Electric grabbing system

Abstract

The utility model discloses an electric grabbing system which comprises a driving motor, a transmission gear box, a clamping arm and a cushion block, a gear set is arranged in the transmission gear box and comprises a first gear, a second gear, a third gear, a fourth gear and a fifth gear, the first gear is connected with an output shaft of the driving motor, and the second gear is connected with an output shaft of the clamping arm. The second gear is arranged between the first gear and the third gear and is meshed with the first gear and the third gear respectively, the fourth gear is meshed with the third gear, the fifth gear is meshed with the fourth gear, a rotating shaft is arranged at one end of the clamping arm, the other end of the clamping arm is a free end, and the clamping arm is connected with the rotating shaft. The rotating shaft is connected with a sixth gear, the sixth gear is meshed with the fifth gear, and the cushion block is installed on the portion, on one side of the clamping arm, of the transmission gear box. The clamping device has the advantages of being small in size, flexible to operate and control, accurate in information feedback, free of air pipe design, controllable and adjustable in clamping force and the like.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically an electric gripping system. Background Technology

[0002] With the advancement of Industry 4.0 and the popularization of intelligent manufacturing, PCB copper board gripping systems, as core components of automated production lines, will find wider application. They play a crucial role in industries such as computers, automotive electronics, new energy, medical devices, and aerospace. As the industry develops, technology advances, and breakthroughs, the types of PCBs are increasing, their functions are continuously improving, and their market share is gradually expanding.

[0003] Therefore, in the manufacturing process of PCB copper boards, the demand for gripping systems with more comprehensive functions and more precise volume control is increasing. Traditional PCB copper board gripping systems mostly use vacuum suction cups or grippers as end effectors, employing moving pickup modules and XY-axis floating modules to grip and transfer PCB copper boards. However, traditional PCB copper board gripping systems are facing challenges due to their large size, making them unusable in situations with limited operating space. Furthermore, the vacuum suction cups in traditional PCB copper board gripping systems require the use of air hoses. In situations where the end effector is far away, the length of the air hose is considerable, and the negative pressure generated by the vacuum generator gradually decreases with the length of the air hose, affecting the suction cup's performance. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides an electric gripping system with advantages such as small size, flexible operation, accurate information feedback, no air tube design, and controllable and adjustable gripping force.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An electric gripping system includes a drive motor, a transmission gearbox, a gripping arm, and a pad. The transmission gearbox contains a gear set, which includes a first gear, a second gear, a third gear, a fourth gear, and a fifth gear. The first gear is connected to the output shaft of the drive motor. The second gear is located between the first gear and the third gear and meshes with both gears. The fourth gear meshes with the third gear, and the fifth gear meshes with the fourth gear. One end of the gripping arm has a rotating shaft, and the other end is a free end. A sixth gear is connected to the rotating shaft and meshes with the fifth gear. The pad is mounted on the transmission gearbox on one side of the gripping arm.

[0007] As a further improvement, the second gear includes a large gear and a small gear located beside the large gear, the large gear meshing with the first gear and the small gear meshing with the third gear.

[0008] As a further improvement, the reduction ratio between the first gear and the second gear is 10 / 21, the reduction ratio between the second gear and the third gear is 11 / 22, the reduction ratio between the third gear and the fourth gear is 22 / 11, and the reduction ratio between the fourth gear and the fifth gear is 11 / 11.

[0009] As a further improvement, the transmission gearbox is designed to be L-shaped, with the first gear, second gear, third gear, fourth gear and fifth gear arranged in a roughly L-shape inside the transmission gearbox, such that the first gear is located in the horizontal part of the transmission gearbox and the fifth gear is located in the vertical part of the transmission gearbox.

[0010] As a further improvement, the shaft at one end of the clamping arm can be rotatably mounted on the horizontal part of the transmission gearbox, so that the sixth gear is located next to the fifth gear.

[0011] As a further improvement, the pad is provided on the side wall of the transverse portion of the transmission gearbox facing the longitudinal portion.

[0012] As a further improvement, the free end of the clamping arm is provided with a protrusion.

[0013] As a further improvement, an XYZ three-axis module is also included, which is fixedly connected to the transmission gearbox.

[0014] As a further improvement, a four-axis robot is also included, wherein the robotic arm of the four-axis robot is fixedly connected to the transmission gearbox.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects:

[0016] This utility model's electric gripping system uses a motor to drive the gripping arm to achieve the gripping function, avoiding the problem of poor suction cup performance caused by long air tube lengths. The end gripping arm is driven by a transmission gear set. The entire system is integrated with no excessive auxiliary parts, has a small size, and is suitable for working conditions with limited operating space. The system itself uses gear transmission, which is highly sensitive and has a long service life. By adjusting the gear reduction ratio, different clamping forces and closing speeds of the end gripping arm can be achieved. Attached Figure Description

[0017] Figure 1 This is a cross-sectional view of an electric gripping system according to an embodiment of the present utility model;

[0018] Figure 2 This is a perspective view of the open gripping arm of an electric gripping system according to an embodiment of the present utility model.

[0019] Figure 3 This is a perspective view of the gripper arm in the intermediate state of an embodiment of the electric gripping system of the present invention.

[0020] Figure 4 This is a perspective view of the closed state of the gripper arm of an electric gripping system according to an embodiment of the present invention.

[0021] Figure label:

[0022] 1. Drive motor, 2. Transmission gearbox, 3. Clamping arm, 4. Pad block, 11. First gear, 12. Second gear, 13. Third gear, 14. Fourth gear, 15. Fifth gear, 16. Sixth gear, 31. Protrusion, 121. Large gear, 122. Small gear. Detailed Implementation

[0023] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0024] In the description of this utility model, it should be understood that if terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0026] like Figure 1-4 As shown, an electric gripping system includes a drive motor 1, a transmission gearbox 2, a gripping arm 3, and a pad 4. The transmission gearbox 2 is equipped with a gear set, which includes a first gear 11, a second gear 12, a third gear 13, a fourth gear 14, and a fifth gear 15. The first gear 11 is connected to the output shaft of the drive motor 1. The second gear 12 is located between the first gear 11 and the third gear 13 and meshes with both gears. The fourth gear 14 meshes with the third gear 13, and the fifth gear 15 meshes with the fourth gear 14. One end of the gripping arm 3 is provided with a rotating shaft, and the other end is a free end. A sixth gear 16 is connected to the rotating shaft and meshes with the fifth gear 15. The pad 4 is installed on the transmission gearbox 2 on one side of the gripping arm 3. This utility model's electric gripping system uses a motor to drive the gripping arm 3 to achieve the gripping function, avoiding the problem of poor suction cup performance caused by long air tube length; the end gripping arm 3 is driven by a transmission gear set, the entire system is integrated with no excessive auxiliary parts, small in size, and suitable for working conditions with limited operating space; the system itself is highly sensitive and has a long service life due to gear transmission, and different clamping forces and closing speeds of the end gripping arm can be achieved by adjusting the gear reduction ratio.

[0027] The second gear 12 includes a large gear 121 and a small gear 122 located beside the large gear 121. The large gear 121 meshes with the first gear 11, and the small gear 122 meshes with the third gear 13. In some specific embodiments, the reduction ratio between the first gear 11 and the second gear 12 is 10 / 21, the reduction ratio between the second gear 12 and the third gear 13 is 11 / 22, the reduction ratio between the third gear 13 and the fourth gear 14 is 22 / 11, and the reduction ratio between the fourth gear 14 and the fifth gear 15 is 11 / 11.

[0028] During operation, the drive motor 1 outputs torque, driving the first gear 11 to rotate. The first gear 11 drives the second gear 12. Since the second gear 12 has two parts, a large gear 121 and a small gear 122, and the large gear 121 and small gear 122 are coaxial, meaning that the large and small gears 122 of the second gear 12 rotate at the same speed, the speed of the first gear 11 can be transmitted to the third gear 13 through two reductions. In this embodiment, the reduction ratio between the fifth gear 15 and the sixth gear 16 is also 11 / 11, and both rotate at the same speed. The clamping arm 3 is coaxial with the sixth gear 16 and also rotates at the same speed. Therefore, the fourth gear 14, the fifth gear 15, and the sixth gear 16 rotate at the same speed. Assuming the first gear 11 outputs a speed of 3000 r / min, through gear reduction, the second gear 12 has a speed of 3000 * 10 / 21 = 1428 r / min, the third gear 13 has a speed of 1428 * 0.5 = 714 r / min, the fourth gear 14 has a speed of 714 * 2 = 1428 r / min, the fifth gear 15 has a speed of 1428 r / min, and the sixth gear 16 has a speed of 1428 r / min. Thus, the speed of the end clamping arm 3 is equal to that of the sixth gear 16 and is 1428 r / min.

[0029] Specifically, the transmission gearbox 2 is L-shaped, with the first gear 11, second gear 12, third gear 13, fourth gear 14, and fifth gear 15 arranged approximately in an L-shape within the transmission gearbox 2, such that the first gear 11 is located in the horizontal section of the transmission gearbox 2, and the fifth gear 15 is located in the vertical section of the transmission gearbox 2. The shaft at one end of the clamping arm 3 is rotatably mounted on the horizontal section of the transmission gearbox 2, with the sixth gear 16 located beside the fifth gear 15. The pad 4 is located on the side wall of the horizontal section of the transmission gearbox 2 facing the vertical section. The free end of the clamping arm 3 has a protrusion 31. By designing the transmission gearbox 2 as L-shaped, space is utilized more efficiently, resulting in a more compact and refined design of the entire electric gripping system.

[0030] In some embodiments, an XYZ three-axis module is also included, which is fixedly connected to the transmission gearbox 2. The XYZ three-axis module refers to a system with XYZ three-axis motion capabilities. Connecting the transmission gearbox 2 to the XYZ three-axis module, and using it in conjunction with the XYZ axis module, enables the functions of PCB copper board picking, conveying, and stacking.

[0031] Furthermore, the aforementioned electric gripping system can also be used in conjunction with a four-axis robot, meaning it includes a four-axis robot, which is a robot with four degrees of freedom. The robotic arm of the four-axis robot is fixedly connected to the transmission gearbox 2. Compared to the XYZ three-axis module, the four-axis robot has one more degree of freedom, thus offering greater operational flexibility and a wider range of applications.

[0032] In summary, this utility model has the advantages of small size, flexible operation, accurate information feedback, tubeless design, and controllable and adjustable clamping force.

[0033] It should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An electric gripping system, characterized in that, The device includes a drive motor, a transmission gearbox, a clamping arm, and a pad. The transmission gearbox contains a gear set, which includes a first gear, a second gear, a third gear, a fourth gear, and a fifth gear. The first gear is connected to the output shaft of the drive motor. The second gear is located between the first gear and the third gear and meshes with both gears. The fourth gear meshes with the third gear, and the fifth gear meshes with the fourth gear. One end of the clamping arm has a rotating shaft, and the other end is a free end. A sixth gear is connected to the rotating shaft and meshes with the fifth gear. The pad is installed on the transmission gearbox on one side of the clamping arm.

2. The electric gripping system according to claim 1, characterized in that, The second gear includes a large gear and a small gear located next to the large gear. The large gear meshes with the first gear, and the small gear meshes with the third gear.

3. The electric gripping system according to claim 2, characterized in that, The reduction ratio between the first gear and the second gear is 10 / 21, the reduction ratio between the second gear and the third gear is 11 / 22, the reduction ratio between the third gear and the fourth gear is 22 / 11, and the reduction ratio between the fourth gear and the fifth gear is 11 / 11.

4. The electric gripping system according to claim 1, characterized in that, The transmission gearbox is L-shaped, and the first gear, second gear, third gear, fourth gear and fifth gear are arranged in an approximately L-shape inside the transmission gearbox, with the first gear located in the horizontal part of the transmission gearbox and the fifth gear located in the vertical part of the transmission gearbox.

5. The electric gripping system according to claim 4, characterized in that, The shaft at one end of the clamping arm is rotatably mounted on the horizontal part of the transmission gearbox, so that the sixth gear is located next to the fifth gear.

6. The electric gripping system according to claim 5, characterized in that, The pad is located on the side wall of the horizontal section of the transmission gearbox facing the vertical section.

7. The electric gripping system according to claim 6, characterized in that, The free end of the clamping arm has a protrusion.

8. An electric gripping system according to any one of claims 1-7, characterized in that, It also includes an XYZ three-axis module, which is fixedly connected to the transmission gearbox.

9. An electric gripping system according to any one of claims 1-7, characterized in that, It also includes a four-axis robot, whose robotic arm is fixedly connected to the transmission gearbox.

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