Magnetic drive type end effector

Abstract

The application discloses a magnetic transmission type terminal mechanical claw and belongs to the field of mechanical claws. The mechanical claw comprises a driven member shell and a driving member shell clamped at one end of the driven member shell. A driving mechanism is arranged in the driving member shell, and a driven clamping claw mechanism is arranged in the driven member shell. A magnetic transmission cavity is formed in the driven member shell. The driving mechanism comprises a motor gear rotatably arranged on the driving member shell away from one end of the driven member shell and a main transmission disc gear arranged in mesh with the motor gear. A transmission shaft extending towards the magnetic transmission cavity is inserted into the center of the main transmission disc gear. A main transmission magnetic disc is fixedly arranged on one end of the transmission shaft extending into the magnetic transmission cavity. The mechanical claw can be acted on by a reaction force on the driven magnetic disc. When the driven magnetic disc reaches a critical torque, the driven magnetic disc will not rotate any more, so that the object is protected from being damaged and the situation that the object cannot be grabbed due to too fast rotation is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical claws, in particular to a magnetic transmission type end mechanical claw. BACKGROUND

[0002] A mechanical claw is a mechanical device controlled by mechanical means, which is widely used in industries, medical treatment, logistics and other fields. The mechanical claw is usually composed of the following key components: a mechanical arm for connecting and supporting a grabbing tool to realize the carrying and moving of objects. A camera (equipped in some models): for real-time monitoring and identifying the grabbed object to improve the accuracy and efficiency of grabbing. A controller: issuing instructions to control the overall operation of the mechanical claw. A motor: providing power to drive the movement of the mechanical arm and the grabbing tool. Grabbing tool: the part directly contacting the grabbed object, usually made of metal or other hard materials, with sufficient strength and wear resistance.

[0003] The existing mechanical claw usually adopts the mode of directly pushing by a motor or a cylinder rod to realize clamping, and can only ensure that the object is not damaged by presetting control values when touching the object, which has certain disadvantages.

[0004] Therefore, the application provides a magnetic transmission type end mechanical claw to solve the above problems. CONTENT OF THE INVENTION

[0005] The application provides a magnetic transmission type end mechanical claw, which aims to solve the problems that the existing mechanical claw usually adopts the mode of directly pushing by a motor or a cylinder rod to realize clamping, and can only ensure that the object is not damaged by presetting control values when touching the object, which has certain disadvantages and the like.

[0006] To achieve the above purpose, the application provides the following technical scheme: a magnetic transmission type end mechanical claw, comprising a driven part shell and a driving part shell clamped at one end of the driven part shell, a driving mechanism is installed in the driving part shell, and a driven claw mechanism is installed in the driven part shell:

[0007] A magnetic transmission cavity is formed in the driven part shell;

[0008] The driving mechanism comprises a motor gear rotatably installed on the driving part shell away from one end of the driven part shell, and a main transmission disc gear meshed with the motor gear, a transmission shaft extending towards the magnetic transmission cavity is inserted at the center of the main transmission disc gear, and a main transmission magnetic disc is fixedly installed at the end head of one end of the transmission shaft extending in the magnetic transmission cavity;

[0009] The driven jaw mechanism comprises a driven magnetic disk rotatably installed in the magnetic transmission cavity and arranged opposite to the main transmission magnetic disk, a driven shaft fixedly installed at the center of the driven magnetic disk and extending towards and rotatably connected to the driven part shell away from the driving part shell, two driven gears rotatably connected to the driven part shell and meshed on both sides of the driven shaft, two pinions fixedly installed at the center of the driven gears and smaller than the driven gears, two pinion gears rotatably connected to the driven part shell and symmetrically arranged in the driven part shell and meshed on the pinions, and two racks symmetrically arranged on the driven part shell away from the driving part shell and meshed on the pinion gears, and the clamping jaws are fixedly installed on the racks and extend outside the driven part shell. In this way, when clamping an object, the motor output end is connected to the motor gear to drive the main transmission disk gear to rotate, the transmission shaft is driven to rotate, the main transmission magnetic disk is driven to rotate by the transmission shaft, the main transmission magnetic disk and the driven magnetic disk form magnetic transmission to drive the driven shaft to rotate, the driven shaft drives the two driven gears to rotate through the spiral teeth formed in the driven shaft, the two driven gears drive the pinions to rotate, thereby driving the two pinion gears to rotate, the two pinion gears drive the racks to move towards each other or away from each other, the clamping jaws are closed and opened, and the clamping speed can depend on the speed of the motor. When the motor rotates too fast, the object is clamped, and the motor is still rotating, the reaction force can be applied to the driven magnetic disk, and the driven magnetic disk will not rotate when reaching the critical torque, thereby protecting the object from being damaged and avoiding the situation that the object cannot be clamped due to too fast rotation.

[0010] Preferably, in order to adjust the torque, a shaft sleeve is sleeved on the transmission shaft, an adjusting tooth groove is formed in the shaft sleeve, and a rudder gear fixedly connected to the rudder output shaft is meshed in the adjusting tooth groove. It is more flexible and practical.

[0011] Preferably, in order to drive the rudder gear, a rudder mounting groove for mounting the rudder is formed in one end of the driving part shell close to the main transmission disk gear. The rudder gear is driven to rotate.

[0012] Preferably, in order to fix the neodymium magnets, a plurality of mounting grooves for mounting the neodymium magnet blocks are formed in the main transmission magnetic disk and the driven magnetic disk and uniformly distributed in the circumferential direction. The neodymium magnets are placed on the large opening side, and the neodymium magnets are pushed out on the small opening side, so as to be disassembled and assembled.

[0013] Preferably, in order to stabilize the sliding, a sliding groove is formed in the rack, and a sliding rail fixedly installed on the driven part shell is matched with the sliding groove. Thus, stable horizontal opening and closing displacement is achieved, and clamping stability is ensured.

[0014] Preferably, in order to fix, the driven member shell and the driving member shell are both provided in a split type, and a plurality of upper connecting holes and lower connecting holes adapted to the upper connecting holes are arranged on the driven member shell and the driving member shell. The fixing is completed by connecting the upper connecting holes and the lower connecting holes by bolts, and the maintenance is facilitated.

[0015] Preferably, in order to fix, the driving member shell is provided with a buckle groove at one end adjacent to the driven member shell, and the driven member shell is fixedly provided with a clamping convex adapted to the buckle groove at one end adjacent to the driving member shell. The disassembly and maintenance are facilitated.

[0016] The mechanical claw uses the motor output end to connect the motor gear to drive the main transmission disc gear to rotate, so that the transmission shaft rotates, the transmission shaft drives the main transmission magnetic disc to rotate, the main transmission magnetic disc and the driven magnetic disc form magnetic transmission to drive the driven shaft to rotate, the driven shaft drives the two driven gears to rotate through the spiral teeth arranged thereon, the two driven gears drive the auxiliary gears thereon to rotate, so that the two pinions rotate, the two pinions drive the racks to move towards each other or in opposite directions, the closing and opening of the clamping jaw are realized, and the speed of grabbing can depend on the speed of the motor. When the motor rotates too fast, the object is grabbed, and the motor is still rotating. The driven magnetic disc reaches the critical torque and will no longer rotate, which not only protects the object from being damaged by grabbing but also avoids the situation that the object cannot be grabbed due to too fast rotation.

[0017] The mechanical claw, the rudder can drive the adjusting tooth groove through the rudder gear to drive the shaft sleeve to make horizontal motion to adjust the distance between the main transmission magnetic disc and the driven magnetic disc, so as to adjust the torque of the transmission. When grabbing things, the greater the torque is, the greater the clamping force is. Compared with other mechanical claws, only the motor is designed with an algorithm, and the torque cannot be started to solve the problem, which is more flexible and practical. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a front structure schematic diagram of the magnetic transmission type end mechanical claw.

[0019] Figure 2 It is a back structure schematic diagram of the magnetic transmission type end mechanical claw.

[0020] Figure 3 It is an internal structure schematic diagram of the magnetic transmission type end mechanical claw.

[0021] Figure 4 It is an internal structure schematic diagram of the magnetic transmission type end mechanical claw.

[0022] Figure 5 It is a cross-sectional structure schematic diagram of the magnetic transmission type end mechanical claw.

[0023] Figure 6 It is a cross-sectional structure schematic diagram of the magnetic transmission type end mechanical claw.

[0024] In the drawings:

[0025] 1, follower housing; 11, upper connecting hole; 12, lower connecting hole; 13, magnetic transmission cavity; 14, slide rail; 2, driving member housing; 21, buckle groove; 22, clamping convex; 3, driving mechanism; 31, motor gear; 32, main transmission disc gear; 33, transmission shaft; 34, shaft sleeve; 35, adjusting tooth groove; 36, steering gear gear; 37, steering gear mounting groove; 38, main transmission magnetic disc; 39, mounting groove; 4, driven clamping jaw mechanism; 41, driven magnetic disc; 42, driven shaft; 43, driven gear; 44, auxiliary gear; 45, pinion; 46, rack; 47, clamping jaw; 48, sliding groove. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] Embodiment 1

[0028] The present embodiment provides a magnetic transmission type end mechanical claw, as shown in the figure, the mechanical claw includes a follower housing 1 and a driving member housing 2 clamped at one end of the follower housing 1, a driving mechanism 3 is installed in the driving member housing 2, and a driven clamping jaw mechanism 4 is installed in the follower housing 1: Figures 1-6

[0029] A magnetic transmission cavity 13 is formed on the follower housing 1;

[0030] The driving mechanism 3 includes a motor gear 31 rotatably installed on the driving member housing 2 away from one end of the follower housing 1 and a main transmission disc gear 32 arranged in mesh with the motor gear 31, a transmission shaft 33 extending towards the magnetic transmission cavity 13 is inserted at the center of the main transmission disc gear 32, and a main transmission magnetic disc 38 is fixedly installed at one end of the transmission shaft 33 extending in the magnetic transmission cavity 13;

[0031] ​The driven jaw mechanism 4 comprises a driven magnetic disk 41 rotatably installed in the magnetic transmission cavity 13 opposite to the main transmission magnetic disk 38, and a driven shaft 42 is fixedly installed at the center of the driven magnetic disk 41 and extends away from the driven part housing 1 and is rotatably connected to the driven part housing 1, two driven gears 43 symmetrically arranged in the driven part housing 1 are rotatably connected to the driven part housing 1, and the two driven gears 43 are rotatably connected to the driven shaft 42, two pinions 44 are fixedly installed at the center of the two driven gears 43, two pinion gears 45 symmetrically arranged in the driven part housing 1 are rotatably connected to the driven part housing 1, and the two pinion gears 45 are rotatably connected to the two pinions 44, two racks 46 symmetrically arranged on the driven part housing 1 away from the driving part housing 2 are rotatably connected to the two pinion gears 45, and the two racks 46 are fixedly installed on the driven part housing 1 and extend outside the driven part housing 1 to be provided with a jaw 47.

[0032] In use, the motor output end is connected to the motor gear 31 to drive the main transmission disk gear 32 to rotate, the transmission shaft 33 is driven to rotate, the main transmission magnetic disk 38 is driven to rotate, the main transmission magnetic disk 38 and the driven magnetic disk 41 form magnetic transmission, the driven shaft 42 is driven to rotate, the driven shaft 42 drives the two driven gears 43 to rotate through the spiral teeth formed therein, the two driven gears 43 drive the pinions 44 thereon to rotate, thereby driving the two pinion gears 45 to rotate, the two pinion gears 45 drive the racks 46 to move towards each other or away from each other, and the closing and opening of the jaw 47 is realized, and the speed of grabbing can depend on the speed of the motor. When the motor rotates too fast, the object is grabbed, and the motor is still rotating, the reaction force can act on the driven magnetic disk 41, and the driven magnetic disk 41 will not rotate when reaching the critical torque, thereby protecting the object from being damaged and avoiding the situation that the object cannot be grabbed due to too fast rotation.

[0033] Specifically, the transmission shaft 33 is sleeved with a shaft sleeve 34, the shaft sleeve 34 is provided with an adjusting tooth groove 35, and the adjusting tooth groove 35 is rotatably connected with a rudder gear 36 fixedly connected with the output shaft of the rudder. In use, the rudder can drive the adjusting tooth groove 35 through the rudder gear 36 to drive the shaft sleeve 34 to move horizontally to adjust the distance between the main transmission magnetic disk 38 and the driven magnetic disk 41, thereby adjusting the torque of the transmission, and when grabbing something, the greater the torque, the greater the grabbing force. Compared with other mechanical claws, only the motor is designed with an algorithm, and the torque cannot be used to solve the problem, which is more flexible and practical.

[0034] More specifically, the driving part housing 2 is provided with a rudder mounting groove 37 near one end of the main transmission disk gear 32 for mounting the rudder. In use, the rudder is fixed in the rudder mounting groove 37, the output end is connected with the rudder gear 36, and the rudder gear 36 is driven to rotate.

[0035] Further, the main transmission disk 38 and the driven disk 41 are provided with a plurality of mounting grooves 39 for mounting neodymium magnets, which are uniformly distributed in the circumferential direction.

[0036] It should be noted that the mounting grooves 39 are provided through the main transmission disk 38 and the driven disk 41, one side of the mounting grooves 39 is large and the other side is small, the neodymium magnets are placed on the large opening side, and the neodymium magnets are pushed out on the small opening side, so as to be disassembled and assembled.

[0037] Further, the rack 46 is provided with a sliding groove 48, and the driven part shell 1 is fixedly provided with a sliding rail 14 matched with the sliding groove 48. In use, the rack 46 moves on the sliding rail 14 through the sliding groove 48, so as to complete stable horizontal opening and closing displacement, and ensure stable clamping.

[0038] Among them, the driven part shell 1 and the driving part shell 2 are provided in a split type, and the driven part shell 1 and the driving part shell 2 are provided with a plurality of upper connecting holes 11 and lower connecting holes 12 matched with the upper connecting holes 11, which are uniformly arranged. In use, the two parts of the driven part shell 1 and the driving part shell 2 are separated from top to bottom, so as to assemble and maintain the internal parts. After assembly and maintenance, the two parts are butted, the upper connecting holes 11 and the lower connecting holes 12 are connected by bolts, and the fixing is completed, which is convenient for maintenance.

[0039] Further, the driving part shell 2 is provided with a buckle groove 21 adjacent to one end of the driven part shell 1, and the driven part shell 1 is fixedly provided with a clamping convex 22 matched with the buckle groove 21 adjacent to one end of the driving part shell 2. In use, after the parts on the driven part shell 1 and the driving part shell 2 are installed, the buckle groove 21 of the driving part shell 2 is butted and clamped with the clamping convex 22 of the driven part shell 1, so as to complete the connection of the driven part shell 1 and the driving part shell 2, which is convenient for disassembly and maintenance.

[0040] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacement or change according to the technical solution and concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A magnetically driven end effector, comprising a driven housing (1) and a driving housing (2) snapped onto one end of the driven housing (1), wherein a driving mechanism (3) is installed inside the driving housing (2), and a driven gripper mechanism (4) is installed inside the driven housing (1), characterized in that: A magnetic drive cavity (13) is provided on the driven housing (1). The drive mechanism (3) includes a motor gear (31) rotatably mounted on the drive housing (2) at one end away from the driven housing (1) and a main drive disk gear (32) meshing with the motor gear (31). A drive shaft (33) extending toward the magnetic transmission cavity (13) is inserted at the center of the main drive disk gear (32). A main drive disk (38) is fixedly mounted at one end of the drive shaft (33) extending into the magnetic transmission cavity (13). The driven gripper mechanism (4) includes a driven disk (41) rotatably mounted in the magnetic transmission cavity (13) and positioned opposite to the main transmission disk (38). A driven shaft (42) is fixedly mounted at the center of the driven disk (41) towards the driven housing (1) at the end furthest from the driving housing (2) and rotatably connected to the driven housing (1). Two driven gears (43) symmetrically arranged within the driven housing (1) and rotatably connected to the driven housing (1) mesh on both sides of the driven shaft (42). (43) At the center position of each of the two auxiliary gears (44) with a diameter smaller than that of the driven gear (43) are fixedly installed. Two small gears (45) symmetrically arranged inside the driven housing (1) and rotatably connected to the driven housing (1) are meshed on the two auxiliary gears (44). Two racks (46) symmetrically arranged on the driven housing (1) away from the driving housing (2) are meshed on the two small gears (45). Grippers (47) extending outside the driven housing (1) are fixedly installed on the two racks (46).

2. The magnetically driven end effector according to claim 1, characterized in that: A bushing (34) is fitted on the drive shaft (33), and an adjusting groove (35) is provided on the bushing (34). A servo gear (36) that is fixedly connected to the servo output shaft is engaged on the adjusting groove (35).

3. The magnetically driven end effector according to claim 2, characterized in that: The drive housing (2) has a servo mounting slot (37) for mounting the servo motor at one end near the main drive disk gear (32).

4. The magnetically driven end effector according to claim 1, characterized in that: Both the main drive disk (38) and the driven disk (41) have several mounting slots (39) evenly distributed in the circumferential direction for mounting neodymium magnet blocks.

5. The magnetically driven end effector according to claim 1, characterized in that: The rack (46) is provided with a groove (48), and the follower housing (1) is fixedly installed with a slide rail (14) that is compatible with the groove (48).

6. The magnetically driven end effector according to claim 1, characterized in that: Both the driven housing (1) and the driving housing (2) are split into two parts. Both the driven housing (1) and the driving housing (2) are provided with several evenly arranged upper connecting holes (11) and lower connecting holes (12) that are adapted to the upper connecting holes (11).

7. The magnetically driven end effector according to claim 1, characterized in that: A slot (21) is provided on the drive housing (2) at the end adjacent to the driven housing (1), and a snap protrusion (22) adapted to the slot (21) is fixedly installed on the driven housing (1) at the end adjacent to the drive housing (2).

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