Power driving module for rotating electric claw and high-performance rotating electric claw

Abstract

The utility model discloses a power driving module for a rotating electric claw. The power driving module comprises a lifting driving rod, a sliding nut, a rotating screw rod, a machine shell, a chuck rotating gear and a rotation limiting block. The rotating screw is arranged in the shell mounting cavity, and the upper part of the screw section and the sliding nut form a spiral transmission structure; the bottom of the lifting driving rod is rotationally connected with the sliding nut; the outer side of the sliding nut is slidably connected with the rotation limiting block. The chuck rotating gear is mounted in the mounting cavity; the sliding nut extends into the lower part of the chuck rotating gear and is rotationally connected with the chuck rotating gear; a connecting driving block is arranged at the top of the lifting driving rod; a chuck connecting hole is formed in the upper portion of the chuck rotating gear. The utility model further discloses the high-performance rotating electric claw. Compared with the prior art, the power driving module for the rotating electric claw can provide stable and high-precision rotating and lifting power. The high-performance rotating electric claw has the advantages of stable structure, high action precision and the like.

Description

TECHNICAL FIELD

[0001] The utility model belongs to electric clamping jaw technical field especially relates to a power drive module and high performance rotary electric claw for rotary electric claw. BACKGROUND

[0002] ‌The rotary electric claw can also perform rotation operation while grabbing workpieces, and has better flexibility compared with general clamping jaws. When the rotary electric claw is loaded on the end of a robot, complex actions can be efficiently completed.

[0003] In the prior art, a clamping jaw device is disclosed in Chinese Patent Publication No. CN112171709B, which has a telescopic mechanism and a rotating mechanism. The telescopic mechanism drives the clamping and release of the jaw body, and the rotating mechanism drives the rotation of the jaw body. The first connecting piece in the telescopic mechanism is movably connected with the first transmission structure, and the jaw body is installed on the first connecting piece. The first connecting piece can not only be telescoped under the drive of the first drive piece, but also can rotate relative to the first transmission structure.

[0004] The prior art has the technical problem of poor practical application performance of the clamping jaw device, specifically including that the rotating part of the clamping jaw device is suspended above the support seat, the first connecting piece is only connected between the clamp and the connecting rod, and this structure causes poor structural stability of the clamping jaw device, and the stability and smoothness during rotation and the action accuracy are difficult to guarantee.

[0005] Therefore, it is necessary to provide a new power drive module and high performance rotary electric claw for rotary electric claw to solve the above technical problems. SUMMARY

[0006] (I) Technical problems to be solved

[0007] Therefore, the utility model provides a power drive module and high performance rotary electric claw for rotary electric claw to solve the technical problems of poor structural stability and difficult to guarantee the action accuracy of the clamping jaw device in the prior art.

[0008] (II) Technical solutions

[0009] The utility model provides a power drive module for rotary electric claw, include: lift drive rod, sliding nut, rotary screw, casing, chuck rotary gear, limit rotation block, screw upper rotary bearing group and screw lower rotary bearing group, be equipped with installation cavity in the casing, rotary screw is along vertical in the installation cavity, and rotary screw is equipped with from top to bottom respectively: screw section, upper bearing installation section, lower bearing installation section and drive section, screw upper rotary bearing group and screw lower rotary bearing group are equipped in the installation cavity respectively, and set up to corresponding upper bearing installation section and lower bearing installation section's position, the lower part of sliding nut is equipped with the internal thread with screw section cooperation, the upper part of screw section is inserted into the lower part of sliding nut, and with sliding nut forms screw drive structure, the upper part of sliding nut is equipped with installation groove, the bottom of lift drive rod is inserted into installation groove, and lift drive rod is connected with sliding nut rotation, the outside of sliding nut is equipped with at least one convex slide column, the side of limit rotation block opposite to slide column is equipped with recessed slide groove, slide column is inserted into slide groove, to realize sliding nut and limit rotation block sliding connection, chuck rotary gear is installed in the installation cavity, the whole of chuck rotary gear is circular ring with center installation through -hole, the lower part of slide column is inserted into the center installation through -hole, and chuck rotary gear is connected with sliding nut rotation, the top of lift drive rod is equipped with connection drive block, the upper part of chuck rotary gear is equipped with chuck connection hole.

[0010] Preferably, the installation cavity is provided with a right side rotary drive connected with the drive section and used for driving the rotary screw to rotate at a position corresponding to the drive section; the installation cavity is provided with an anti-rotation installation groove at a position corresponding to the slide column, the limit rotation block is installed in the anti-rotation installation groove, and the installation cavity is provided with a left side rotary drive connected with the chuck rotary gear and used for driving the chuck rotary gear to rotate at a position corresponding to the chuck rotary gear; the power drive module for rotary electric claw further comprises a slide block pin in the shape of a cylinder as a whole, the lower end of the slide block pin is inserted into the installation cavity, and the upper end of the slide block pin is inserted into the slide groove; the limit rotation block has a gap between the outer wall and the anti-rotation installation groove, and the outer side of the slide block pin is tangent to the inner wall of the slide groove.

[0011] Preferably, the lower end of the chuck rotating gear is above the rotation limiting block; the power drive module for rotating the electric claw further comprises a rotating bearing, a bearing end cover and a shaft end limiting ring shoulder; the rotating bearing is installed in the installation groove, the lifting drive rod is rotatably connected with the sliding nut through the rotating bearing; the rotating bearing comprises a bearing inner ring and a bearing outer ring, the shaft end limiting ring shoulder is fixed to the bottom end of the lifting drive rod by screws, and the shaft end limiting ring shoulder abuts against the bottom of the bearing inner ring; the bearing end cover is fixedly installed on the upper part of the sliding nut, and abuts against the top of the bearing outer ring.

[0012] Preferably, the power drive module for rotating the electric claw further comprises first and second gear bearings respectively arranged in the installation cavity, the outer middle segment of the chuck rotating gear is provided with outer meshing teeth connected with the left rotating drive, and the outer upper and lower segments of the chuck rotating gear are rotatably connected with the machine shell through the first and second gear bearings respectively.

[0013] Preferably, the chuck connecting hole comprises a plurality of threaded holes and a plurality of pin holes; the upper and lower screw rod rotating bearing sets each comprise two back-to-back installed bearings; the right rotating drive comprises a right motor and a right gear train; the left rotating drive comprises a left motor and a left gear train.

[0014] Preferably, the number of the slide columns is two, and the two slide columns are oppositely arranged on the outer side of the sliding nut; each slide column extends into one of the rotation limiting blocks.

[0015] Preferably, the machine shell is a cuboid as a whole, and comprises an upper shell, a middle shell and a lower shell arranged in alignment from top to bottom; the installation cavity is surrounded by the upper shell, the middle shell and the lower shell, and the middle shell is provided with an electric claw installation hole penetrating therethrough, which is arranged in a staggered manner with the installation cavity.

[0016] The utility model discloses still disclose a kind of high-performance rotary electric claw, including chuck module and the power drive module for rotary electric claw as above, the chuck module includes parallel slide, the parallel slide includes slide main body, the upper portion of the slide main body is equipped with recessed sliding groove, first sliding clamp block and second sliding clamp block are respectively equipped in the sliding groove, the first sliding clamp block and second sliding clamp block are parallelly arranged, and the first sliding clamp block and second sliding clamp block are respectively slidably connected with the sliding groove;The connecting driving block is inserted into the parallel slide and is slidably connected with the first sliding clamp block and second sliding clamp block respectively, and the lifting driving rod is vertically lifted, can drive the first sliding clamp block and second sliding clamp block sliding along transverse opening and closing;The bottom center of the slide main body is also equipped with protruding circular mounting convex ring, the mounting convex ring is inserted into the upper portion of the center installation through-hole;And the upper portion of the chuck rotary gear abuts and supports the lower portion of the slide main body;The lifting driving rod, rotary screw, sliding nut, chuck rotary gear and mounting convex ring are coaxially arranged.

[0017] Preferably, the connecting driving block includes first drive inclined sliding block and second drive inclined sliding block which are arranged in "X" shape, the first sliding clamp block is provided with a recessed first inclined sliding groove on the side close to the connecting driving block, the second sliding clamp block is provided with a recessed second inclined sliding groove on the side close to the connecting driving block, the first drive inclined sliding block is inserted into the first inclined sliding groove, and the first drive inclined sliding block is slidably connected with the first inclined sliding groove; the second drive inclined sliding block is inserted into the second inclined sliding groove, and the second drive inclined sliding block is slidably connected with the second inclined sliding groove; a rolling column is arranged between the first sliding clamp block and the second sliding clamp block.

[0018] Preferably, the connecting driving block includes first drive inclined sliding block and second drive inclined sliding block which are arranged in "X" shape, the first sliding clamp block is provided with a recessed first inclined sliding groove on the side close to the connecting driving block, the second sliding clamp block is provided with a recessed second inclined sliding groove on the side close to the connecting driving block, the first drive inclined sliding block is inserted into the first inclined sliding groove, and the first drive inclined sliding block is slidably connected with the first inclined sliding groove; the second drive inclined sliding block is inserted into the second inclined sliding groove, and the second drive inclined sliding block is slidably connected with the second inclined sliding groove; a rolling column is arranged between the first sliding clamp block and the second sliding clamp block.

[0019] (Three) beneficial effects

[0020] Compared with the prior art, the power driving module for the rotary electric claw can provide stable and high-precision rotation and lifting power. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0022] Figure 1 It is a three-dimensional schematic view of the power driving module for the rotary electric claw of the present application.

[0023] Figure 2 It is a three-dimensional schematic view of the high-performance rotary electric claw of the present application. Figure 1 ;

[0024] Figure 3 It is a front view and a schematic view of the high-performance rotary electric claw of the present application.

[0025] Figure 4 It is a side view and a schematic view of the high-performance rotary electric claw of the present application.

[0026] Figure 5 It is a three-dimensional schematic view of the partial structure of the high-performance rotary electric claw of the present application.

[0027] Figure 6 It is an exploded view of the partial structure of the high-performance rotary electric claw of the present application.

[0028] Figure 7 It is a three-dimensional structure schematic view of the sliding nut in the present application.

[0029] Figure 8 It is a three-dimensional schematic view of the high-performance rotary electric claw of the present application. Figure 2 ;

[0030] Figure 9 It is a schematic view of the structure of the connecting driving block as a wedge block in the present application.

[0031] BRIEF DESCRIPTION OF DRAWINGS:

[0032] 100, power drive module for rotary electric claw; 200, chuck module;

[0033] 1, lifting drive rod; 2, sliding nut; 3, rotary screw; 4, machine shell; 5, chuck rotary gear; 6, rotation limiting block; 7, upper rotary bearing set of screw; 8, lower rotary bearing set of screw; 9, right rotary drive; 10, left rotary drive; 11, sliding block pin; 12, rotary bearing; 13, bearing end cover; 14, shaft end limiting ring shoulder; 15, first gear bearing; 16, second gear bearing; 17, first drive inclined sliding block; 18, second drive inclined sliding block; 19, first drive wedge block; 20, second drive wedge block;

[0034] 21, internal thread; 22, installation groove; 23, sliding column;

[0035] 31, screw segment; 32, upper bearing installation segment; 33, lower bearing installation segment; 34, drive segment;

[0036] 41, upper shell; 42, middle shell; 43, lower shell;

[0037] 51, center installation through hole; 52, external meshing tooth; 53, threaded hole; 54, pin hole;

[0038] 61, sliding groove;

[0039] 121, bearing inner ring; 122, bearing outer ring;

[0040] 421, rotation preventing installation groove; 422, electric claw installation hole;

[0041] 91, right motor; 92, right gear train;

[0042] 101, left motor; 102, left gear train;

[0043] 01, parallel sliding seat; 02, first sliding clamp block; 03, second sliding clamp block; 04, rolling column;

[0044] 011, sliding groove; 012, installation convex ring; 013, sliding seat main body;

[0045] 021, first inclined sliding groove; 022, first inclined surface sliding groove;

[0046] 031, second inclined sliding groove; 032, second inclined surface sliding groove. DETAILED DESCRIPTION

[0047] In order to make the above objectives, characteristics and advantages of the utility model more apparent, understandable, the specific embodiments of the utility model are explained in detail below in combination with the drawings. In the following description, a lot of specific details are set forth in order to fully understand the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the utility model, so the utility model is not limited by the following disclosed specific implementation.

[0048] The specific embodiments of the utility model are explained in detail below in combination with the drawings. Figures 1-9 The power drive module 100 for rotary electric claw and high-performance rotary electric claw of the utility model are further explained.

[0049] Please refer to Figure 1 And Figures 3-7 The utility model discloses a kind of power drive module 100 for rotary electric claw, comprising: lifting drive rod 1, sliding nut 2, rotary screw 3, shell 4, chuck rotary gear 5, limit block 6, screw upper rotating bearing set 7 and screw lower rotating bearing set 8;Installation cavity is equipped in shell 4, rotary screw 3 is along vertical and is in installation cavity, and rotary screw 3 is equipped with from top to bottom respectively: screw section 31, upper bearing mounting section 32, lower bearing mounting section 33 and drive section 34;Screw upper rotating bearing set 7 and screw lower rotating bearing set 8 are respectively equipped in installation cavity, and the position of corresponding upper bearing mounting section 32 and lower bearing mounting section 33 is set;Right side rotary drive 9 for driving rotary screw 3 rotation is connected with drive section 34 and is used to drive rotary screw 3 rotation in the position corresponding drive section 34 in installation cavity;The lower part of sliding nut 2 is equipped with internal thread 21 cooperated with screw section 31, the upper part of screw section 31 is inserted into the lower part of sliding nut 2, and forms screw transmission structure with sliding nut 2;The upper part of sliding nut 2 is equipped with mounting groove 22, the bottom of lifting drive rod 1 is inserted into mounting groove 22, and lifting drive rod 1 is rotationally connected with sliding nut 2;At least one convex slide column 23 is equipped on the outside of sliding nut 2, anti-rotation mounting groove 421 is equipped in the position corresponding slide column 23 in installation cavity, limit block 6 is installed in anti-rotation mounting groove 421, the side of limit block 6 opposite slide column 23 is equipped with recessed slide groove 61, and slide column 23 is inserted into slide groove 61, to realize sliding nut 2 and limit block 6 sliding connection;Chuck rotary gear 5 is installed in installation cavity, chuck rotary gear 5 is overall circular ring with central mounting through hole 51, and the lower part of central mounting through hole 51 is partially inserted into sliding nut 2, and chuck rotary gear 5 is rotationally connected with sliding nut 2;Left side rotary drive 10 for driving chuck rotary gear 5 rotation is connected with chuck rotary gear 5 and is used to drive chuck rotary gear 5 rotation in the position corresponding chuck rotary gear 5 in installation cavity;The top of lifting drive rod 1 is equipped with connection drive block;The upper part of chuck rotary gear 5 is equipped with chuck connection hole.

[0050] The components and functions in the embodiment are explained below.

[0051] About rotating screw 3: rotating screw 3 is connected with the installation cavity through the upper and lower bearing groups (screw upper rotating bearing group 7 and screw lower rotating bearing group 8), so that the power of driving section 34 can be smoothly transmitted to screw section 31.

[0052] About right side rotating drive 9: right side rotating drive 9 is used to provide rotating power for rotating screw 3, and right side rotating drive 9 can be a motor or a combination of a motor and a gear train.

[0053] About sliding nut 2: sliding nut 2 is formed with various structures to realize various functions. First, inner thread 21 is arranged on the lower part of sliding nut 2, so that sliding nut 2 can form a screw transmission pair with rotating screw 3. Second, mounting groove 22 is arranged on the upper part of sliding nut 2, which provides space for the extension of lifting drive rod 1 and forms a rotating connection structure. Third, the protruding slide column 23 on the outer side of sliding nut 2 is used to form a sliding connection structure with limiting block 6, which limits the rotating degree of freedom of sliding nut 2.

[0054] About limiting block 6: limiting block 6 is arranged as a movable plug-in structure, which facilitates the separate machining and replacement of limiting block 6 and improves the smooth sliding of sliding nut 2.

[0055] About chuck rotating gear 5.

[0056] First, the upper part of chuck rotating gear 5 is reserved with a chuck connecting hole (used to realize the fixed connection of chuck rotating gear 5 and parallel slide 01), and the upper part of central mounting through hole 51 is also reserved with a mounting hole (used to realize the coaxial mounting of parallel slide 01 and chuck rotating gear 5, and at the same time, to seal the top opening of chuck rotating gear 5); which can realize the quick connection of chuck rotating gear 5 and upper chuck module 200, and the rotation of chuck rotating gear 5 can drive the overall rotation of upper chuck module 200, realizing the rotation function of high-performance rotating electric claw.

[0057] Secondly, since chuck rotating gear 5 is entirely built-in in the installation cavity (chuck rotating gear 5 and machine shell 4 partially overlap in the height direction), and chuck rotating gear 5 is also sleeved on sliding nut 2 (chuck rotating gear 5 and sliding nut 2 partially overlap in the height direction); this structure can greatly reduce the height size of power drive module 100 for rotating electric claw, and improve the compactness of the structure.

[0058] Thirdly, since chuck rotating gear 5 also serves as the sliding support of sliding nut 2, it is not necessary to reserve a sliding support of the entity structure for sliding nut 2 in the installation cavity, which reduces the weight of machine shell 4.

[0059] About the left side rotary drive 10: the left side rotary drive 10 is used for providing rotary power for the chuck rotary gear 5, and the left side rotary drive 10 can be a motor or a combination of a motor and a gear train. The left side rotary drive 10 is used to drive the chuck rotary gear 5 to rotate, when the upper part of the chuck rotary gear 5 is connected with the parallel sliding seat 01 in the chuck module 200 through the chuck connecting hole, the chuck rotary gear 5 rotates, which drives the whole chuck module 200 and the lifting driving rod 1 to rotate synchronously. Since the bottom of the lifting driving rod 1 is connected with the sliding nut 2 to rotate, the rotary power of the lifting driving rod 1 cannot be transmitted to the sliding nut 2. It is ensured that the rotation of the lifting drive and the lifting action do not affect each other.

[0060] About the overall structure of the embodiment. On the one hand, all the components in the utility model except the shell 4 are installed in the installation cavity, the movable components are built-in, the use safety can be improved, and the structure of the utility model is easy to form a full-sealed structure with the chuck module 200, so that the obtained high-performance rotary electric claw has a high protection level. On the other hand, in the utility model, the lifting driving rod 1 and the rotary screw rod 3 respectively extend into the sliding nut 2, the sliding nut 2 extends into the chuck rotary gear 5, and a structure of mutual plug-in fitting is formed. The structure is easy to ensure that the lifting driving rod 1, the rotary screw rod 3, the sliding nut 2 and the chuck rotary gear 5 are coaxial. It is beneficial to further improve the stability of the structure and the smoothness of the action.

[0061] The power driving module 100 for the rotary electric claw of the utility model can serve as the power of the chuck module 200. The chuck module 200 comprises two sliding clamping blocks and a parallel sliding seat 01 for mounting the sliding clamping blocks, and the two sliding clamping blocks are installed in parallel in the parallel sliding seat 01. The power driving module 100 for the rotary electric claw of the utility model can drive the two sliding clamping blocks to open and close, and can also drive the chuck module 200 to rotate as a whole.

[0062] The use process of the utility model will be specifically described as follows: the right side rotary drive 9 is used to drive the rotary screw rod 3 to rotate. Since the rotary screw rod 3 and the sliding nut 2 form a screw transmission structure, and the sliding nut 2 is connected with the rotation limiting block 6 to slide (that is, the sliding nut 2 does not have the degree of freedom of rotation), the rotary screw rod 3 rotates to drive the sliding nut 2 to lift and lower, and the lifting driving rod 1 follows the sliding nut 2 to lift and lower synchronously. Since the top of the lifting driving rod 1 is provided with a connecting driving block, when the connecting driving block is connected with the sliding clamping block in the chuck module 200, the lifting power can be converted into the opening and closing action of the sliding clamping block.

[0063] It should be noted that the connecting driving block can be various structures, such as a structure of a slanting sliding block or a wedge block (see the first driving slanting sliding block 17 and the first driving wedge block 19 and the like described below), and the sliding clamping block of the chuck module 200 needs to be provided with a structure matched with the shape of the connecting driving block (see the first slanting sliding groove 021 and the first slanting surface sliding groove 022 and the like described below).

[0064] According to the specific embodiment of the utility model, the power driving module 100 for the rotary electric claw further comprises a sliding block pin 11 which is in the shape of a whole cylinder, the lower end of the sliding block pin 11 is inserted into the installation cavity, and the upper end of the sliding block pin 11 extends into the sliding groove 61; the outer side wall of the limiting block 6 and the anti-rotation installation groove 421 have a gap, and the outer side of the sliding block pin 11 is tangent to the inner wall of the sliding groove 61.

[0065] In the specific implementation, the installation cavity is provided with a circular pin installation hole 54 matched with the shape of the sliding block pin 11, the lower part of the sliding block pin 11 is inserted into the pin installation hole 54, and the pin installation hole 54 is used to realize the accurate positioning of the sliding block pin 11. The gap between the outer side wall of the limiting block 6 and the anti-rotation installation groove 421 allows the limiting block 6 to move or rotate within a certain range; and the outer side of the sliding block pin 11 is tangent to the inner wall of the sliding groove 61, which ensures that the rotation center of the limiting block 6 is always the center of the sliding block pin 11, thereby achieving the effect of a centering rotating shaft; therefore, the structure of the embodiment can adapt to the machining and installation errors of the sliding nut 2, avoid the occurrence of jamming, and ensure the smooth sliding of the sliding nut 2.

[0066] According to the specific embodiment of the utility model, the lower end of the chuck rotating gear 5 is located above the limiting block 6.

[0067] In the embodiment, the lower end of the chuck rotating gear 5 is located above the limiting block 6, which can prevent the limiting block 6 from coming out of the anti-rotation installation groove 421.

[0068] According to the specific embodiment of the utility model, the power driving module 100 for the rotary electric claw further comprises a rotating bearing 12, a bearing end cover 13 and a shaft end limiting ring shoulder 14; the rotating bearing 12 is installed in the installation groove 22, the lifting driving rod 1 is rotationally connected with the sliding nut 2 through the rotating bearing 12; the rotating bearing 12 comprises a bearing inner ring 121 and a bearing outer ring 122, the shaft end limiting ring shoulder 14 is fixed to the bottom end of the lifting driving rod 1 through a screw, and the shaft end limiting ring shoulder 14 abuts against the bottom of the bearing inner ring 121; the bearing end cover 13 is fixedly installed on the upper part of the sliding nut 2, and the bearing end cover 13 abuts against the top of the bearing outer ring 122.

[0069] The embodiment provides a specific structure for realizing the rotation connection of the lifting driving rod 1 and the sliding nut 2. The bearing end cover 13 can prevent the rotation bearing 12 and the bottom end of the lifting driving rod 1 from being pulled out of the mounting groove 22, and the shaft end limiting ring shoulder 14 is used for abutting against the bearing inner ring 121, so that the lifting driving rod 1 and the sliding nut 2 form a reliable and smooth rotation connection structure. When the chuck rotary gear 5 drives the chuck module 200 to rotate, the lifting driving rod 1 can freely rotate along with the chuck module 200, and the rotation center of the lifting driving rod 1 does not change. The transmission accuracy of the lifting driving rod 1 is ensured.

[0070] It also needs to be explained that: in order to ensure that the first connecting piece can rotate smoothly, the gap between the chuck and the inner wall of the cavity must exist. The existence of the gap inevitably leads to the fact that when the chuck is lifted, the gap must be compensated first, and then the power is transmitted to the first connecting piece. The first connecting piece cannot act synchronously with the chuck, and the action of the first connecting piece is delayed. Therefore, the prior art still has the problem of poor response performance of the clamping jaw device.

[0071] In the embodiment, when the rotating screw 3 rotates, the sliding nut 2 is directly driven to lift, the sliding nut 2 transmits the lifting force to the lifting driving rod 1 through the rotation bearing 12 and the bearing end cover 13, and the lifting driving rod 1 can be lifted synchronously while the rotating screw 3 rotates.

[0072] Therefore, the structure of the embodiment can ensure that the lifting driving rod 1 can freely rotate along with the chuck module 200, and also ensure that the lifting driving rod 1 acts synchronously with the rotating screw 3, and has good response performance.

[0073] According to the specific embodiment of the utility model, the power driving module 100 for rotating the electric claw further includes first gear bearing 15 and second gear bearing 16 respectively arranged in the mounting cavity, the outer side middle segment of the chuck rotary gear 5 is provided with outer meshing teeth 52 connected with the left rotating drive 10, and the outer side upper segment and lower segment of the chuck rotary gear 5 are respectively connected with the shell 4 in rotation through the first gear bearing 15 and the second gear bearing 16.

[0074] In the embodiment, bearings are arranged at the upper and lower ends of the outer meshing teeth 52, so that the chuck rotary gear 5 can be stably stressed and the rotation smoothness is improved. Moreover, the first gear bearing 15 and the second gear bearing 16 located above and below the outer meshing teeth 52 do not or do not obviously increase the transverse dimension, so that the structure of the power driving module 100 for rotating the electric claw is more reasonable and compact.

[0075] According to the specific embodiment of the utility model, the chuck connecting hole includes a plurality of threaded holes 53 and a plurality of pin holes 54.

[0076] In the embodiment, the pin hole 54 is used for installing a positioning pin, the threaded hole 53 is used for installing a threaded connecting piece, and the threaded hole 53 and the plurality of pin holes 54 are used in combination, so that the stable connection and the up-down alignment accuracy of the chuck rotating gear 5 and the parallel slide 01 are facilitated.

[0077] More specifically, the screw upper rotating bearing set 7 and the screw lower rotating bearing set 8 each include two bearings installed back to back.

[0078] In the embodiment, the two bearing sets are used in combination, so that the axial thrust is facilitated to be provided, and the position accuracy and the smooth rotation of the rotating screw 3 are further ensured.

[0079] More specifically, the right rotating drive 9 includes a right motor 91 and a right wheel train 92, and the left rotating drive 10 includes a left motor 101 and a left wheel train 102.

[0080] In the embodiment, the right wheel train 92 and the left wheel train 102 are facilitated to improve the rotating torque.

[0081] According to the specific embodiment of the utility model, the number of the slide posts 23 is two, and the two slide posts 23 are oppositely arranged on the outer side of the sliding nut 2; each slide post 23 corresponds to extend into one rotation limiting block 6.

[0082] In the embodiment, the structure is adopted, so that the opposite force of the sliding nut 2 is facilitated to be borne, and the smoothness of the sliding is further improved.

[0083] According to the specific embodiment of the utility model, the machine shell 4 is a cuboid as a whole, and the machine shell 4 includes an upper shell 41, a middle shell 42 and a lower shell 43 arranged in alignment from top to bottom. The installation cavity is jointly surrounded by the upper shell 41, the middle shell 42 and the lower shell 43, and the middle shell 42 is provided with an electric claw installation hole 422 penetrating therethrough, and the electric claw installation hole 422 is arranged in a staggered manner with the installation cavity.

[0084] In the embodiment, the machine shell 4 adopts a split structure, so that the installation cavity is facilitated to be formed and the assembly of the internal components is facilitated. The electric claw installation hole 422 penetrates the solid part of the middle shell 42, so that the threaded connecting piece is facilitated to be inserted into the electric claw installation hole 422 from the outside, and the stable installation of the power drive module 100 for rotating the electric claw is achieved. In addition, the electric claw installation hole 422 is arranged in a staggered manner with the installation cavity, so that the sealing property of the machine shell 4 is not affected.

[0085] Please continue to combine 2 and Figure 8The utility model discloses a high -performance rotary electric claw, including chuck module 200 and the power drive module 100 for rotary electric claw as above implementation mode recites, chuck module 200 includes parallel slide 01, and parallel slide 01 includes slide main body 013, the upper portion of slide main body 013 is equipped with recessed sliding groove, and the first sliding clamp block 02 and the second sliding clamp block 03 are equipped in sliding groove respectively, and the first sliding clamp block 02 and the second sliding clamp block 03 are arranged in parallel, and the first sliding clamp block 02 and the second sliding clamp block 03 are slidably connected with sliding groove respectively, and the connecting drive block is slidably connected with the first sliding clamp block 02 and the second sliding clamp block 03 respectively and extends into parallel slide 01, and lifting drive rod 1 is along vertical lifting, can drive the first sliding clamp block 02 and the second sliding clamp block 03 sliding along transverse opening and closing, the bottom center of slide main body 013 is also equipped with the protruding round mounting boss 012, and the mounting boss 012 extends into the upper portion of central mounting through-hole 51, and the upper portion of chuck rotary gear 5 abuts and supports the lower portion of slide main body 013, and lifting drive rod 1, rotary screw 3, sliding nut 2, chuck rotary gear 5 and mounting boss 012 are coaxial arrangement.

[0086] It should be noted that in the embodiment, the "transverse direction" and "vertical direction" are referenced Figure 3 , and the orientation is only used to clearly express the structure of the high-performance rotary electric claw of the utility model, and cannot be understood as a limitation on the structure of the utility model. When the use direction of the utility model changes, the orientation of the "transverse direction" and "vertical direction" changes accordingly.

[0087] In the embodiment, the lifting of the lifting drive rod 1 in the power drive module 100 for rotary electric claw can drive the opening and closing of the two sliding clamp blocks. The rotation of the chuck rotary gear 5 in the power drive module 100 for rotary electric claw can drive the rotation of the parallel slide 01. In order to realize the opening and closing and rotation of the chuck module 200 driven by the power drive module 100 for rotary electric claw.

[0088] The moving direction of the lifting drive rod 1 and the sliding clamp block is perpendicular. The chuck module 200 and the power drive module 100 for rotary electric claw both adopt a modular structure; it is convenient for separate assembly and production and combined use. After the chuck module 200 and the power drive module 100 for rotary electric claw are assembled, the chuck rotary gear 5 supports the slide main body 013, avoiding the structure of the parallel slide 01 being cantilevered supported, ensuring the position accuracy of the driving chuck module 200. And the mounting boss 012 extends into the upper portion of the central mounting through-hole 51, therefore, it can ensure that the parallel slide 01 and the chuck rotary gear 5 are accurately concentric, which is beneficial to ensure the action accuracy of the chuck module 200. The lifting drive rod 1, the rotary screw 3, the sliding nut 2, the chuck rotary gear 5 and the mounting boss 012 are coaxially arranged. It is beneficial to further improve the balance and smoothness of the opening and closing and rotation of the chuck module 200.

[0089] According to the specific embodiment of the utility model, the connecting driving block includes first driving oblique sliding block 17 and second driving oblique sliding block 18 which are arranged in " X " shape, the first oblique sliding groove 021 recessed in the side of first sliding clamp block 02 close to the connecting driving block, the second oblique sliding groove 031 recessed in the side of second sliding clamp block 03 close to the connecting driving block, the first driving oblique sliding block 17 extends into the first oblique sliding groove 021, and the first driving oblique sliding block 17 is slidably connected with the first oblique sliding groove 021;The second driving oblique sliding block 18 extends into the second oblique sliding groove 031, and the second driving oblique sliding block 18 is slidably connected with the second oblique sliding groove 031;Rolling column 04 is arranged between the first sliding clamp block 02 and the second sliding clamp block 03.

[0090] The embodiment provides a structure of connecting driving block. Driving oblique sliding block (first driving oblique sliding block 17 and second driving oblique sliding block 18) is used to cooperate with oblique sliding groove (first oblique sliding groove 021 and second oblique sliding groove 031), and the vertical power of lifting driving rod is converted into the opening and closing action of first sliding clamp block 02 and second sliding clamp block 03 along the transverse direction. By using the structure, the driving oblique sliding block is located at the central position between the first sliding clamp block 02 and the second sliding clamp block 03, and the first sliding clamp block 02 and the second sliding clamp block 03 have a long overlapping section in the sliding direction, so that the overall size of the clamp head module 200 can be greatly reduced. The friction between the first sliding clamp block 02 and the second sliding clamp block 03 is reduced by the rolling column 04, and the first sliding clamp block 02 and the second sliding clamp block 03 are easily opened and closed.

[0091] Please refer to Figure 9 , according to the specific embodiment of the utility model, the connecting driving block includes first driving wedge 19 and second driving wedge 20 arranged opposite to each other;The first oblique surface sliding groove 022 is arranged at the end of first sliding clamp block 02 close to the connecting driving block, the second oblique surface sliding groove 032 is arranged at the end of second sliding clamp block 03 close to the connecting driving block, the first driving wedge 19 extends into the first oblique surface sliding groove 022, and the first driving wedge 19 is slidably connected with the first oblique surface sliding groove 022;The second driving wedge 20 extends into the second oblique surface sliding groove 032, and the second driving wedge 20 is slidably connected with the second oblique surface sliding groove 032.

[0092] Another structure of connecting the driving block is provided in the embodiment. The driving wedge (the first driving wedge 19 and the second driving wedge 20) is used to cooperate with the inclined sliding groove (the first inclined sliding groove 022 and the second inclined sliding groove 032) to realize the conversion of the vertical power of the lifting driving rod into the opening and closing action of the first sliding clamp block 02 and the second sliding clamp block 03 along the transverse direction. In the structure, the driving inclined sliding block is driven by the end of the first sliding clamp block 02 and the second sliding clamp block 03 to open and close the first sliding clamp block 02 and the second sliding clamp block 03, respectively. Compared with the previous embodiment, the force effect is better, and the rolling column 04 is not required to be arranged; but under the same opening and closing stroke, the overall transverse size of the chuck module 200 of the embodiment is relatively large. In the specific implementation, the selection can be made according to the requirement. Regardless of which embodiment, the structure of connecting the driving block needs to be matched with the structure of the high-performance rotary electric claw chuck.

[0093] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "link", "connection" should be understood in broad sense, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be directly connected, also can pass through intermediate medium indirectly connect, can be two elements inside communication, also can be "transmission connection", namely through various suitable ways such as belt drive, gear drive or chain wheel drive to carry out power connection. For ordinary skilled in the art, the specific meaning of the above-mentioned term in the utility model can be understood according to the specific situation.

Claims

1. A power drive module for a rotary electric claw, characterized by, The utility model provides a power drive module for rotating electric claw, including: lifting drive rod, sliding nut, rotary screw, casing, chuck rotary gear, limit rotation block, screw upper rotation bearing group and screw lower rotation bearing group, be equipped with installation cavity in casing, rotary screw is located in installation cavity along vertical, and rotary screw is equipped with from top to bottom respectively: screw section, upper bearing installation section, lower bearing installation section and drive section, screw upper rotation bearing group and screw lower rotation bearing group are equipped with in installation cavity respectively, and set up correspondingly the position of upper bearing installation section and lower bearing installation section, the lower part of sliding nut is equipped with with screw section cooperation's internal thread, the upper part of screw section is inserted into the lower part of sliding nut, and with sliding nut forms screw transmission structure, the upper part of sliding nut is equipped with installation groove, the bottom of lifting drive rod is inserted into installation groove, and lifting drive rod is rotatably connected with sliding nut, the outside of sliding nut is equipped with at least one convex slide post, the side of limit rotation block opposite to slide post is equipped with recessed slide groove, slide post is inserted into slide groove, to realize sliding nut and limit rotation block sliding connection, chuck rotary gear is installed in installation cavity, chuck rotary gear is overall circular ring with central installation through -hole, the lower part of central installation through -hole is partially inserted into sliding nut, and chuck rotary gear is rotatably connected with sliding nut, the top of lifting drive rod is equipped with connecting drive block, the upper part of chuck rotary gear is equipped with chuck connecting hole. The position of installation cavity corresponds drive section is equipped with right side rotation drive connected with drive section and used for driving rotary screw rotation, the position of installation cavity corresponds slide post is equipped with anti -rotation installation groove, limit rotation block is installed in anti -rotation installation groove, the position of installation cavity corresponds chuck rotary gear is equipped with left side rotation drive connected with chuck rotary gear and used for driving chuck rotary gear rotation, the power drive module for rotating electric claw still includes the slide block column pin that overall is cylindrical, the lower end of slide block column pin is inserted into installation cavity, the upper end of slide block column pin is inserted into slide groove, there is gap between the outside wall of limit rotation block and anti -rotation installation groove, the outside of slide block column pin is tangent with the inner wall of slide groove.

2. The power drive module for a rotary electric claw according to claim 1, wherein The lower end of chuck rotary gear is located above limit rotation block, the power drive module for rotating electric claw still includes: rotation bearing, bearing end cover and axle end limit ring shoulder, rotation bearing is installed in installation groove, lifting drive rod is rotatably connected with sliding nut through rotation bearing, rotation bearing includes bearing inner ring and bearing outer ring, axle end limit ring shoulder is fixed through screw on the bottom of lifting drive rod, and axle end limit ring shoulder and the bottom of bearing inner ring abut, bearing end cover is fixedly installed on the upper part of sliding nut, and bearing end cover and the top of bearing outer ring abut.

3. The power drive module for a rotary electric claw according to claim 2, wherein ​ 4. The power drive module for a rotary electric claw according to claim 3, wherein The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing.

5. The power drive module for a rotary electric claw according to claim 4, wherein The chuck connecting hole comprises a plurality of threaded holes and a plurality of pin holes; the upper rotating bearing set and the lower rotating bearing set of the screw rod each comprise two bearings installed back to back; the right side rotating drive comprises a right side motor and a right side gear train; and the left side rotating drive comprises a left side motor and a left side gear train.

6. The power drive module for a rotary electric claw according to claim 5, wherein The number of the slide columns is two, and the two slide columns are oppositely arranged on the outer side of the slide nut; each slide column extends into one of the rotation limiting blocks.

7. The power drive module for a rotary electric claw according to claim 6, wherein The shell is a cuboid as a whole, and the shell comprises an upper shell, a middle shell and a lower shell arranged in alignment from top to bottom; the installation cavity is surrounded by the upper shell, the middle shell and the lower shell, and the middle shell is provided with an electric claw installation hole penetrating therethrough, and the electric claw installation hole is arranged in a staggered manner with the installation cavity.

8. A high performance rotary electric claw characterized by, The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing.

9. The high performance rotary electric claw of claim 8, wherein, The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing. The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing. The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing. The power drive module for rotating the electric claw further comprises a first gear bearing and a second gear bearing respectively arranged in the installation cavity, the middle section of the outer side of the chuck rotating gear is provided with outer meshing teeth connected with the left side rotating drive, and the upper section and the lower section of the outer side of the chuck rotating gear are respectively connected with the shell in rotation through the first gear bearing and the second gear bearing.

10. The high performance rotary electric claw of claim 8, wherein, The connecting driving block comprises a first driving wedge and a second driving wedge arranged oppositely; one end of the first sliding clamp block close to the connecting driving block is provided with a first inclined sliding groove, one end of the second sliding clamp block close to the connecting driving block is provided with a second inclined sliding groove, the first driving wedge extends into the first inclined sliding groove, and the first driving wedge is in sliding connection with the first inclined sliding groove; the second driving wedge extends into the second inclined sliding groove, and the second driving wedge is in sliding connection with the second inclined sliding groove.

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