Rotary clamping jaw capable of amplifying torque

Abstract

The rotary clamping jaw capable of amplifying the torque comprises a clamping jaw part and a driving part, the clamping jaw part comprises an electric jaw cylinder body, an electric jaw sliding table, a piston shaft and a shifting fork, the piston shaft is in sliding fit in the electric jaw cylinder body in a rotation stopping mode, one end of the shifting fork is connected with the piston shaft, and the other end of the shifting fork is connected with the electric jaw sliding table; the driving part comprises a rotating motor, a lead screw and a connecting nut in threaded fit with the lead screw, a hollow shaft is arranged in the center of the rotating motor and fixedly connected with the electric claw cylinder body, the lead screw penetrates through the hollow shaft in the axial direction, and the end of the lead screw is fixed to the piston shaft. According to the rotary clamping jaw capable of amplifying the torque, the rotating and clamping functions of the clamping jaw can be achieved only through one motor, the overall structure and the control method are simple, and the use cost and the vibration noise can be reduced.

Description

Technical Field

[0001] This utility model relates to the fields of medical or automation technology, and in particular to a rotary gripper that can amplify torque. Background Technology

[0002] With the continuous development of fields such as medical and automation, electric grippers are widely used due to their low noise and high controllability. However, with the expansion of various applications, ordinary single-grip electric grippers can no longer meet complex gripping needs. For example, in the medical industry, grippers need to perform complex movements that require both rotation and clamping, such as gripping and opening test tube caps.

[0003] However, existing rotatable grippers still have many problems, mainly in the following aspects: (1) The rotation and opening / closing motion of the gripper needs to be achieved by two motors respectively. Therefore, when it is necessary to rotate and clamp the gripper at the same time, two motors need to be started at the same time, resulting in high power consumption and noise, and the control program is also relatively complex. (2) Since the opening and closing motion of the gripper is controlled by one of the motors, the clamping force of the gripper depends only on that motor. The clamping force is limited. When a larger clamping force is required, a motor with high torque is required, thereby increasing the cost of the gripper.

[0004] For example, the electric gripper disclosed in CN218428403U uses the linear motion of the lead screw in the telescopic drive motor to drive the reciprocating motion of the piston shaft, thereby realizing the opening and closing motion of the gripper. This electric gripper does not have a rotation function. Another example is the rotatable electric gripper disclosed in CN218997813U, which uses a front-end motor to drive the hollow shaft to rotate, realizing the rotation of the entire gripper cylinder. The opening and closing of the slider is achieved by the rear-end motor driving the lead screw to rotate, causing the nut connected to the slider to telescopically move. Therefore, the two motors perform different functions, and both motors need to be started simultaneously to achieve the rotation and gripping of the electric gripper.

[0005] Therefore, it is necessary to design an electric gripper that can simultaneously rotate and clamp by starting a motor, thereby reducing power consumption and simplifying the control program. Utility Model Content

[0006] To address the technical problems of existing electric grippers that require two motors to control the rotation and opening / closing motion of the grippers, resulting in high power consumption, high noise, and complex control programs, this invention provides a rotary gripper that can amplify torque to solve the above problems.

[0007] The technical solution adopted by this utility model to solve its technical problem is: a rotary gripper that can amplify torque, including a gripper part and a driving part. The gripper part includes an electric gripper cylinder, an electric gripper slide, a piston shaft, and a shift fork. The piston shaft is anti-rotationally slidably fitted into the electric gripper cylinder. One end of the shift fork is connected to the piston shaft, and the other end is connected to the electric gripper slide. The driving part includes a rotary motor, a lead screw, and a connecting nut threaded with the lead screw. A hollow shaft is set at the center of the rotary motor. The hollow shaft is fixedly connected to the electric gripper cylinder. The lead screw passes through the hollow shaft axially, and the end of the lead screw is fixed to the piston shaft.

[0008] In an optional embodiment of this utility model, a support member is fixed inside the electric gripper cylinder, and the piston shaft is anti-rotationally slidably fitted inside the support member, which is made of plastic.

[0009] In an optional embodiment of this utility model, the support member and the piston shaft are fitted with a flat joint.

[0010] In an optional embodiment of this utility model, the support member is injection molded into the electric gripper cylinder.

[0011] In an optional embodiment of this utility model, the driving part further includes a telescopic drive motor, the connecting nut is located inside the telescopic drive motor, and the lead screw passes through the telescopic drive motor axially.

[0012] In an optional embodiment of this utility model, an adapter plate is connected between the rotary motor and the telescopic drive motor, and the adapter plate is positioned in conjunction with the rotary motor and the telescopic drive motor through an inner concave stop and an outer convex stop, respectively.

[0013] In an optional embodiment of this utility model, the end of the rotary motor facing the electric gripper cylinder is fixed to the customer mounting plate, and the rotary motor and the customer mounting plate are positioned by the cooperation of the concave stop and the convex stop.

[0014] In an optional embodiment of this utility model, an electric gripper mounting plate is fixed to one end of the electric gripper cylinder facing the rotary motor, and a thread is provided at one end of the hollow shaft extending into the electric gripper mounting plate, with the hollow shaft and the threaded connection of the electric gripper mounting plate being fixedly connected.

[0015] In an optional embodiment of this utility model, the threaded connection between the hollow shaft and the electric claw mounting plate is fixed with glue.

[0016] In an optional embodiment of this utility model, the end of the lead screw that extends into the piston shaft is threaded, and the threaded connection between the lead screw and the piston shaft is fixed with glue.

[0017] In an optional embodiment of this utility model, the adapter plate is fixed to the rotary motor and the telescopic drive motor by screws.

[0018] The beneficial effects of this utility model are:

[0019] (1) The rotary gripper with amplified torque described in this utility model can realize the rotation and clamping functions of the gripper with only one motor. The overall structure and control method are simple, which can reduce the cost of use and reduce vibration and noise.

[0020] (2) This utility model utilizes two motors working in coordination. The former rotary motor can achieve a smaller clamping force while requiring rotation, while the latter telescopic drive motor can achieve a clamping function. The two motors can work independently or cooperate to achieve a larger clamping force while requiring rotation. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a front view of a specific embodiment of the rotary gripper with amplifiable torque described in this utility model;

[0023] Figure 2 This is an exploded view of a specific embodiment of the rotary gripper with amplified torque described in this utility model;

[0024] Figure 3 This is an axial sectional view of a specific embodiment of the rotary gripper with amplifiable torque described in this utility model;

[0025] Figure 4 This is an exploded view of the mating parts between the piston shaft and the support component in this utility model.

[0026] In the diagram, 1. Gripper part, 2. Drive part, 3. Electric gripper cylinder, 4. Electric gripper slide, 5. Piston shaft, 6. Shift fork, 7. Rotary motor, 701. Hollow shaft, 8. Lead screw, 9. Connecting nut, 10. Support component, 11. Telescopic drive motor, 12. Adapter plate, 13. Customer mounting plate, 14. Concave stop, 15. Protruding stop, 16. Electric gripper mounting plate, 17. Encoder. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] Example 1

[0029] like Figures 1-3As shown, a rotary gripper capable of amplifying torque includes a gripper part 1 and a drive part 2. The gripper part 1 includes an electric gripper cylinder 3, an electric gripper slide 4, a piston shaft 5, and a fork 6. The piston shaft 5 is anti-rotationally slidably fitted inside the electric gripper cylinder 3. One end of the fork 6 is connected to the piston shaft 5, and the other end is connected to the electric gripper slide 4. The electric gripper slide 4 reciprocates along the end face of the electric gripper cylinder 3. The middle part of the fork 6 is hinged to the electric gripper cylinder 3, and both ends of the fork 6 are hinged to the piston shaft 5 and the electric gripper slide 4, respectively. When the piston shaft 5 reciprocates axially, the fork 6 rotates around its hinge axis with the electric gripper cylinder 3, thereby driving the electric gripper slide 4 to slide on the end face of the electric gripper cylinder 3 to achieve a gripping or releasing action.

[0030] The drive unit 2 includes a rotary motor 7, a lead screw 8, and a connecting nut 9 that is threaded to the lead screw 8. A hollow shaft 701 is provided at the center of the rotary motor 7. The hollow shaft 701 is fixedly connected to the electric gripper cylinder 3. The lead screw 8 passes through the hollow shaft 701 axially, and the end of the lead screw 8 is fixed to the piston shaft 5.

[0031] The connecting nut 9 can be axially fixed by connecting it to the housing of the drive motor or to other fixed components. When the connecting nut 9 and the lead screw 8 rotate asynchronously, the lead screw 8 will axially extend or retract.

[0032] When the rotary motor 7 is started, it drives the electric gripper cylinder 3 to rotate via the hollow shaft 701, thus realizing the rotational movement of the gripper part 1. Simultaneously, due to the stop-rotation sliding fit between the piston shaft 5 and the electric gripper cylinder 3, the piston shaft 5 rotates synchronously, thereby driving the lead screw 8 to rotate. The lead screw 8, under the engagement of the connecting nut 9, moves axially, thereby moving the piston shaft 5 and achieving the clamping function. Compared to the prior art which requires two motors for separate control, this embodiment has a simpler structure, is easier to operate, and can reduce power consumption, lower operating costs, and reduce device vibration and noise.

[0033] For designs where the connecting nut 9 and the lead screw 8 rotate asynchronously, the connecting nut 9 can be fixed.

[0034] Regarding the connection between piston shaft 5 and electric gripper cylinder body 3:

[0035] Since both the piston shaft 5 and the electric gripper cylinder 3 are metal components, and they are in direct contact, long-term sliding friction will cause surface wear. Therefore, this invention includes a support member 10 fixed inside the electric gripper cylinder 3. The piston shaft 5 is anti-rotationally slidably fitted within the support member 10, which is made of plastic. The support member 10 fills the space between the electric gripper cylinder 3 and the piston shaft 5. Compared to metal-to-metal friction, frictional wear between metal and plastic is less; therefore, the support member 10 is preferably injection-molded inside the electric gripper cylinder 3. The anti-rotational sliding fit between the support member 10 and the piston shaft 5 can be achieved through a flat fit, such as... Figure 4As shown, the inner surface of the support member 10 and the outer surface of the piston shaft 5 have planes that extend axially to both ends. When the support member 10 rotates, the piston shaft 5 rotates synchronously. At the same time, the piston shaft 5 can also be driven by the lead screw 8 to reciprocate in the inner hole of the support member 10.

[0036] Connection between lead screw 8 and piston shaft 5:

[0037] The lead screw 8 is fixedly connected to the piston shaft 5. In this embodiment, the end of the piston shaft 5 is provided with a groove, and the groove has an internal thread. The end of the lead screw 8 that extends into the piston shaft 5 is also threaded. The lead screw 8 and the piston shaft 5 are threadedly connected and fixed together with glue. The threaded connection between the lead screw 8 and the piston shaft 5 can achieve initial fixation and ensure coaxiality. The glue fixation can prevent the lead screw 8 from separating from the piston shaft 5 during rotation.

[0038] Connection between hollow shaft 701 and electric gripper cylinder 3:

[0039] An electric gripper mounting plate 16 is fixed to one end of the electric gripper cylinder 3 facing the rotary motor 7. The connection method is the same as that of the lead screw 8 and the piston shaft 5. The hollow shaft 701 has a thread at one end that extends into the electric gripper mounting plate 16. The threaded connection between the hollow shaft 701 and the electric gripper mounting plate 16 is fixed with glue.

[0040] Example 2

[0041] Based on Embodiment 1, the drive section 2 further includes a telescopic drive motor 11. In this case, the connecting nut 9 and the lead screw 8 are components of the telescopic drive motor 11. The connecting nut 9 is located inside the telescopic drive motor 11, and the lead screw 8 passes through the telescopic drive motor 11 axially. The telescopic drive motor 11 is typically a lead screw stepper motor.

[0042] After the telescopic drive motor 11 starts rotating, it drives the connecting nut 9 to rotate. At this time, the connecting nut 9 can drive the lead screw 8 to rotate. The telescopic drive motor 11 can also be energized to brake, so that the connecting nut 9 stops rotating and remains fixed. At this time, when the lead screw 8 rotates, it can move axially relative to the connecting nut 9.

[0043] In this embodiment, both the telescopic drive motor 11 and the rotary motor 7 are fixedly installed. The rotary motor 7 is fixed to the electric gripper cylinder 3. Assuming that the gripper part 1 is located in front and the drive part 2 is located in the rear, the stepper screw motor is located behind the rotary motor 7.

[0044] This embodiment uses two types of motors combined to achieve the following three operating modes:

[0045] Mode 1: Rotate while applying a smaller clamping force.

[0046] If only a small clamping force is required, the rear telescopic drive motor 11 can be energized for braking (stepper motor electromagnetic braking uses electromagnetic force to brake and stop the stepper motor. When we need to brake the stepper motor, we can activate the electromagnet by controlling the direction and magnitude of the current. The generated magnetic field will attract the rotor, thereby stopping the stepper motor). This ensures the connecting nut 9 is locked. When the front rotary motor 7 operates, causing the hollow shaft 701 to drive the electric gripper cylinder 3 to rotate, the support member 10 inside the electric gripper cylinder 3 laterally abuts against the piston shaft 5. The piston shaft 5 will drive the lead screw 8 to rotate relative to the rear-end locked connecting nut 9. The linear movement of the lead screw 8, in turn, drives the piston shaft 5 to extend and retract, causing the gripper to open and close, while simultaneously rotating the gripper part 1. This achieves the function of requiring a small clamping force while maintaining rotation.

[0047] Mode 2: Clamp only, no rotation.

[0048] Only the telescopic drive motor 11 at the rear is operated, while the rotary motor 7 at the front is energized and braked, locking the hollow shaft 701 and the electric claw cylinder 3 connected to the hollow shaft 701. The rotational movement of the lead screw 8 is also locked. The telescopic drive motor 11 moves the lead screw 8 axially through the connecting nut 9 to achieve the clamping function.

[0049] Mode 3: Rotation while applying a large clamping force.

[0050] If a large clamping force and rotation are required, both motors can operate simultaneously. First, in mode two, the rear telescopic drive motor 11 clamps and holds the object. Then, in mode one, the front rotary motor 7 drives the lead screw 8 to provide clamping force and rotate the object. The clamping torque is superimposed by the rotary motor 7 and the telescopic drive motor 11, resulting in a larger and more secure clamping force.

[0051] Example 3

[0052] In Embodiment 2, since the lead screw 8 needs to pass through two drive motors, its axial length is relatively long, and its coaxiality requirement is high. To further reduce the axial length of the rotating gripper and improve the coaxiality of the lead screw 8, this embodiment optimizes the installation method between the two types of motors and between the motors and the electric gripper cylinder 3, based on Embodiment 2. The specific structure is as follows:

[0053] An adapter plate 12 is connected between the rotary motor 7 and the telescopic drive motor 11. The adapter plate 12 is positioned with the rotary motor 7 and the telescopic drive motor 11 through the inner concave stop 14 and the outer convex stop 15, respectively. This positioning method ensures coaxiality. Similarly, the end of the rotary motor 7 facing the electric gripper cylinder 3 is fixed to the customer mounting plate 13. The rotary motor 7 and the customer mounting plate 13 are positioned with the inner concave stop 14 and the outer convex stop 15.

[0054] like Figure 2 and Figure 3 As shown, the rear cover of the rotary motor 7 has a concave stop 14, and the front end face of the adapter plate 12 has a convex stop 15. The two fit together. The concave stop 14 on the rear end face of the adapter plate 12 mates with the convex stop 15 on the front end of the telescopic drive motor 11. A smaller adapter plate 12 is used, with screws passing through the positioning holes of the motor and the adapter plate 12, connecting the two motors to form a single unit. The convex stop 15 on the front end cover of the rotary motor 7 mates with the concave stop 14 on the customer mounting plate 13, providing a mounting position for the customer. The entire structure has positioning features, ensuring the concentricity of the overall structure.

[0055] An encoder 17 can be installed at the rear end of the telescopic drive motor 11 to calculate the rotation angle of the lead screw 8 and precisely control the rotation angle and clamping force of the gripper.

[0056] This invention allows for a relatively small clamping force through the independent operation of the front rotary motor 7, and a separate clamping motion through the independent operation of the rear telescopic drive motor 11. When both motors operate synchronously, the clamping force can be increased and rotation can be achieved.

[0057] In this specification, the illustrative expressions of the terms do not necessarily refer to the same embodiments. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments.

[0058] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A rotary gripper capable of amplifying torque, characterized in that, include: The gripper part (1) includes an electric gripper cylinder (3), an electric gripper slide (4), a piston shaft (5), and a shift fork (6). The piston shaft (5) is anti-rotationally slidably fitted inside the electric gripper cylinder (3). One end of the shift fork (6) is connected to the piston shaft (5), and the other end is connected to the electric gripper slide (4). The drive part (2) includes a rotary motor (7), a lead screw (8) and a connecting nut (9) threaded with the lead screw (8). A hollow shaft (701) is provided at the center of the rotary motor (7). The hollow shaft (701) is fixedly connected to the electric gripper cylinder (3). The lead screw (8) passes through the hollow shaft (701) axially. The end of the lead screw (8) is fixed to the piston shaft (5).

2. The rotary gripper capable of amplifying torque according to claim 1, characterized in that: The electric gripper cylinder (3) has a support member (10) fixed inside, and the piston shaft (5) is anti-rotationally slidably fitted inside the support member (10). The support member (10) is made of plastic material.

3. The rotary gripper capable of amplifying torque according to claim 2, characterized in that: The support member (10) and the piston shaft (5) are fitted together by a flat joint.

4. The rotary gripper capable of amplifying torque according to claim 1, characterized in that: The drive section (2) also includes a telescopic drive motor (11), the connecting nut (9) is located inside the telescopic drive motor (11), and the lead screw (8) passes through the telescopic drive motor (11) axially.

5. The rotary gripper capable of amplifying torque according to claim 4, characterized in that: A transition plate (12) is connected between the rotary motor (7) and the telescopic drive motor (11). The transition plate (12) is positioned in conjunction with the rotary motor (7) and the telescopic drive motor (11) through the concave stop (14) and the convex stop (15), respectively.

6. The rotary gripper capable of amplifying torque according to claim 5, characterized in that: The end of the rotary motor (7) facing the electric gripper cylinder (3) is fixed to the customer mounting plate (13). The rotary motor (7) and the customer mounting plate (13) are positioned by the inner concave stop (14) and the outer convex stop (15).

7. The rotary gripper capable of amplifying torque according to claim 1, characterized in that: The electric gripper cylinder (3) has an electric gripper mounting plate (16) fixed at one end facing the rotary motor (7). The hollow shaft (701) has a thread at one end extending into the electric gripper mounting plate (16), and the hollow shaft (701) is fixedly connected to the threaded connection of the electric gripper mounting plate (16).

8. The rotary gripper capable of amplifying torque according to claim 7, characterized in that: The hollow shaft (701) and the electric claw mounting plate (16) are connected by glue at the threaded connection.

9. The rotary gripper capable of amplifying torque according to claim 1, characterized in that: The lead screw (8) has a thread at one end that extends into the piston shaft (5), and the threaded connection between the lead screw (8) and the piston shaft (5) is fixed with glue.

10. The rotary gripper capable of amplifying torque according to claim 6, characterized in that: The adapter plate (12) is fixed to the rotary motor (7) and the telescopic drive motor (11) by screws.

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