).

3. A novel floating parallel electric claw according to claim 2, characterized in that: The clamping part is connected to the driving part through a movable connection mechanism.

4. A novel floating parallel electric claw according to claim 3, characterized in that: The movable connection mechanism includes an adjusting bolt (12), a guide rod (13), a compression spring (14), and a top block (15); a mounting cavity is provided on the clamping base (1); the guide rod (13) is fixedly installed in the mounting cavity; the compression spring (14) is sleeved on the guide rod (13); a threaded hole aligned with the mounting cavity is provided on the motor frame (10); the adjusting bolt (12) is threadedly connected to the threaded hole; the top block (15) is arranged on the top of the adjusting bolt (12); and the compression spring (14) is connected to the top block (15) on the side facing the motor frame (10).

5. A novel floating parallel electric claw according to claim 4, characterized in that: The motor frame (10) is provided with a viewing window (16), the viewing window (16) is aligned with the adjusting bolt (12), and the position of the adjusting bolt (12) can be observed through the viewing window (16). A scale mark (17) is provided on the viewing window (16), and the adjusting bolt (12) is also provided with a circle of scale lines. The position of the adjusting bolt (12) can be observed through the scale lines on the adjusting bolt (12) and the scale marks (17) on the viewing window (16).

6. A novel floating parallel electric claw according to claim 5, characterized in that: At least one set of movable connection mechanisms is provided between the clamping part and the driving part.

7. A novel floating parallel electric claw according to claim 6, characterized in that: The clamping part and the driving part are provided with two sets of movable connection mechanisms, and the two sets of movable connection mechanisms are arranged diagonally.

8. A novel floating parallel electric claw according to any one of claims 1 to 7, characterized in that: The worm (8) is provided with a special-shaped circular hole (18), the output shaft (11) of the drive motor (6) is adapted to the special-shaped circular hole (18), the worm (8) is sleeved on the output shaft (11) of the drive motor (6) through the special-shaped circular hole (18), the output shaft (11) of the drive motor (6) can move axially along the special-shaped circular hole (18), and the output shaft (11) of the drive motor (6) can drive the worm (8) to rotate.

9. A novel floating parallel electric claw according to any one of claims 1 to 7, characterized in that: The first clamping claw (3) and the second clamping claw (4) both include a movable slider (19) and a clamping claw body (20), the clamping claw body (20) is fixedly arranged on the movable slider (19), a sliding cavity (21) is provided on the top of the clamping base (1), the slide rail (2) is fixedly installed in the middle of the sliding cavity (21), a side wall (22) is provided at both ends of the sliding cavity (21), a protruding guide rail (23) is provided on the side of the side wall (22) facing the slide rail (2), and a protruding guide rail (23) is also provided at both ends of the slide rail (2), and a sliding groove (24) adapted to the protruding guide rail (23) is provided at both ends of the movable slider (19), and the first clamping claw (3) and the second clamping claw (4) are both installed on the clamping base (1) through the adaptation of the sliding groove (24) and the protruding guide rail (23).

10. A novel floating parallel electric claw according to any one of claims 1 to 4, characterized in that: At least one distance sensor (25) is also provided in the motor frame (10), and the distance sensor (25) can detect the real-time offset between the clamping part and the driving part.

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