Novel rotating electric claw

Abstract

The utility model discloses a novel rotating electric claw which comprises a clamping part, a driving part and a middle transmission part, the clamping part comprises a clamping base, a first clamping claw and a second clamping claw, the first clamping claw and the second clamping claw are movably connected to the two sides of the clamping base, and the middle transmission part comprises a worm, a worm wheel and a driving gear; the middle transmission part can drive the first clamping jaw and the second clamping jaw to move in the axial direction of the clamping base. The driving part comprises a driving motor and a motor base, the driving motor is installed in the motor base, the worm is connected to an output shaft of the driving motor in a sleeved mode, and the output shaft of the driving motor can drive the worm to rotate. The device is reasonable in structural design, due to the fact that the turbine worm structure has the self-locking function, a motor brake device does not need to be additionally arranged, the manufacturing cost is low, meanwhile, after the device is clamped, the driving motor does not need to work continuously, and the service life of the driving motor is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transmission technology, and in particular to a novel rotary electric gripper. Background Technology

[0002] An electric gripper robot is an automated device that uses an electric motor to perform gripping operations. In addition to the motor, an electric gripper robot also includes grippers, intermediate transmission components, and other parts.

[0003] Existing rotary grippers use a fixed motor to drive another motor for rotation, with a clamping mechanism added to the rotating motor to achieve both rotation and clamping. However, the rotary motor is powered by an electric slip ring, making it difficult and costly to implement a self-locking function by adding a brake after the rotary motor. Currently, it is not possible to achieve a self-locking function for rotary grippers. Utility Model Content

[0004] To address the problems mentioned in the background section, this utility model discloses a novel rotary electric gripper that solves the problem that existing rotary electric grippers lack a self-locking function, require the addition of a braking device after the rotary motor, and thus increase the device size and manufacturing cost.

[0005] A novel rotary electric gripper includes a gripping part, a driving part, and an intermediate transmission part;

[0006] The clamping part includes a clamping base, a first clamping jaw, and a second clamping jaw. The first clamping jaw and the second clamping jaw are movably connected to both sides of the clamping base. The first clamping jaw and the second clamping jaw can move along the axial direction of the clamping base. A rack is fixedly connected to the bottom of each of the first clamping jaws and the second clamping jaw.

[0007] The intermediate transmission part includes a worm, a worm wheel, and a drive gear. There are two worm wheels, which are respectively disposed on both sides of the worm and mesh with the worm. A drive gear is fixedly disposed on one end face of each of the two worm wheels. The worm wheels and drive gears are installed in the clamping base. The two drive gears mesh with the racks at the bottom of the first and second grippers, respectively.

[0008] The driving component includes a drive motor, a rotary motor, and a motor base. Both the drive motor and the rotary motor are mounted inside the motor base. The rotary motor is connected to a rotary drive block, which drives the rotary drive block to rotate. The upper surface of the rotary drive block protrudes from the motor base. The clamping base is fixedly mounted on the upper surface of the rotary drive block. The worm gear passes through the rotary drive block and is sleeved on the output shaft of the drive motor, which drives the worm gear to rotate.

[0009] Furthermore, a sliding cavity is provided on the upper surface of the clamping part, a side plate is provided on both sides of the sliding cavity, a slide rail is provided in the middle of the sliding cavity, a slide rail protrusion is provided on the side of the side plate facing the slide rail, and a slide rail protrusion is also provided on both sides of the upper end of the slide rail. The first gripper and the second gripper are provided with grooves on both sides that are adapted to the slide rail protrusions on the side plate and the slide rail. The first gripper and the second gripper are installed on the clamping base through the adaptation of the grooves and the slide rail protrusions.

[0010] Furthermore, the clamping base has an installation cavity that communicates with the sliding cavity. The two worm gears and the drive gear are installed in the installation cavity. The worm extends into the installation cavity. The two worm gears are located on both sides of the worm and both worm gears mesh with the worm. The two drive gears mesh with the racks at the bottom of the first and second jaws, respectively.

[0011] Furthermore, the slide rail in the middle of the sliding cavity passes through the mounting cavity, and two arc-shaped clearance grooves are formed on the slide rail, which are respectively aligned with the drive gear.

[0012] Furthermore, both worm gears and drive gears are mounted in the mounting cavity via a rotating shaft, which passes through the mounting cavity and is fixed to the clamping base.

[0013] Furthermore, the worm gear and the drive gear are integrally formed.

[0014] Furthermore, both the first gripper and the second gripper include a gripper body and a movable fixing part. The gripper body is fixed to the movable fixing part, and the movable fixing part is fixed to the rack. The length of the movable fixing part is greater than the length of the gripper body, and the length of the movable fixing part is equal to the length of the rack.

[0015] Furthermore, the drive motor is one of a DC motor, a stepper motor, or a servo motor.

[0016] Furthermore, the gripper body, the movable fixing part, and the rack are integrally formed.

[0017] The present invention has a reasonable structural design. Since the worm gear structure itself has a self-locking function, there is no need to add an additional motor brake device, resulting in low manufacturing cost. At the same time, after clamping, the drive motor does not need to work continuously, which improves the service life of the drive motor. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the device of this utility model.

[0020] Figure 2 This is the front view of the device of this utility model.

[0021] Figure 3 This is an exploded view of the structure of the device of this utility model.

[0022] Figure 4 This is a cross-sectional structural diagram of the device of this utility model.

[0023] Figure 5 This is a three-dimensional structural diagram of the intermediate transmission part in the device of this utility model.

[0024] Figure 6 This is an exploded view of the intermediate transmission part in the device of this utility model.

[0025] In the figure: 1. Clamping base; 2. First gripper; 3. Second gripper; 4. Rack; 5. Worm; 6. Worm wheel; 7. Drive gear; 8. Motor base; 9. Sliding cavity; 10. Side plate; 11. Slide rail; 12. Slide rail protrusion; 13. Slide groove; 14. Mounting cavity; 15. Clearance groove; 16. Rotating shaft; 17. Gripper body; 18. Moving and fixing part; 19. Drive motor; 20. Rotary motor; 21. Rotary drive block. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below to make the advantages and features of this utility model more easily understood by those skilled in the art, thereby providing a clearer definition of the protection scope of this utility model. The accompanying drawings are part of the disclosure of this utility model and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should be able to understand other possible implementation methods and the advantages of this utility model.

[0027] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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. Therefore, they should not be construed as limitations on this utility model.

[0029] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] Example 1

[0031] See attached document Figure 1-6This utility model provides a novel rotary electric gripper, comprising a clamping part, a driving part, and an intermediate transmission part. The clamping part includes a clamping base 1, a first gripper 2, and a second gripper 3. The first gripper 2 and the second gripper 3 are movably connected to both sides of the clamping base 1 and can move axially along the clamping base 1. A rack 4 is fixedly connected to the bottom of each of the first gripper 2 and the second gripper 3. The intermediate transmission part includes a worm 5, a worm wheel 6, and a drive gear 7. There are two worm wheels 6, which are respectively disposed on both sides of the worm 5 and mesh with the worm 5. A drive gear 7 is fixedly disposed on one end face of each of the two worm wheels 6. Wheel 7 is installed inside the clamping base 1; the two drive gears 7 respectively mesh with the rack 4 at the bottom of the first gripper 2 and the second gripper 3; the drive part includes a drive motor 19, a rotary motor 20 and a motor base 8; the drive motor 19 and the rotary motor 20 are both installed inside the motor base 8, the rotary motor 20 is connected to a rotary drive block 21, the rotary motor 20 can drive the rotary drive block 21 to rotate, the upper end face of the rotary drive block 21 protrudes from the motor base 8; the clamping base 1 is fixedly installed on the upper end face of the rotary drive block 21; the worm 5 passes through the rotary drive block 21 and is sleeved on the output shaft of the drive motor 19, the output shaft of the drive motor 19 can drive the worm 5 to rotate. A sliding cavity 9 is provided on the upper surface of the clamping part. A side plate 10 is provided on both sides of the sliding cavity 9. A slide rail 11 is provided in the middle of the sliding cavity 9. A slide rail protrusion 12 is provided on the side of the side plate 10 facing the slide rail 11. A slide rail protrusion 12 is also provided on both sides of the upper end of the slide rail 11. The first gripper 2 and the second gripper 3 are provided with grooves 13 on both sides that are adapted to the slide rail protrusions 12 on the side plate 10 and the slide rail 11. The first gripper 2 and the second gripper 3 are installed on the clamping base 1 through the adaptation of the grooves 13 and the slide rail protrusions 12. The clamping base 1 has a mounting cavity 14 that communicates with the sliding cavity 9. Two worm gears 6 and a drive gear 7 are installed inside the mounting cavity 14. The worm 5 extends into the mounting cavity 14, with the two worm gears 6 located on either side of the worm 5 and meshing with it. The two drive gears 7 mesh with the racks 4 at the bottom of the first gripper 2 and the second gripper 3, respectively. A slide rail 11 in the middle of the sliding cavity 9 passes through the mounting cavity 14. Two arc-shaped clearance grooves 15 are provided on the slide rail 11, and these grooves are aligned with the drive gears 7. Both worm gears 6 and the drive gears 7 are mounted inside the mounting cavity 14 via a rotating shaft 16, which passes through the mounting cavity 14 and is fixed to the clamping base 1.The worm gear 6 and the drive gear 7 are integrally formed. The drive motor 19 is one of a DC motor, a stepper motor, or a servo motor.

[0032] The working process of this embodiment is as follows: When clamping is required, the drive motor 19 rotates forward. At this time, the output shaft of the drive motor 19 rotates forward, driving the worm 5 to rotate. The worm 5 transmits the motion to the worm wheel 6, which drives the drive gear 7 to rotate. When the drive gear 7 rotates, it drives the racks 4 at the bottom of the first gripper 2 and the second gripper 3, which mesh with it, to move parallel to each other along the slide rail 11, causing the first gripper 2 and the second gripper 3 to move closer to each other until the clamped item is clamped. When the clamping operation is completed and it is necessary to release, the drive motor 19 simply reverses. At this time, the output shaft of the drive motor 19 reverses, driving the worm 5 to rotate. The worm 5 transmits the motion to the worm wheel 6, which drives the drive gear 7 to rotate. When the drive gear 7 rotates, it drives the racks 4 at the bottom of the first gripper 2 and the second gripper 3, which mesh with it, to move parallel to each other along the slide rail 11, causing the first gripper 2 and the second gripper 3 to move away from each other, thus releasing the clamped item. The reduction ratio of the entire gripper is achieved by adjusting the reduction ratio between the worm gear and the gear rack.

[0033] This device can also drive the entire clamping part to rotate via a rotary motor 20. This allows for adjustment of the clamping angle and is suitable for applications requiring rotational clamping. When adjusting the angle of the clamping part, the rotary motor 20 can be rotated to adjust it to a suitable angle. When rotational clamping is required, the rotary motor 20 can be turned on to continuously drive the entire clamping part to rotate.

[0034] Example 2

[0035] The difference between this embodiment and embodiment 1 is that: both the first gripper 2 and the second gripper 3 include a gripper body 17 and a movable fixing part 18. The gripper body 17 is fixed to the movable fixing part 18, and the movable fixing part 18 is fixed to the rack 4. The length of the movable fixing part 18 is greater than the length of the gripper body 17, and the length of the movable fixing part 18 is equal to the length of the rack 4. The gripper body 17, the movable fixing part 18, and the rack 4 are integrally formed.

[0036] In this embodiment, the length of the gripper body 17 is designed to be less than that of the movable fixing part 18, and the length of the movable fixing part 18 is designed to be equal to that of the rack 4. When the drive gear 7 drives the rack 4 to move axially along the slide rail 11, it can drive the movable fixing part 18 to move parallel, thereby driving the gripper body 17 to move, realizing the clamping and loosening of the electric gripper. In this embodiment, since the length of the movable fixing part 18 is the same as the length of the rack 4, the stability of the movable fixing part 18 during the movement of the rack 4 can be guaranteed, thereby ensuring the stability of the gripper body 17 during the movement, and ensuring the stability of the entire electric gripper device during operation.

[0037] In summary, the present invention has a reasonable structural design. Since the worm gear structure itself has a self-locking function, there is no need to add an additional motor brake device, resulting in low manufacturing cost. At the same time, after clamping, the drive motor 19 no longer needs to work continuously, which improves the service life of the drive motor 19.

Claims

1. A novel rotary electric gripper, characterized in that, Includes clamping parts, driving parts, and intermediate transmission parts; The clamping part includes a clamping base (1), a first clamping jaw (2) and a second clamping jaw (3). The first clamping jaw (2) and the second clamping jaw (3) are movably connected to both sides of the clamping base (1). The first clamping jaw (2) and the second clamping jaw (3) can move along the axial direction of the clamping base (1). A rack (4) is fixedly connected to the bottom of the first clamping jaw (2) and the second clamping jaw (3). The intermediate transmission part includes a worm (5), a worm wheel (6), and a drive gear (7). There are two worm wheels (6), which are respectively disposed on both sides of the worm (5). Both worm wheels (6) mesh with the worm (5). A drive gear (7) is fixedly disposed on one end face of each of the two worm wheels (6). The worm wheels (6) and the drive gear (7) are installed in the clamping base (1). The two drive gears (7) mesh with the racks (4) at the bottom of the first jaw (2) and the second jaw (3), respectively. The driving part includes a drive motor (19), a rotary motor (20), and a motor base (8); the drive motor (19) and the rotary motor (20) are both installed in the motor base (8), the rotary motor (20) is connected to a rotary drive block (21), the rotary motor (20) can drive the rotary drive block (21) to rotate, and the upper end face of the rotary drive block (21) protrudes from the motor base (8); the clamping base (1) is fixedly installed on the upper end face of the rotary drive block (21); the worm (5) is connected to the output shaft of the drive motor (19), and the output shaft of the drive motor (19) can drive the worm (5) to rotate.

2. The novel rotary electric gripper according to claim 1, characterized in that, A sliding cavity (9) is provided on the upper surface of the clamping part. A side plate (10) is provided on both sides of the sliding cavity (9). A slide rail (11) is provided in the middle of the sliding cavity (9). A slide rail protrusion (12) is provided on the side of the side plate (10) facing the slide rail (11). A slide rail protrusion (12) is also provided on both sides of the upper end of the slide rail (11). The first claw (2) and the second claw (3) are provided with sliding grooves (13) on both sides that are adapted to the slide rail protrusions (12) on the side plate (10) and the slide rail protrusions (12) on the slide rail (11). The first claw (2) and the second claw (3) are installed on the clamping base (1) through the adaptation of the sliding grooves (13) and the slide rail protrusions (12).

3. A novel rotary electric gripper according to claim 2, characterized in that, The clamping base (1) has an installation cavity (14) that communicates with the sliding cavity (9). The two worm gears (6) and the drive gear (7) are installed in the installation cavity (14). The worm (5) extends into the installation cavity (14). The two worm gears (6) are located on both sides of the worm (5). Both worm gears (6) mesh with the worm (5). The two drive gears (7) mesh with the racks (4) at the bottom of the first jaw (2) and the second jaw (3), respectively.

4. A novel rotary electric gripper according to claim 3, characterized in that, The slide rail (11) in the middle of the sliding cavity (9) passes through the mounting cavity (14). Two arc-shaped clearance grooves (15) are provided on the slide rail (11), and the two clearance grooves (15) are respectively aligned with the drive gear (7).

5. A novel rotary electric gripper according to claim 4, characterized in that, The two worm gears (6) and the drive gear (7) are all installed in the mounting cavity (14) through a rotating shaft (16), and the rotating shaft (16) passes through the mounting cavity (14) and is fixed to the clamping base (1).

6. A novel rotary electric gripper according to claim 5, characterized in that, The worm gear (6) and the drive gear (7) are integrally formed.

7. A novel rotary electric gripper according to any one of claims 1-6, characterized in that, Both the first gripper (2) and the second gripper (3) include a gripper body (17) and a movable fixing part (18). The gripper body (17) is fixed on the movable fixing part (18), and the movable fixing part (18) is fixed on the rack (4). The length of the movable fixing part (18) is greater than the length of the gripper body (17), and the length of the movable fixing part (18) is equal to the length of the rack (4).

8. A novel rotary electric gripper according to any one of claims 1-6, characterized in that, The drive motor (19) is one of a DC motor, a stepper motor, or a servo motor.

9. A novel rotary electric gripper according to claim 7, characterized in that, The gripper body (17), the movable fixing part (18), and the rack (4) are integrally formed.

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