Rotary electric clamp

Abstract

The utility model discloses a rotary type electric clamp which comprises a machine base, a first driving motor, a transmission mechanism and an electric mechanical claw, the electric mechanical claw comprises a rotating base, a second driving motor, a lead screw pair, a plurality of sets of connecting rod mechanisms and a plurality of sets of clamping claw assemblies, and the lead screw pair is provided with a lead screw and a transmission nut. The second driving motor and each group of clamping jaw components are respectively mounted on the rotating seat, the lead screw is connected with an output shaft of the second driving motor, the transmission nut is connected with all the connecting rod mechanisms, and each group of connecting rod mechanisms is respectively connected with one group of clamping jaw components; a bearing is arranged between the machine base and the rotating base. The first driving motor is fixedly installed on the machine base, and the first driving motor is connected with a rotating base of the electric mechanical claw through a transmission mechanism so as to be used for driving the electric mechanical claw to rotate. The first driving motor can drive the whole electric mechanical claw to rotate, objects in various placing states can be clamped, adaptability and usability are higher, manual operation can be reduced, and the automation degree is high.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of clamps, more particularly, relates to a rotary electric clamp. BACKGROUND

[0002] The working principle of the electric clamp is based on the coordinated action of the motor drive, transmission mechanism and jaw components. When the motor receives a control signal, it starts to rotate and converts the rotary motion into linear motion of the jaw components through the transmission mechanism, thereby realizing the opening and closing action of the jaws. The opening and closing degree of the jaws can be accurately adjusted by controlling the rotation angle and speed of the motor to meet the clamping needs of different workpieces.

[0003] The electric clamp is usually designed in a modular way, integrating the core components such as the motor, transmission mechanism and jaw components into one independent module. This design not only facilitates installation and maintenance, but also allows flexible configuration according to actual needs, improving the adaptability and flexibility of the equipment.

[0004] The electric clamp is widely used in various industrial automation scenarios, such as assembly production lines, handling robots, etc. In the assembly production line, the electric jaws are used to clamp and assemble various parts, ensuring assembly accuracy and stability; in the handling robot, the electric jaws realize fast and accurate handling.

[0005] However, when the electric clamp is used for handling, assembly and other tasks, it is usually driven by a one-dimensional, two-dimensional or three-dimensional motion platform, which can only move linearly to clamp the object. The spatial pose of the jaw body of the electric jaw cannot be adjusted. If the poses of the objects in the same batch are inconsistent, for example, some objects are twisted relative to the electric jaw, the electric jaw may not be able to clamp them. Manual adjustment of the object's pose is required, especially when the object's placement environment is complex, which increases the difficulty of manual operation.

[0006] In addition, the existing parallel jaws move along the track. With the increase of use time, it is often easy to jam, affecting the normal operation of the jaws and reducing the service life of the motor. UTILITY MODEL CONTENT

[0007] In view of the above defects or improvement needs of the prior art, the utility model provides an electric mechanical claw. The mechanical claw can rotate when clamping, can clamp objects in various poses, and has higher adaptability and usability.

[0008] To achieve the above purpose, according to the utility model, a rotary electric clamp is provided, characterized by comprising a base, a first drive motor, a transmission mechanism and an electric mechanical claw, wherein:

[0009] The electric mechanical gripper comprises a rotating seat, a second driving motor, a screw pair, a plurality of sets of connecting rod mechanisms and a plurality of sets of gripper assemblies, the screw pair has a screw and a transmission nut sleeved on the screw, the second driving motor and each set of gripper assemblies are respectively installed on the rotating seat, the screw is connected to an output shaft of the second driving motor, the transmission nut is connected to all the connecting rod mechanisms, and each set of connecting rod mechanisms is respectively connected to a set of the gripper assemblies for driving the gripper assemblies to move.

[0010] A bearing is arranged between the machine base and the rotating seat, an outer ring of the bearing is fixedly installed on the machine base, and an inner ring of the bearing is fixedly installed on the rotating seat.

[0011] The first driving motor is fixedly installed on the machine base, and the first driving motor is connected to the rotating seat of the electric mechanical gripper through a transmission mechanism for driving the electric mechanical gripper to rotate.

[0012] Preferably, the transmission mechanism comprises a gear ring and a screw rod, outer teeth of the gear ring are engaged with the screw rod, the gear ring is arranged on the rotating seat, and the screw rod is connected to an output shaft of the first driving motor.

[0013] Preferably, the rotating seat and the gear ring are fixed together through interference fit.

[0014] Preferably, a transmission nut sliding tunnel is arranged on the rotating seat for constraining the transmission nut to slide.

[0015] Preferably, the rotating seat has an integrally formed upper main body seat and a lower cylinder, an outer side of the lower cylinder is reduced relative to an outer side of the upper main body seat, the lower cylinder extends into the inner ring of the bearing and is interference-fitted with the inner ring of the bearing, and a gap exists between the upper main body seat and the outer ring of the bearing.

[0016] Preferably, a sliding rail is arranged on the rotating seat, and the sliding rail is perpendicular to the screw.

[0017] For each of the gripper assemblies, it comprises a slider and a gripper finger mounted on the slider, the slider is slidingly mounted on the slide rail, the bottom of the slider is provided with a receiving groove, the linkage mechanism comprises a slider connecting rod, a transmission nut connecting rod, a hinge shaft and a circular pin shaft, the first end of the slider connecting rod and the first end of the transmission nut connecting rod are fixedly connected together, the combination of the slider connecting rod and the transmission nut connecting rod is hingedly connected to the rotating seat through the hinge shaft, the circular pin shaft is fixedly installed on the transmission nut, and the hinge shaft and the circular pin shaft are parallel to each other, the second end of the slider connecting rod extends into the receiving groove of the slider, the second end of the transmission nut connecting rod is provided with a guide groove, and the circular pin shaft is slidingly installed in the guide groove to enable the circular pin shaft to move in the guide groove under the driving of the transmission nut.

[0018] Preferably, the opposite two sides of the slide rail are provided with first ball grooves, the length direction of the first ball grooves is consistent with the length direction of the slide rail, and each of the first ball grooves is provided with a ball respectively;

[0019] The two ends of each of the first ball grooves are provided with baffle plates to prevent the balls from falling out;

[0020] Each of the sliders is provided with a second ball groove at a position corresponding to the first ball groove, and the groove wall of the second ball groove cooperates with the groove wall of the first ball groove to clamp the ball.

[0021] Preferably, the first ball groove and the second ball groove are semicircular grooves.

[0022] Preferably, the gripper finger is detachably mounted on the slider.

[0023] Preferably, the machine base comprises a shell and a plurality of shell covers, the shell has a plurality of openings, and each of the shell covers is mounted at an opening of the shell.

[0024] Overall, compared with the prior art, the above technical scheme conceived by the utility model can achieve the following beneficial effects:

[0025] 1) The rotating electric clamp can drive the electric mechanical claw as a whole to rotate, can clamp articles in various placement states, has higher adaptability and usability, thereby reducing manual operation and improving automation degree. In addition, the rotating seat is used in combination with the bearing, so that the rotation of the electric mechanical claw is more stable.

[0026] 2) The rotating electric clamp adopts screw and gear cooperation, only a small load exists between the screw and the gear, wear is small, and service life is long. In addition, noise is small.

[0027] 3) The utility model discloses a rotary electric clamp, and the clamping fingers are detachably installed on the sliding blocks, different types of clamping fingers can be replaced according to different clamped objects, and the utility model has high versatility.

[0028] 4) The utility model discloses a rotary electric clamp, and the ball reduces the friction between the clamping jaw and the slide rail on the side surface, and improves the service life of the electric mechanical claw.

[0029] 5) The utility model discloses a rotary electric clamp, and the upper main body seat table of the rotary seat and the outer ring of the bearing have a gap and do not directly contact, which improves the service life of the rotary seat.

[0030] 6) The utility model discloses a rotary electric clamp, and the transmission nut sliding tunnel is arranged in the rotary seat, the sliding path of the transmission nut is standardized, and the operation of the transmission nut is more stable.

[0031] 7) The utility model discloses a rotary electric clamp, and the machine base has a shell structure with a shell, and a reserved space is reserved in the shell, an encoder or a controller can be arranged, and the utility model is more convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a three-dimensional schematic view of the utility model;

[0033] Figure 2 It is a schematic view of the utility model after removing the shell and some shell covers;

[0034] Figure 3 It is a schematic view of the electric mechanical claw in the utility model;

[0035] Figure 4 It is a schematic view of the gear ring of the utility model installed on the rotary seat;

[0036] Figure 5 It is a top view of the utility model;

[0037] Figure 6 It is Figure 5 It is a sectional view along line A-A. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model. In addition, the technical features involved in each embodiment of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0039] Referring to Figures 1-6The utility model provides a rotary electric clamp, including base 1, first drive motor 13, transmission mechanism 3 and electric mechanical claw 20, wherein:

[0040] The electric mechanical claw 20 includes rotary seat 9, second drive motor 12, screw pair, multiple sets of connecting rod mechanisms 17 and multiple sets of clamping jaw assemblies 22, the screw pair has screw 15 and transmission nut 16 that is worn on screw 15, second drive motor 12 and each clamping jaw assembly 22 are installed on rotary seat 9 respectively, screw 15 is connected the output shaft of second drive motor 12, transmission nut 16 is connected all connecting rod mechanisms 17, and each connecting rod mechanism 17 is connected a set of clamping jaw assembly 22 respectively for drive clamping jaw assembly 22 movement, and the structural form of connecting rod mechanism 17 can have multiple, as long as it can drive clamping jaw assembly 22 movement. When working, the rotation of second drive motor 12 drives screw 15 to rotate, and the rotation of screw 15 drives transmission nut 16 on screw 15 to move, and the movement of transmission nut 16 drives connecting rod mechanism 17 to swing, and the swing of connecting rod mechanism 17 drives clamping jaw to move. The motor shell of second drive motor 12 is preferably fixedly arranged on the lower part of rotary seat 9 and is fixedly installed by screw. Therefore, the electric mechanical claw 20 of the utility model belongs to parallel clamping jaw.

[0041] The bearing 10 is arranged between the base 1 and the rotary seat 9, the outer ring of the bearing 10 is fixedly installed on the base 1, and the inner ring of the bearing 10 is fixedly installed on the rotary seat 9.

[0042] The first driving motor 13 is fixedly installed on the base 1, and the first driving motor 13 is connected with the rotating seat 9 of the electric mechanical claw 20 through a transmission mechanism 3 for driving the electric mechanical claw 20 to rotate as a whole, and the electric mechanical claw 20 can preferably rotate by 360°. The rotating seat 9 is matched with the bearing 10, so that the rotation of the electric mechanical claw 20 is more stable. The transmission mechanism 3 can adopt an existing transmission structure, such as a gear transmission mechanism, a belt transmission mechanism and the like, as long as it can drive the rotating seat 9 to rotate. The rotation of the rotating seat 9 enables the electric mechanical claw 20 to rotate as a whole. The utility model preferably comprises a gear ring 11 and a screw rod 14, the external teeth of the gear ring 11 are engaged with the screw rod 14, the gear ring 11 is arranged on the rotating seat 9, and the screw rod 14 is connected with the output shaft of the first driving motor 13. The screw rod 14 and the gear are matched, there is only a little load between the screw rod 14 and the gear, the wear is small, and the service life is long. In addition, the noise is small. The screw rod 14 and the gear are matched, the transmission is relatively stable, and during transmission, because the tooth shape precision of the gear is high, and the contact between the teeth is point contact during the transmission process, the transmission is stable, and impact and vibration do not occur; in addition, the transmission precision of the two is high: the transmission precision of the screw rod 14 is high, and the screw rod 14 is suitable for occasions requiring high precision. The external teeth on the outside of the gear ring 11 are distributed by 360°, and the screw rod 14 can drive the electric mechanical claw to rotate by 360°.

[0043] Further, the rotating seat 9 and the gear ring 11 are preferably fixed together in a manner of interference fit, and the gear ring 11 is an independent part, which is convenient to replace after wear.

[0044] Further, the rotating seat 9 is provided with a transmission nut sliding tunnel 91 for constraining the sliding of the transmission nut 16, reducing the shaking and friction of the transmission nut 16, and making the mechanical claw more stable during use.

[0045] Further, the rotating seat 9 has an integrally formed upper main body seat 93 and a lower cylinder 92, the outside of the lower cylinder 92 is reduced relative to the outside of the upper main body seat 93, the lower cylinder 92 extends into the inner ring of the bearing 10 and is interference fit with the inner ring of the bearing 10, and there is a gap between the upper main body seat 93 and the outer ring of the bearing 10, so that they do not directly contact, and the service life of the rotating seat 9 is improved. The center of the gear ring 11 has a through hole, and the lower cylinder 92 of the rotating seat 9 extends into the center through hole of the gear ring 11 and is interference fit

[0046] Further, the rotating seat 9 is provided with a sliding rail 8, and the sliding rail 8 is perpendicular to the lead screw 15. The sliding rail 8 is provided with a chamfer around the sliding rail 8, so that the entire sliding rail 8 is located in the upper circumference of the rotating seat 9, and the end of the sliding rail 8 does not exceed the rotating seat 9.

[0047] For each said jaw assembly 22, it comprises a slider 7 and a finger 6 mounted on the slider 7, the slider 7 is slidingly mounted on the slide rail 8, the bottom of the slider 7 is provided with a containing groove, the connecting rod mechanism 17 comprises a slider connecting rod, a transmission nut connecting rod, a hinge shaft 18 and a circular pin shaft 19, the first end of the slider connecting rod and the first end of the transmission nut connecting rod are fixedly connected together, the slider connecting rod and the transmission nut connecting rod can be two rods fixedly connected together at an angle, the slider connecting rod and the transmission nut connecting rod are preferably two sections of a V-shaped rod integrally formed, the combination of the slider connecting rod and the transmission nut connecting rod is hingedly connected to the rotating seat 9 through the hinge shaft; the hinge shaft 18 can be directly rotatably mounted on the rotating seat 9, or indirectly mounted on the rotating seat 9, and the hinge shaft 18 is preferably constrained and limited by the screw 181 mounted on the rotating seat 9; the circular pin shaft 19 is fixedly mounted on the transmission nut 16, and the hinge shaft and the circular pin shaft 19 are parallel to each other, the second end of the slider connecting rod extends into the containing groove of the slider 7, the second end of the transmission nut connecting rod is provided with a guide groove, and the circular pin shaft 19 is slidingly mounted in the guide groove, so that the circular pin shaft 19 moves in the guide groove under the driving of the transmission nut 16. Through the rotation of the connecting rod mechanism 17, the vertical movement of the transmission nut 16 is converted into the horizontal movement of the slider 7 and the finger 6, so that the two fingers 6 can move towards each other to clamp the article or move away from each other to release the article, and the positioning accuracy and the grasping accuracy are high.

[0048] The upper part of the slider connecting rod is arranged in the interior of the slider 7, the slider 7 is arranged on the slide rail 8, and the two sides of the slide rail 8 are each provided with a semicircular track for containing the ball 5, meanwhile, the slider 7 is also provided with a containing track of the ball 5, which is used for jointly clamping the ball 5 with the containing track of the slide rail 8, a plurality of balls 5 are arranged in the containing track, and the two sides of the slide rail 8 are each provided with a baffle 4 in interference fit with the slide rail 8, the slide rail 8 is provided with a chamfer around the four sides, so that the entire slide rail 8 is located in the upper circumference of the rotating seat 9, and the slide rail 8 and the rotating seat 9 are fixedly connected through screws. The finger 6 is fixedly connected with the slider 7 through screws.

[0049] Further, the opposite two sides of the slide rail 8 are each provided with a first ball groove, the length direction of the first ball groove is consistent with the length direction of the slide rail 8, and the first ball groove is respectively provided with a ball 5;

[0050] The two ends of each first ball groove are each provided with a baffle 4 to prevent the ball 5 from falling out;

[0051] Each of the sliders 7 is provided with a second ball groove at a position corresponding to the first ball groove, and the groove walls of the second ball groove and the first ball groove cooperatively clamp the ball 5. The first ball groove and the second ball groove are preferably semicircular grooves, facilitating the installation of the ball 5 and cooperation with the ball 5. One of the first ball groove and the second ball groove forms a containing track for containing the ball 5. By providing the ball 5, the friction between the slider 7 and the slide rail 8 is changed from conventional sliding friction to rolling friction, so that the movement of the slider 7 and the clamp finger 6 is smoother and more smooth, preventing jamming during translation.

[0052] Further, the clamp finger 6 is detachably installed on the slider 7, and different clamp fingers 6 can be replaced according to different sizes and shapes of the articles, facilitating the clamping of the articles.

[0053] Further, the base 1 comprises a shell 2 and a plurality of shell covers, the shell 2 has a plurality of openings, each of the shell covers is installed at an opening of the shell, and the first driving motor 13, the second driving motor 12, the screw rod 14 and other parts can enter the shell 2 from the openings of the shell 2 and be fixed. After installation, the shell covers are installed at the openings of the shell 2. The first driving motor 13 is preferably fixedly installed inside the shell 2 through a flange. The shell covers are fixedly connected with the shell 2 through screws. The shell 2 has an inner boss, and the outer ring of the bearing 10 is installed on the inner boss 21 of the shell 2.

[0054] The movement mode of the utility model is as follows:

[0055] The rotation of the second driving motor 12 drives the rotation of the lead screw 15, the rotation of the lead screw 15 drives the up-down movement of the transmission nut 16, the up-down movement of the transmission nut 16 drives the transmission nut 16 and the slider connecting rod to rotate around the hinge shaft 18 through the hinge shaft 18, the rotation of the slider connecting rod drives the slider 7 and the clamp finger 6 to slide left and right on the slide rail 8, forming opening and closing, and clamping the articles.

[0056] Meanwhile, the rotation of the first driving motor 13 drives the rotation of the gear ring 11, the rotation of the gear ring 11 drives the rotation of the rotating seat 9 installed on the inner ring of the bearing 10, the rotation of the rotating seat 9 drives the rotation of all the parts installed on the rotating seat 9, including the second driving motor 12, the slide rail 8 and the slider 7 and the clamp finger 6 installed on the slide rail 8, so that the electric mechanical claw 20 can rotate while opening and closing, and grasp the articles, so as to grasp more articles in different postures.

[0057] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A rotary electric clamp characterized by, The utility model relates to a kind of electric mechanical gripper, including base, first drive motor, transmission mechanism and electric mechanical gripper, wherein: The electric mechanical gripper includes rotating seat, second drive motor, screw pair, multiple sets of connecting rod mechanism and multiple sets of clamping jaw assemblies, the screw pair has screw and transmission nut being worn on the screw, the second drive motor and each clamping jaw assembly are respectively installed on the rotating seat, the screw is connected the output shaft of the second drive motor, the transmission nut connects all connecting rod mechanisms, each connecting rod mechanism is respectively connected a set of the clamping jaw assembly, to drive clamping jaw assembly movement; The bearing is provided between the base and the rotating seat, and the outer ring of the bearing is fixedly installed on the base, and the inner ring of the bearing is fixedly installed on the rotating seat; The first drive motor is fixedly installed on the base, and the first drive motor is connected with the rotating seat of the electric mechanical gripper through transmission mechanism, to drive the rotating seat of the electric mechanical gripper to rotate.

2. A rotary electric clamp according to claim 1, wherein The transmission mechanism includes gear ring and screw rod, the outer gear of the gear ring is engaged with the screw rod, the gear ring is arranged on the rotating seat, and the screw rod is connected with the output shaft of the first drive motor.

3. A rotary electric clamp according to claim 2, wherein The rotating seat and the gear ring are fixed together by interference fit.

4. A rotary electric clamp according to claim 1, wherein The rotating seat is provided with transmission nut sliding tunnel, to constrain the sliding of transmission nut.

5. A rotary electric clamp according to claim 1, wherein The rotating seat has integrally-formed upper main body seat and lower cylinder, the outer side of the lower cylinder is reduced relative to the outer side of the upper main body seat, the lower cylinder extends into the inner ring of the bearing and is interference-fitted with the inner ring of the bearing, and there is a gap between the upper main body seat and the outer ring of the bearing.

6. A rotary electric clamp according to claim 1, wherein The rotating seat is provided with sliding rail, and the sliding rail is perpendicular to the screw rod. For each clamping jaw assembly, it includes sliding block and clamping finger installed on the sliding block, the sliding block is slidingly installed on the sliding rail, the bottom of the sliding block is provided with accommodating groove, the connecting rod mechanism includes sliding block connecting rod, transmission nut connecting rod, hinge shaft and circular pin shaft, the first end of the sliding block connecting rod and the first end of the transmission nut connecting rod are fixedly connected together, the combination of the sliding block connecting rod and the transmission nut connecting rod is hinged on the rotating seat through the hinge shaft, the circular pin shaft is fixedly installed on the transmission nut, and the hinge shaft and the circular pin shaft are parallel to each other, the second end of the sliding block connecting rod extends into the accommodating groove of the sliding block, the second end of the transmission nut connecting rod is provided with guide groove, and the circular pin shaft is slidingly installed in the guide groove, so that the circular pin shaft moves in the guide groove under the driving of the transmission nut.

7. A rotary electric clamp according to claim 6, wherein Opposite sides of the sliding rail are provided with first ball groove, the length direction of the first ball groove is consistent with the length direction of the sliding rail, and each first ball groove is provided with ball respectively; Both ends of each first ball groove are provided with baffle, to prevent ball from falling out. Each sliding block is provided with second ball groove at the position corresponding to the first ball groove, and the groove wall of the second ball groove cooperates with the groove wall of the first ball groove to clamp the ball.

8. A rotary electric clamp according to claim 7, wherein The first ball groove and the second ball groove are semicircular grooves.

9. A rotary electric clamp according to claim 6, wherein The clamping fingers are detachably mounted on the sliding block.

10. A rotary electric clamp according to claim 1, wherein The base comprises a housing and a plurality of covers, the housing has a plurality of openings, and each cover is mounted at one opening of the housing.

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