Displacement transmission device of grabbing machine and grabbing machine
By incorporating a sliding groove structure with slide rails and limit bars into the displacement transmission device of the gripper, the problem of gear loosening or falling off due to vibration is solved, resulting in a more stable operating effect.
Patent Information
- Application Number
- CN202520163934.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-23
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-01-23
AI Technical Summary
The displacement transmission device of the existing grabber is prone to gear loosening or falling off due to vibration or external force during long-term operation, which affects the stability of equipment operation.
A slide rail is installed on the mounting bracket, and upper and lower limit strips are protruded laterally on the movable bracket to form a slide groove that cooperates with the slide rail. The clamping effect of the limit strips improves the resistance to vibration and prevents the moving parts from shifting or falling off.
It improves the operational stability of moving parts, reduces displacement or detachment caused by vibration, and ensures more stable equipment operation.
Smart Images
Figure CN223871098U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of gripper technology, and in particular to a displacement transmission device and a gripper. Background Technology
[0002] A vending machine, also known as a product grabber, is a device that uses a motor-controlled gripping mechanism to grab items. A vending machine typically includes a displacement transmission device and a gripping device. The gripping device is fixedly connected to the displacement transmission device, and its position is controlled by the movement of the displacement transmission device. The displacement transmission device includes a mounting bracket and a moving component. In existing technology, the moving component typically includes a moving bracket and gears mounted in the bracket. The moving bracket is attached to the mounting bracket. Therefore, during long-term operation, the moving bracket may loosen or detach due to vibration or external forces, leading to gear misalignment and affecting the stability of the equipment's operation.
[0003] The above content is only used to assist in understanding the technical solution of the utility model and does not represent an admission that the above content is prior art. Utility Model Content
[0004] In view of the above problems, this utility model proposes a displacement transmission device for a gripper, aiming to solve the technical problem of unstable operation of the displacement transmission device of the traditional gripper.
[0005] To achieve the above objectives, the displacement transmission device of the gripper proposed in this utility model includes a mounting bracket and a moving component, wherein,
[0006] The mounting bracket includes a first side and a second side opposite to each other, the first side and the second side are elongated, and the second side is provided with a rack extending along its length.
[0007] The movable component is located between the first side and the second side. The movable component includes a movable bracket and a transmission gear. The first side includes a slide rail extending along its length. The movable bracket is laterally provided with an upper limit strip and a lower limit strip to form a slide groove that cooperates with the slide rail. The transmission gear is mounted on and exposed on the movable bracket. The transmission gear overlaps with the rack and meshes with the rack.
[0008] In one embodiment, the first side portion has a first state and a second state. When the first side portion is in the first state, the distance between the first side portion and the second side portion increases so that when the movable bracket is longitudinally installed to the mounting bracket, the lower limit strip passes through the first side portion. When the first side portion is in the second state, the slide rail is embedded in the slide groove.
[0009] In one embodiment, the bottom of the movable bracket is provided with a first guide slope inclined toward the first side. The first guide slope is connected to the outermost end of the lower limit bar and located below the slide rail, so as to squeeze and expand the slide rail when the movable bracket is longitudinally installed to the mounting bracket, and to embed the slide rail into the slide groove.
[0010] In one embodiment, the mounting bracket further includes two third sides, which are connected to the ends of the second side and the first side, and the two third sides are respectively located at opposite ends of the first side;
[0011] The lengths of the first side portion and the second side portion are both greater than the length of the third side portion.
[0012] In one embodiment, the first side portion and any of the third side portions are connected by a first corner portion, wherein in the lateral direction, the width of the first corner portion is smaller than the width of the first side portion;
[0013] The second side and any of the third side are connected by a second corner portion, wherein in the lateral direction, the width of the second corner portion is smaller than the width of the second side.
[0014] In one embodiment, the first side portion further includes a mounting plate, which is connected to the outer periphery of the slide rail, and the mounting plate is integrally bent from a thin-walled plate;
[0015] And / or, the mounting plate and the slide rail are integrally formed.
[0016] In one embodiment, both the upper limit bar and the lower limit bar have a plurality of first arc-shaped protrusions on the wall surface facing the slide rail. The first arc-shaped protrusions abut against the slide rail. The plurality of first arc-shaped protrusions are spaced apart along the length direction of the second side and extend laterally.
[0017] In one embodiment, the movable bracket has a first stop strip and a second stop strip protruding from the wall near the second side, and the first stop strip and the second stop strip are spaced apart in the longitudinal direction;
[0018] The bottom of the movable bracket is also provided with a second guide slope that is inclined toward the second side. The second guide slope is connected to the outermost end of the second stop bar and is located below the second side. When the movable bracket is longitudinally installed to the mounting bracket, the second side is squeezed and expanded, and the first side and the rack are both sandwiched between the first stop bar and the second stop bar.
[0019] In one embodiment, the second side portion includes a support wall, a limiting wall, and a transmission platform extending along its length direction. The support wall and the limiting wall are respectively connected to opposite sides of the transmission platform. The rack is disposed on the transmission platform and located inside the support wall.
[0020] The supporting wall and the limiting wall are staggered in the longitudinal direction, the first stop strip overlaps the supporting wall, and the second stop strip is located below the limiting wall.
[0021] In one embodiment, the movable bracket has a plurality of second arc-shaped protrusions on its two walls facing the slide rail and the limiting wall, the plurality of second arc-shaped protrusions being spaced apart along the length direction of the second side, and the second arc-shaped protrusions extending along the longitudinal direction.
[0022] In one embodiment, the movable support includes a detachably connected upper shell and a lower shell, the upper shell covering the transmission gear;
[0023] The upper shell is provided with the upper limit bar and the first stop bar, and the lower shell is provided with the lower limit bar, the second stop bar and the first guide slope.
[0024] This utility model also proposes a gripping machine, including a gripping device and a displacement transmission device of the gripping machine as described above, wherein the gripping device is connected to the displacement transmission device of the gripping machine.
[0025] The displacement transmission device of this utility model's gripper features a slide rail on its first side. An upper and lower limit bar protrudes laterally from the moving support, forming a groove that mates with the slide rail. This effectively clamps the slide rail longitudinally. The groove covers the upper and lower surfaces of the slide rail. Through the clamping action of the upper and lower limit bars, a multi-point force-bearing structure is formed, effectively improving resistance to vibration and preventing the moving parts from shifting or falling off due to vibration, resulting in more stable operation. For example, if the slide rail is clamped laterally, it is prone to longitudinal swaying or detachment from the moving support when subjected to vibration or load, affecting the operational stability of the moving support. Attached Figure Description
[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0027] Figure 1 A schematic diagram of an embodiment of the gripper of this utility model is shown;
[0028] Figure 2 This is a schematic diagram of the displacement transmission device of the gripper of this utility model;
[0029] Figure 3 This is another schematic diagram of the displacement transmission device of the gripper of this utility model;
[0030] Figure 4 for Figure 2 Exploded view of the displacement transmission device of the medium-sized grabber;
[0031] Figure 5 for Figure 2 A cross-sectional view of the displacement transmission device of the medium-sized grabber;
[0032] Figure 6 for Figure 5 A magnified view of a section at point A in the middle;
[0033] Figure 7 for Figure 5 A magnified view of a section at point B in the middle;
[0034] Figure 8 for Figure 4 Schematic diagram of the moving component;
[0035] Figure 9 for Figure 8 A magnified view of a section at point C;
[0036] Figure 10 for Figure 4 A schematic diagram of the structure of the mounting bracket;
[0037] Explanation of icon numbers:
[0038]
[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text is to include three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies both A and B.
[0043] This utility model proposes a displacement transmission device 100 for a gripper.
[0044] In this embodiment of the utility model, please refer to Figures 1 to 10 The displacement transmission device 100 of the gripper includes a mounting bracket 10 and a moving component 20. The mounting bracket 10 includes a first side 11 and a second side 12 facing each other. The first side 11 and the second side 12 are elongated. The second side 12 is provided with a rack 13 extending along its length. The moving component 20 is located between the first side 11 and the second side 12. The moving component 20 includes a moving bracket 21 and a transmission gear 22. The first side 11 includes a slide rail 111 extending along its length. The moving bracket 21 is laterally provided with an upper limit bar 211 and a lower limit bar 212 to form a groove 213 that cooperates with the slide rail 111. The transmission gear 22 is mounted on and exposed on the moving bracket 21. The transmission gear 22 overlaps with the rack 13 and meshes with the rack 13.
[0045] In this embodiment, longitudinal refers to the vertical direction, and transverse is perpendicular to longitudinal. The mounting bracket 10 is a hollow runway-shaped frame used to limit the movement range of the moving part 20 and provide support. The first side 11 and the second side 12 are equivalent to the sides of the mounting bracket 10, used to provide a movement path for the moving bracket 21. The material of the first side 11 and the second side 12 can be a deformable material or a non-deformable material, which is not limited here. If the material of the first side 11 and the second side 12 is a non-deformable material, the moving bracket 21 can be provided with an upper shell and a lower shell. The lower shell is installed on the mounting bracket from bottom to top, and the upper shell is installed on the mounting bracket 10 from top to bottom, and then the upper shell and the lower shell are fixed. If the first side 11 and the second side 12 can be deformed, when they are compressed, the distance between the first side 11 and the second side 12 can be increased, so that the lower limit strip 212 of the moving bracket 21 passes through the first side 11 longitudinally, thereby allowing the first side 11 to be embedded in the sliding groove 213. The rack 13 is fixed to the second side 12 and is used to mesh with the transmission gear 22 for transmission.
[0046] The moving component 20 includes a moving bracket 21 and a transmission gear 22 mounted on the moving bracket 21. Through the meshing transmission gear 22 with the rack 13, the rotational motion of the motor is converted into the linear motion of the moving bracket 21, thereby achieving precise displacement control.
[0047] The slide rail 111 is set on the first side 11 and serves as a guide structure for the movement of the moving part 20. The slide groove 213 is composed of the upper limit bar 211 and the lower limit bar 212 on the moving bracket 21 and cooperates with the slide rail 111 to achieve stable sliding.
[0048] The displacement transmission device 100 of this utility model's gripper has a slide rail 111 set on the first side 11, and an upper limit bar 211 and a lower limit bar 212 protruding laterally on the moving support 21 to form a groove 213 that cooperates with the slide rail 111. This is equivalent to longitudinally clamping the slide rail 111. The groove 213 covers the upper and lower surfaces of the slide rail 111. Through the clamping action of the upper limit bar 211 and the lower limit bar 212, a multi-point force-bearing structure is formed, which effectively improves the resistance to vibration and prevents the moving part 20 from shifting or falling off due to vibration, making the operation more stable. For example, if the slide rail 111 is clamped laterally, when the slide rail 111 is subjected to vibration or load, it is easy for it to swing longitudinally or fall off the moving support 21, affecting the operational stability of the moving support 21.
[0049] Furthermore, the first side portion 11 has a first state and a second state. In the first state, the distance between the first side portion 11 and the second side portion 12 is increased so that when the movable bracket 21 is longitudinally installed to the mounting bracket 10, the lower limit bar 212 passes through the first side portion 11. In the second state, the slide rail 111 is embedded in the slide groove 213.
[0050] In this embodiment, when the first side portion 11 is in the first state, the first side portion 11 is expanded outward to increase the distance between the first side portion 11 and the second side portion 12, thereby allowing the lower limit strip 212 to pass longitudinally through the first side portion 11 and the slide rail 111 to be embedded in the slide groove 213. The first side portion 11 can be expanded outward by the user manually prying it open or by the moving bracket 21 squeezing and expanding the first side portion 11; no limitation is made here. By expanding the first side portion 11, the assembly restrictions on the moving bracket 21 can be reduced, further improving the assembly efficiency of the moving part and the mounting bracket 10. For example, if the first side portion 11 cannot be expanded outward, the moving bracket 21 needs to be provided with an upper shell and a lower shell, which are respectively installed on the mounting bracket 10 and then fixedly connected. Such steps are cumbersome and have low assembly efficiency. When the first side portion 11 is in the second state, the first side portion 11 is not expanded outward, and the slide rail 111 is embedded in the slide groove 213. When the first side 11 is in the second state, the slide rail 111 is clamped between the upper limit bar 211 and the lower limit bar 212.
[0051] Furthermore, the bottom of the movable bracket 21 is provided with a first guide slope 214 inclined toward the first side 11. The first guide slope 214 is connected to the outermost end of the lower limit bar 212 and is located below the slide rail 111, so as to squeeze and expand the slide rail 111 when the movable bracket 21 is longitudinally installed to the mounting bracket 10, and to embed the slide rail 111 into the slide groove 213.
[0052] In this embodiment, the first guide slope 214 is an inclined structure disposed at the bottom of the movable bracket 21, connected to the outermost end of the lower limit strip 212, that is, connected to the end of the lower limit strip 212 away from the movable bracket 21. It is used to transmit external force to the first side 11 of the mounting bracket 10 when the movable bracket 21 is installed longitudinally, helping the slide rail 111 to embed into the slide groove 213. It is understood that the bottom cross-sectional area of the movable bracket 21 is smaller than the top cross-sectional area, so that the bottom of the movable bracket 21 can smoothly pass through the mounting bracket 10 longitudinally.
[0053] The bottom of the movable bracket 21 is provided with a first guide slope 214 inclined towards the first side 11. The first guide slope 214 is connected to the outermost end of the lower limit bar 212. It can be understood that in order for the slide groove 213 and the slide rail 111 to slide together, the depth of the slide groove 213 is usually greater than the width of the slide rail 111, that is, the upper limit bar 211 and the lower limit bar 212 protrude from the slide rail 111. The first guide slope 214 is connected to the outermost end of the lower limit bar 212, which means that the outermost end of the first guide slope 214 protrudes from the slide rail 111 and is located below the slide rail 111. During the installation process, since the outermost end of the first guide slope 214 protrudes from the slide rail 111, when the movable bracket 21 extends downward into the mounting bracket 10, the first guide slope 214 will squeeze the first side 11, so that the first side 11 deforms, widening the gap between the slide rail 111 and the first side 11, thereby allowing the slide rail 111 to be embedded in the slide groove 213. The first guide slope 214 naturally presses against the first side portion 11, allowing for assembly of the slide rail 111 and the slide groove 213 without additional operation. This makes the installation of the movable bracket 21 more efficient and smooth, suitable for mass production or automated assembly scenarios, while avoiding damage to the mounting bracket 10. For example, without the first guide slope 214, the user would need to manually pry open the first side portion 11. Manually prying open the first side portion 11 may cause deformation or cracking due to uneven or excessive force, reducing assembly stability and service life. Thus, the displacement transmission device 100 of this invention's gripper simultaneously possesses the characteristics of stable operation and convenient installation.
[0054] In one embodiment, the mounting bracket 10 further includes two third side portions 14, which are connected to the ends of the first side portion 11 and the second side portion 12, and the two third side portions 14 are located at opposite ends of the first side portion 11; the lengths of the first side portion 11 and the second side portion 12 are both greater than the lengths of the third side portions 14.
[0055] In this embodiment, the first side portion 11 and the second side portion 12 correspond to the long side of the mounting bracket 10, and the third side portion 14 corresponds to the short side of the mounting bracket 10. Under the compression of the first guide slope 214, the longer first side portion 11 can more easily undergo moderate deformation, thereby increasing the distance between the first side portion 11 and the second side portion 12, making the slide rail 111 fit into the slide groove 213 more smoothly. Secondly, compared with the shorter side which is more difficult to deform, the first side portion 11 and the second side portion 12 are longer, requiring only a smaller force to achieve the necessary deformation, reducing the installation difficulty, eliminating the need for excessive external force adjustment, and making the deformation natural and smooth, resulting in more efficient assembly.
[0056] Furthermore, the first side portion 11 and any third side portion 14 are connected by a first corner portion 15, and in the lateral direction, the width of the first corner portion 15 is smaller than the width of the first side portion 11; the second side portion 12 and any third side portion 14 are connected by a second corner portion 16, and in the lateral direction, the width of the second corner portion 16 is smaller than the width of the second side portion 12.
[0057] In this embodiment, the horizontal direction perpendicular to the longitudinal direction can be transverse. A first corner portion 15 is provided between the first side portion 11 and the third side portion 14, and a second corner portion 16 is provided between the second side portion 12 and the third side portion 14. This means that the mounting bracket 10 is not a regular square, which can reduce the stress at the corners and prevent the first side portion 11 from breaking when squeezed. The corner portion is narrow, so that it can deform under force. When the first guide slope 214 squeezes the second side portion 12, the deformation performance of the second corner portion 16 can buffer part of the external force, help the second side portion 12 expand, and allow the slide rail 111 to smoothly embed into the slide groove 213.
[0058] In one embodiment, reference is made to Figures 3 to 6 The first side portion 11 also includes a mounting plate 112, which is connected to the outer periphery of the slide rail 111. The mounting plate 112 is integrally bent from a thin-walled plate. And / or, the mounting plate 112 and the slide rail 111 are integrally formed.
[0059] In this embodiment, the mounting plate 112 is connected to the outer periphery of the slide rail 111, providing additional support for the slide rail 111 and effectively improving the overall rigidity and load-bearing capacity of the first side portion 11. Because the mounting plate 112 is integrally bent from a thin-walled plate, it has greater flexibility, making it easier to deform and allowing the slide rail 111 to be embedded into the slide groove 213 with less force. Furthermore, the mounting plate 112 has strong deformation capacity, so even with slightly larger external forces during operation, it will not easily break or damage the overall structure of the mounting bracket 10.
[0060] Secondly, the mounting plate 112 and the slide rail 111 are integrally formed, which avoids the stress concentration problem caused by traditional welding or splicing and enhances the bonding strength between the mounting plate 112 and the slide rail 111.
[0061] In one embodiment, the upper limit bar 211 and the lower limit bar 212 are both provided with a plurality of first arc-shaped protrusions 215 on the wall surface facing the slide rail 111. The first arc-shaped protrusions 215 abut against the slide rail 111. The plurality of first arc-shaped protrusions 215 are spaced apart along the length direction of the first side portion 11 and extend laterally.
[0062] In this embodiment, both the upper limit bar 211 and the lower limit bar 212 have multiple first arc-shaped protrusions 215 protruding from their respective walls facing the slide rail 111. These protrusions are spaced apart along the length of the first side portion 11 and extend laterally. Compared to a flat contact surface, the contact area between the arc-shaped protrusions and the slide rail 111 is significantly reduced, exhibiting line contact characteristics. This reduces frictional resistance, making the movement of the moving part 20 smoother and reducing energy consumption of the motor or other drive devices. Simultaneously, the line contact between the arc-shaped protrusions and the slide rail 111 reduces surface wear between the slide rail 111 and the slide groove 213, extending service life.
[0063] In one embodiment, a first stop bar 216 and a second stop bar 217 are protruding from the wall surface of the movable bracket 21 near the second side portion 12. The first stop bar 216 and the second stop bar 217 are spaced apart in the longitudinal direction. The bottom of the movable bracket 21 is also provided with a second guide slope 219 inclined towards the second side portion 12. The second guide slope 219 is connected to the outermost end of the second stop bar 217 and is located below the second side portion 12, so as to squeeze and expand the second side portion 12 when the movable bracket 21 is longitudinally installed to the mounting bracket 10, and to make the second side portion 12 and the rack 13 both sandwiched between the first stop bar 216 and the second stop bar 217.
[0064] In this embodiment, the second side portion 12 and the rack 13 are both sandwiched between the first stop bar 216 and the second stop bar 217. That is, the first stop bar 216 and the second stop bar 217 clamp the second side portion 12 and the rack 13 longitudinally. Here, the second side portion 12 is equivalent to a slide rail, and the first stop bar 216 and the second stop bar 217 are equivalent to a sliding groove. They have the same function as the upper limit bar 211 and the lower limit bar 212, which is used to improve the operational stability of the movable bracket 21. For example, the opposite sides of the movable bracket 21 have a clamping effect on the mounting bracket 10, making the connection between the movable bracket 21 and the mounting bracket 10 more stable and able to balance the force, making the movable bracket 21 run more stably on the mounting bracket 10.
[0065] Secondly, the bottom of the movable bracket 21 is provided with a second guide slope 219 inclined towards the second side 12, and the second guide slope 219 is connected to the outermost end of the second stop bar 217. When the movable bracket 21 extends downward into the mounting bracket 10, the second guide slope 219 will compress the second side 12, causing the second side 12 to deform and widen the gap between the slide rail 111 and the second side 12, so that the second stop bar 217 passes through the mounting bracket 10 and is located below the mounting bracket 10, thereby cooperating with the first stop bar 216 in the longitudinal direction to clamp the second side 12. The setting of the second guide slope 219 naturally compresses the second side 12 through the inclined surface, and the assembly of the slide rail 111 and the slide groove 213 can be completed without additional operation. In this way, the installation of the movable bracket 21 is more efficient and smooth, suitable for mass production or automated assembly scenarios, while avoiding damage to the mounting bracket 10. For example, without the second guide ramp 219, the user would need to manually pry open the second side 12. When manually prying open the second side 12, uneven or excessive force may cause the second side 12 to deform or crack, reducing assembly stability and service life.
[0066] In one embodiment, the second side portion 12 includes a support wall 121, a limiting wall 122, and a transmission platform 123 extending along its length. The support wall 121 and the limiting wall 122 are respectively connected to opposite sides of the transmission platform 123. A rack 13 is disposed on the transmission platform 123 and located inside the support wall 121. The support wall 121 and the limiting wall 122 are staggered in the longitudinal direction. A first stop bar 216 overlaps the support wall 121, and a second stop bar 217 is located below the limiting wall 122.
[0067] In this embodiment, the support wall 121 and the limiting wall 122 are staggered longitudinally, and the support wall 121 and the limiting wall 122 are connected to opposite sides of the transmission platform 123, that is, the second side 12 is stepped. The longitudinal staggered arrangement of the support wall 121 and the limiting wall 122 helps to reasonably distribute the force, avoids excessive pressure on a single wall surface, and enhances the stability of the overall structure. Secondly, while providing rigid support for the transmission platform 123, the limiting wall 122, in cooperation with the slide rail 111 of the first side 11, restricts the movement range of the moving bracket 21, preventing the moving bracket 21 from having an excessive movement range that would lead to unstable operation.
[0068] In one embodiment, reference is made to Figure 8 and Figure 9 The movable bracket 21 has multiple second arc-shaped protrusions 218 protruding from its two walls facing the slide rail 111 and the limiting wall 122, and the multiple second arc-shaped protrusions 218 are spaced apart along the length direction of the second side 12 and extend longitudinally.
[0069] In this embodiment, the slide rail 111 and the limiting wall 122 form a limiting space in the lateral direction, within which the movable bracket 21 moves along the length direction of the second side portion 12. Multiple second arc-shaped protrusions 218 are respectively provided on the two walls of the movable bracket 21 facing the slide rail 111 and the limiting wall 122, which is equivalent to providing second arc-shaped protrusions 218 on the bottom wall of the slide groove 213. During the movement of the movable bracket 21 along the length direction of the second side portion 12, compared to a flat contact surface, the contact area between the arc-shaped protrusions and the slide rail 111 and the limiting wall 122 is significantly reduced, exhibiting line contact characteristics. This reduces frictional resistance, making the movement of the movable component 20 smoother and reducing the energy consumption of the motor or other drive devices.
[0070] In one embodiment, the movable bracket 21 includes a detachably connected upper shell 23 and a lower shell 24, the upper shell 23 covering the transmission gear 22; the upper shell 23 is provided with an upper limit bar 211 and a first stop bar 216, and the lower shell 24 is provided with a lower limit bar 212, a second stop bar 217 and a first guide slope 214.
[0071] In this embodiment, the upper shell 23 and the lower shell 24 can be made of the same material or different materials, depending on actual needs. For example, since the top and bottom of the movable bracket 21 have different structural shapes and functions, dividing the movable bracket 21 into an upper shell 23 and a lower shell 24 allows the upper shell 23 and the lower shell 24 to be designed with specialized structures according to their functional requirements. For example, the upper shell 23 may focus on protection, while the lower shell 24 may focus on support. Furthermore, the upper shell 23 and the lower shell 24 can be manufactured independently, simplifying the manufacturing process.
[0072] Secondly, the upper shell 23 and the lower shell 24 are fixedly connected by threads, which can improve the efficiency of disassembly and assembly. Since the movable bracket 21 usually contains a transmission gear 22 and a drive motor, it can be more convenient to disassemble and assemble when the drive motor or transmission gear 22 fails or needs to be replaced, which helps to save maintenance time.
[0073] This utility model also proposes a gripper 300, please refer to... Figure 1 The gripper 300 includes a gripping device 200 and a displacement transmission device 100. The specific structure of the displacement transmission device 100 is as described in the above embodiments. Since the gripper 300 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The gripping device 200 is connected to the displacement transmission device 100.
[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A displacement transmission device for a gripper, characterized in that, Includes mounting brackets and moving parts, among which, The mounting bracket includes a first side and a second side opposite to each other, the first side and the second side are elongated, and the second side is provided with a rack extending along its length. The movable component is located between the first side and the second side. The movable component includes a movable bracket and a transmission gear. The first side includes a slide rail extending along its length. The movable bracket is laterally provided with an upper limit strip and a lower limit strip to form a slide groove that cooperates with the slide rail. The transmission gear is mounted on and exposed on the movable bracket. The transmission gear overlaps with the rack and meshes with the rack.
2. The displacement transmission device of the gripper as described in claim 1, characterized in that, The first side has a first state and a second state. When the first side is in the first state, the distance between the first side and the second side increases so that when the movable bracket is longitudinally installed to the mounting bracket, the lower limit strip passes through the first side. When the first side is in the second state, the slide rail is embedded in the slide groove.
3. The displacement transmission device of the gripper as described in claim 2, characterized in that, The bottom of the movable bracket is provided with a first guide slope that is inclined toward the first side. The first guide slope is connected to the outermost end of the lower limit bar and is located below the slide rail. When the movable bracket is longitudinally installed onto the mounting bracket, the slide rail is squeezed and expanded, and the slide rail is embedded in the slide groove.
4. The displacement transmission device of the gripper as described in claim 3, characterized in that, The mounting bracket further includes two third sides, which are connected to the ends of the second side and the first side, and the two third sides are respectively located at opposite ends of the first side; The lengths of the first side portion and the second side portion are both greater than the length of the third side portion.
5. The displacement transmission device of the gripper as described in claim 4, characterized in that, The first side portion and any of the third side portions are connected by a first corner portion, and in the lateral direction, the width of the first corner portion is smaller than the width of the first side portion; The second side and any of the third sides are connected by a second corner portion, wherein the width of the second corner portion is smaller than the width of the second side in the lateral direction.
6. The displacement transmission device of the gripper as described in claim 2, characterized in that, The first side portion also includes a mounting plate, which is connected to the outer periphery of the slide rail. The mounting plate is integrally bent from a thin-walled plate. And / or, the mounting plate and the slide rail are integrally formed.
7. The displacement transmission device of the gripper as described in claim 1, characterized in that, The upper limit bar and the lower limit bar are both provided with a plurality of first arc-shaped protrusions on the wall surface facing the slide rail. The first arc-shaped protrusions abut against the slide rail. The plurality of first arc-shaped protrusions are spaced apart along the length direction of the second side and extend along the transverse direction.
8. The displacement transmission device of the gripper as described in any one of claims 3-5, characterized in that, The movable support has a first stop strip and a second stop strip protruding from the wall near the second side, and the first stop strip and the second stop strip are distributed at intervals in the longitudinal direction; The bottom of the movable bracket is also provided with a second guide slope that is inclined toward the second side. The second guide slope is connected to the outermost end of the second stop bar and is located below the second side. When the movable bracket is longitudinally installed to the mounting bracket, the second side is squeezed and expanded, and the first side and the rack are both sandwiched between the first stop bar and the second stop bar.
9. The displacement transmission device of the gripper as described in claim 8, characterized in that, The second side includes a support wall, a limiting wall, and a transmission platform extending along its length. The support wall and the limiting wall are respectively connected to opposite sides of the transmission platform. The rack is disposed on the transmission platform and located inside the support wall. The supporting wall and the limiting wall are staggered in the longitudinal direction, the first stop strip overlaps the supporting wall, and the second stop strip is located below the limiting wall.
10. The displacement transmission device of the gripper as described in claim 9, characterized in that, The movable bracket has multiple second arc-shaped protrusions on its two walls facing the slide rail and the limiting wall, and the multiple second arc-shaped protrusions are spaced apart along the length direction of the second side, and the second arc-shaped protrusions extend along the longitudinal direction.
11. The displacement transmission device of the gripper as described in claim 8, characterized in that, The movable support includes a detachably connected upper shell and a lower shell, the upper shell covering the transmission gear; The upper shell is provided with the upper limit bar and the first stop bar, and the lower shell is provided with the lower limit bar, the second stop bar and the first guide slope.
12. A gripping machine, characterized in that, It includes a gripping device and a displacement transmission device for a gripper as described in any one of claims 1 to 11, wherein the gripping device is connected to the displacement transmission device of the gripper.