Electric clamping jaw device
By using a gripper device driven by a stepper motor and planetary reducer on an automated production line, independent electric adjustment in the X and Y directions is achieved, solving the problem of equipment compatibility with products of different sizes and improving the degree of automation and versatility.
Patent Information
- Application Number
- CN202423176409.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-12-23
AI Technical Summary
Existing automated production line equipment is difficult to be compatible with products of different sizes, requires frequent changes of grippers, and there is a lack of gripper devices on the market that can be electrically adjusted in the XY direction.
It employs stepper motors for Y-direction and X-direction drive, combined with planetary reducers, gears, and racks to achieve independent electric adjustment in the X and Y directions. The opening and closing motion of the gripper is controlled by the rotation of the stepper motors.
It improves the automation and versatility of the equipment, and reduces the cost and time of replacing and readjusting the grippers.
Smart Images
Figure CN223589444U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a kind of electric clamping jaw devices, and the device is suitable for mechanical industry, belongs to the precision equipment of industrial automation industry and electronic industry, and main purpose is to take and place rectangular product. BACKGROUND
[0002] Product is often needed to be carried or transferred to other places on automatic production line. We often encounter the same shape of product, but there are some differences in size, to want to make the same equipment compatible with N products, generally will choose to replace different size clamping jaw to realize, but such mode is more troublesome, leading to the degree of automation of equipment is not high enough. Finished product clamping jaw on market also does not realize that XY direction can be electrically adjusted. In order to make equipment compatible with multiple products, not affected by the size of appearance, it needs to use the clamping jaw device that can electrically adjust the opening size of XY direction. As shown in Figure: Figures 1-2 Current equipment is all using cylinder push mode to realize the XY movement of clamping jaw. The defect of this design is: when the size of product appearance changes slightly, the opening size of XY direction of clamping jaw cannot be adjusted, and Finger A and B must be re-made to solve this problem. INVENTION CONTENT
[0003] The utility model aims at solving the deficiency of prior art, and provides an electric clamping jaw device. The purpose is: on automatic taking and placing equipment, if product appearance is similar, only size is different, clamping jaw can not be replaced, and a formula program is set for each product to ensure that equipment can be compatible with multiple products.
[0004] Technical scheme: an electric clamping jaw device, including Y direction drive stepper motor, X direction drive stepper motor, X direction drive planetary reducer, X direction drive gear, X direction drive first rack, X direction drive second rack, X direction clamping jaw connecting rod one, X direction clamping jaw connecting rod two, Y direction drive gear, Y direction drive first rack, Y direction drive second rack, Y direction clamping jaw connecting rod one, Y direction clamping jaw connecting rod two, guide linear bearing, X direction origin sensor and Y direction origin sensor.
[0005] Y direction drive stepper motor and X direction drive stepper motor are used as driving elements of Y direction and X direction respectively, and the size of opening and closing stroke of X direction and Y direction can be controlled independently and freely;X direction drive stepper motor is fixedly installed with X direction drive planetary reducer below, and X direction drive planetary reducer is used to increase the torque of X direction drive stepper motor.
[0006] The X-direction driving gear is fixedly installed below the X-direction driving planetary reducer, the guide linear bearings are distributed on both sides of the X-direction driving stepper motor, the X-direction driving first rack and the X-direction driving second rack are fixedly installed on the side close to the X-direction driving stepper motor of the two guide linear bearings respectively, and the X-direction driving gear, the X-direction driving first rack and the X-direction driving second rack are used for matching the guide linear bearings and driving the X-direction jaw link one and the X-direction jaw link two to make linear motion in the X direction under the driving of the X-direction driving stepper motor and the X-direction driving planetary reducer.
[0007] The Y-direction driving gear is fixedly installed below the Y-direction driving stepper motor, the guide linear bearings are distributed on both sides of the Y-direction driving stepper motor, the Y-direction driving first rack and the Y-direction driving second rack are fixedly installed on the side close to the Y-direction driving stepper motor of the two guide linear bearings respectively, and the Y-direction driving gear, the Y-direction driving first rack and the Y-direction driving second rack are used for matching the guide linear bearings and driving the Y-direction jaw link one and the Y-direction jaw link two to make linear motion in the Y direction under the driving of the Y-direction driving stepper motor.
[0008] As optimization: the X-direction driving stepper motor rotates clockwise, and the X-direction jaw link one and the X-direction jaw link two are opened.
[0009] As optimization: the X-direction driving stepper motor rotates counterclockwise, and the X-direction jaw link one and the X-direction jaw link two are closed.
[0010] As optimization: the Y-direction driving stepper motor rotates clockwise, and the Y-direction jaw link one and the Y-direction jaw link two are closed.
[0011] As optimization: the Y-direction driving stepper motor rotates counterclockwise, and the Y-direction jaw link one and the Y-direction jaw link two are opened.
[0012] As optimization: the X-direction origin sensor and the Y-direction origin sensor can be used as reference zero positions on a control program.
[0013] Beneficial effects: the opening and closing stroke of the electric jaw device in the X direction and the Y direction can be independently and freely controlled, the automation degree and the universality of equipment are improved, and the cost and time generated by replacing jaws and re-debugging are reduced. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is a schematic view of the front view structure before improvement;
[0015] Figure 2 This is a top view of the original structure before the improvement.
[0016] Figure 3 This is a schematic diagram of the main structure of this utility model;
[0017] Figure 4 This is a top view of the structure of this utility model. Detailed Implementation
[0018] Example
[0019] like Figures 3-4 As shown, an electric gripper device includes a stepper motor 1 for driving in the Y direction, a stepper motor 2 for driving in the X direction, a planetary reducer 3 for driving in the X direction, a gear 4 for driving in the X direction, a first rack 5 for driving in the X direction, a second rack 6 for driving in the X direction, a first gripper link 7 for driving in the X direction, a second gripper link 8 for driving in the X direction, a gear 9 for driving in the Y direction, a first rack 10 for driving in the Y direction, a second rack 11 for driving in the Y direction, a first gripper link 12 for driving in the Y direction, a second gripper link 13 for driving in the Y direction, a linear bearing 14 for guiding, an X-direction origin sensor 15, and a Y-direction origin sensor 16.
[0020] The stepper motor 1 for Y-direction drive and the stepper motor 2 for X-direction drive are used as driving elements in the Y and X directions, respectively, replacing the conventional method of using a single cylinder to drive movement in both the X and Y directions simultaneously. While the opening and closing stroke of the cylinder is fixed, the opening and closing strokes of the stepper motors 1 and 2 in the X and Y directions can be independently and freely controlled.
[0021] An X-direction driving planetary reducer 3 is fixedly installed below the X-direction driving stepper motor 2. The X-direction driving planetary reducer 3 is used to increase the torque of the X-direction driving stepper motor 2. Because the X-direction stroke is relatively long, if the torque of the X-direction driving stepper motor 2 is insufficient, the opening and closing in the X-direction may be inaccurate due to the X-direction driving stepper motor 2 missing steps.
[0022] The X-direction driving gear 4 is fixedly installed below the X-direction driving planetary reducer 3, the guide linear bearings 14 are distributed on both sides of the X-direction driving stepper motor 2, the X-direction driving first rack 5 and the X-direction driving second rack 6 are fixedly installed on the side of the guide linear bearings 14 close to the X-direction driving stepper motor 2, the X-direction driving gear 4, the X-direction driving first rack 5 and the X-direction driving second rack 6 are used for matching the guide linear bearings 14, and the X-direction jaw connecting rod one 7 and the X-direction jaw connecting rod two 8 are driven to move linearly in the X direction under the driving of the X-direction driving stepper motor 2 and the X-direction driving planetary reducer 3; the X-direction driving stepper motor 2 rotates clockwise, the X-direction jaw connecting rod one 7 and the X-direction jaw connecting rod two 8 are opened, the X-direction driving stepper motor 2 rotates counterclockwise, and the X-direction jaw connecting rod one 7 and the X-direction jaw connecting rod two 8 are closed.
[0023] The Y-direction driving gear 9 is fixedly installed below the Y-direction driving stepper motor 1, the guide linear bearings 14 are distributed on both sides of the Y-direction driving stepper motor 1, the Y-direction driving first rack 10 and the Y-direction driving second rack 11 are fixedly installed on the side of the guide linear bearings 14 close to the Y-direction driving stepper motor 1, the Y-direction driving gear 9, the Y-direction driving first rack 10 and the Y-direction driving second rack 11 are used for matching the guide linear bearings 14, and the Y-direction jaw connecting rod one 12 and the Y-direction jaw connecting rod two 13 are driven to move linearly in the Y direction under the driving of the Y-direction driving stepper motor 1; the Y-direction driving stepper motor 1 rotates clockwise, the Y-direction jaw connecting rod one 12 and the Y-direction jaw connecting rod two 13 are closed, the Y-direction driving stepper motor 1 rotates counterclockwise, and the Y-direction jaw connecting rod one 12 and the Y-direction jaw connecting rod two 13 are opened.
[0024] In the embodiment, the X-direction origin sensor 15 and the Y-direction origin sensor 16 can be used as reference zero positions in a control program.
[0025] The opening and closing stroke of the electric jaw device in the X direction and the Y direction can be independently and freely controlled, the automation degree and the universality of the equipment are improved, and the cost and the time generated by replacing the jaw and re-debugging are reduced.
[0026] The above describes the technical solutions in the embodiments of the present application clearly and completely, so that those skilled in the art can better understand the advantages and features of the present application, and the protection scope of the present application is defined more clearly. The embodiments described in the present application 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 belong to the protection scope of the present application.
Claims
1. An electric gripper device, characterized in that: Includes a stepper motor (1) for driving in the Y direction, a stepper motor (2) for driving in the X direction, a planetary reducer (3) for driving in the X direction, a gear (4) for driving in the X direction, a first rack (5) for driving in the X direction, a second rack (6) for driving in the X direction, a first gripper link (7) for driving in the X direction, a second gripper link (8) for driving in the X direction, a gear (9) for driving in the Y direction, a first rack (10) for driving in the Y direction, a second rack (11) for driving in the Y direction, a first gripper link (12) for driving in the Y direction, a second gripper link (13) for driving in the Y direction, a linear bearing (14) for guiding, an X-direction origin sensor (15) and a Y-direction origin sensor (16); The Y-direction driving stepper motor (1) and the X-direction driving stepper motor (2) are used as driving elements in the Y and X directions, respectively. The opening and closing strokes in the X and Y directions can be controlled independently. An X-direction driving planetary reducer (3) is fixedly installed below the X-direction driving stepper motor (2). The X-direction driving planetary reducer (3) is used to increase the torque of the X-direction driving stepper motor (2). An X-direction drive gear (4) is fixedly installed below the X-direction drive planetary reducer (3). The guide linear bearings (14) are distributed on both sides of the X-direction drive stepper motor (2). The two guide linear bearings (14) are respectively fixedly installed with an X-direction drive first rack (5) and an X-direction drive second rack (6) on the side of the X-direction drive stepper motor (2) close to the X-direction drive stepper motor (2). The X-direction drive gear (4), the X-direction drive first rack (5) and the X-direction drive second rack (6) are used to match the guide linear bearings (14). Under the drive of the X-direction drive stepper motor (2) and the X-direction drive planetary reducer (3), the X-direction gripper connecting rod one (7) and the X-direction gripper connecting rod two (8) are driven to make linear motion in the X direction. A Y-direction driving gear (9) is fixedly installed below the Y-direction driving stepper motor (1). The guide linear bearings (14) are distributed on both sides of the Y-direction driving stepper motor (1). On the side of the two guide linear bearings (14) closest to the Y-direction driving stepper motor (1), a first Y-direction driving rack (10) and a second Y-direction driving rack (11) are respectively fixedly installed. The Y-direction driving gear (9), the first Y-direction driving rack (10) and the second Y-direction driving rack (11) are used to cooperate with the guide linear bearings (14) to drive the Y-direction gripper connecting rod one (12) and the Y-direction gripper connecting rod two (13) to make linear motion in the Y direction under the drive of the Y-direction driving stepper motor (1).
2. The electric gripper device according to claim 1, characterized in that: The X-direction driving stepper motor (2) rotates clockwise, and the X-direction gripper link one (7) and the X-direction gripper link two (8) open.
3. The electric gripper device according to claim 1, characterized in that: The X-direction driving stepper motor (2) rotates counterclockwise, and the X-direction gripper linkage one (7) and the X-direction gripper linkage two (8) close.
4. The electric gripper device according to claim 1, characterized in that: The Y-direction driving stepper motor (1) rotates clockwise, and the Y-direction gripper linkage one (12) and the Y-direction gripper linkage two (13) close.
5. The electric gripper device according to claim 1, characterized in that: The stepper motor (1) for driving the Y direction rotates counterclockwise, and the first Y-direction gripper link (12) and the second Y-direction gripper link (13) open.
6. The electric gripper device according to claim 1, characterized in that: The X-direction origin sensor (15) and Y-direction origin sensor (16) can be used as reference zero points in the control program.