Force-controlled flexible electric gripping device

Abstract

The utility model discloses a force control flexible electric gripping device, which comprises a gear box, a motor assembly, a transmission gear set and a pressing arm, the gear box is provided with a gripping surface, the gear box extends outwards from one end of the gripping surface to form two opposite extension arms, the pressing arm is rotatably arranged between the two extension arms, and the motor assembly is connected with the transmission gear set. The transmission gear set is installed inside the gearbox and is in transmission connection with the pressing arm, the motor assembly is fixed outside the gearbox and is in transmission connection with the transmission gear set, and the motor assembly drives the pressing arm to rotate clockwise or anticlockwise through the transmission gear set. The whole structure is more compact, the size is reduced by 35% compared with that of a pneumatic clamp or other mechanical rotating structures, and installation in a narrow space is facilitated. The torque and the angle of the multi-stage flexible manipulator can be flexibly combined in a multi-stage mode, and therefore accurate control over different grabbing forces is achieved.

Description

Technical Field

[0001] This utility model relates to a gripping device, and more specifically to a force-controlled flexible electric gripping device. Background Technology

[0002] With the development of industries such as circuit boards in the electronics sector, 3C products, biomedicine, and precision measurement, the demand for high-precision force-controlled flexible motion is increasing. Traditional pneumatic grippers cannot meet the precision and automation requirements of these industries. The reason for this is that they have the following problems:

[0003] 1. The pneumatic gripper mainly uses a cylinder and linkage mechanism to rotate the pawl to grip or use other mechanical rotating structures to grip, which makes it too bulky. The front-end robotic arm mechanism cannot be installed, and even if it can be installed, it will make the whole mechanism too bulky.

[0004] 2. Mechanical structures and electronic components require regular maintenance; otherwise, performance may degrade due to wear or malfunction. Furthermore, the high cost of replacing some precision parts impacts the overall reliability of the system.

[0005] 3. It cannot effectively monitor the grasping process, i.e., it cannot effectively judge whether grasping, clamping, or jamming occurs. Utility Model Content

[0006] The main objective of this invention is to provide a force-controlled flexible electric gripping device that is compact in structure, easy to install and use in confined spaces, easy to maintain, and capable of monitoring the gripping process.

[0007] The technical solution adopted in this utility model is as follows:

[0008] A force-controlled flexible electric gripping device includes a gearbox, a motor assembly, a transmission gear set, and a clamping arm. The gearbox has a gripping surface, and two opposing extension arms extend outward from one end of the gripping surface. The clamping arm is rotatably mounted between the two extension arms. The transmission gear set is installed inside the gearbox and is driven by the clamping arm. The motor assembly is fixed outside the gearbox and is driven by the transmission gear set. The motor assembly drives the clamping arm to rotate clockwise or counterclockwise through the transmission gear set.

[0009] The motor assembly includes a servo motor, a reducer, an encoder, and an output gear. The output end of the servo motor is connected to the input end of the reducer. The encoder is fixed to the tail of the servo motor. The output gear is connected to the output end of the reducer and extends into the gearbox to drive the transmission gear set.

[0010] The transmission gear set includes a double gear, a reduction gear, a first synchronous transmission gear, a second synchronous transmission gear, and a drive gear. The double gear has a large gear and a small gear fixed in the middle of the large gear with an outer diameter smaller than the large gear. The large gear meshes with the output gear. The reduction gear meshes with the small gear and the first synchronous transmission gear respectively. The second synchronous transmission gear meshes with the first synchronous transmission gear and the drive gear respectively. The drive gear is fixed to the clamping arm.

[0011] The gearbox includes a housing and a cover, the cover being screwed onto the housing.

[0012] A locating plate is provided between the two extension arms to prevent the clamping arm from continuing to rotate counterclockwise.

[0013] The double gear, the reduction gear, the first synchronous transmission gear, the second synchronous transmission gear, and the drive gear are all rotatably mounted inside the gearbox via cylindrical pins.

[0014] The drive gear is rotatably connected between the two extension arms via a cylindrical pin, and the clamping arm is provided with a fixing tube that is fixed to the gear hole of the drive gear.

[0015] The beneficial effects of this utility model are as follows:

[0016] This invention features a more compact overall structure, reducing its volume by 35% compared to pneumatic grippers or other mechanical rotating structures, making it easier to install in confined spaces. The torque and angle of this invention can be flexibly combined in multiple levels, thereby achieving precise control over different gripping forces.

[0017] This invention can also achieve precise control over the rotational position, rotational speed, and clamping force of the clamping arm, realize zero-return without sensor collision, and make judgments on grasping, clamping, jamming, etc. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0019] Figure 2 This is a schematic diagram of the transmission gear set driving the pressure arm to rotate according to the present invention.

[0020] Figure 3 This is a three-dimensional schematic diagram of the present invention after the cover has been removed. Detailed Implementation

[0021] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0022] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] Please refer to Figures 1 to 3 This utility model provides a force-controlled flexible electric gripping device, which includes a gearbox 10, a motor assembly 20, a transmission gear set 30, and a clamping arm 40. The gearbox 10 is provided with a gripping surface 11, and two opposing extension arms 12 extend outward from one end of the gearbox 10 from its gripping surface 11. The clamping arm 40 is rotatably mounted between the two extension arms 12. The transmission gear set 30 is installed inside the gearbox 10 and is driven by the clamping arm 40. The motor assembly 20 is fixed outside the gearbox 10 and is driven by the transmission gear set 30. The motor assembly 20 drives the clamping arm 40 to rotate clockwise or counterclockwise through the transmission gear set 30. Figure 2 As shown, when the clamping arm 40 rotates counterclockwise, it can press the product A onto the gripping surface 11; conversely, when the clamping arm 40 rotates clockwise, it can release the product. That is, the gripping or releasing of the product A is achieved by the forward and reverse rotation of the servo motor assembly 20.

[0025] In this embodiment, the motor assembly 20 includes a servo motor 21, a reducer 22, an encoder 23, an output gear 24, and a controller (not shown). The output end of the servo motor 21 is connected to the input end of the reducer 22. The encoder 23 is fixed to the tail of the servo motor 21. The output gear 24 is connected to the output end of the reducer 22 and extends into the gearbox for transmission. It is worth noting that the motor assembly 20 is a conventional technology in the art. The servo motor provides power, the encoder measures the rotor's position information, and the controller controls the motor based on the signal feedback from the encoder. To achieve forward and reverse rotation of the servo motor, the controller determines the motor's direction of motion based on changes in the encoder signal and changes the motor's rotation direction by altering the direction of the current.

[0026] In this embodiment, the transmission gear set 30 includes a double gear 31, a reduction gear 32, a first synchronous transmission gear 33, a second synchronous transmission gear 34, and a drive gear 35. The double gear 31 has a large gear 311 and a small gear 312 fixed in the middle of the large gear 311 with an outer diameter smaller than the large gear 311. The large gear 311 meshes with the output gear 24. The reduction gear 32 meshes with the small gear 312 and the first synchronous transmission gear 33 respectively. The second synchronous transmission gear 34 meshes with the first synchronous transmission gear 33 and the drive gear 35 respectively. The drive gear 35 is fixed to the clamping arm 40 to achieve the effect of driving the clamping arm 40 to rotate clockwise or counterclockwise through the transmission gear set 30.

[0027] In this embodiment, the gearbox 10 includes a housing 101 and a cover 102. The cover 102 is screwed onto the housing to facilitate disassembly and maintenance of the transmission gear set 30 by the operator. The double gear 31, reduction gear 32, first synchronous transmission gear 33, and second synchronous transmission gear 34 are all rotatably mounted inside the gearbox 10 via cylindrical pins. The drive gear 35 is rotatably connected between the two extension arms 12 via cylindrical pins. The clamping arm 40 is provided with a fixing tube 41 fixed to the gear hole of the drive gear 35, so as to achieve the effect of linkage between the clamping arm 40 and the drive gear 35 and rotatable mounting between the two extension arms 12.

[0028] In this embodiment, the gripping surface 11 is disposed on the housing 101, and a pad 14 is installed on the gripping surface 11. The pad 14 can be a silicone plate, rubber plate, or other plate with high friction, so as to prevent the product A from falling off when the clamping arm 40 grips the product A.

[0029] In this embodiment, a starting point limiting plate 13 is provided between the two extension arms 12 to prevent the clamping arm 40 from continuing to rotate counterclockwise. When powered on for the first time or when it is necessary to return to the starting point, the motor assembly 20 drives the clamping arm 40 to rotate counterclockwise through the transmission gear set 30. When the clamping arm 40 collides with the limiting plate and reaches a preset torque, the return to the starting point is completed.

[0030] In this embodiment, the present invention controls the clamping force of the gripping system by configuring a control system and using a special algorithm for motor current based on the principle of micro motors; the torque of the gripping system is flexibly set through the control or communication method of host computer IO+RS485 or IO+EtherCAT to meet the purpose of the present invention.

[0031] In this embodiment, when the clamping arm rotates counterclockwise, if it reaches a preset torque, within the swing angle range of the clamping arm, it normally grips the product. Exceeding the maximum swing angle indicates no product is being gripped, i.e., a clamped-empty state. If the minimum swing angle is not reached and the preset torque is detected, it is an abnormal state, i.e., the gears or mechanism are jammed, requiring manual inspection and release. When the clamping arm rotates clockwise, stopping at a preset position angle indicates normal release. If the minimum swing angle is not reached and the preset torque is detected, it is an abnormal state, indicating the gears or mechanism are jammed, requiring manual inspection and release.

[0032] This invention features a more compact overall structure, reducing its volume by 35% compared to pneumatic grippers or other mechanical rotating structures, and weighing only 600g, making it easy to install in confined spaces. The torque and angle of this invention can be flexibly combined in multiple stages, thereby achieving precise control over different gripping forces.

[0033] This utility model is mainly aimed at the handling and inspection of fragile and easily damaged products that require torque control, such as circuit boards, mobile phone displays, and glass. This utility model can adapt to the needs of various working environments.

[0034] This invention can also achieve precise control over the rotational position, rotational speed, and clamping force of the clamping arm, realize zero-return without sensor collision, and make judgments on grasping, clamping, jamming, etc.

[0035] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A force-controlled flexible electric gripping device, comprising a gearbox, a motor assembly, a transmission gear set, and a clamping arm, characterized in that: The gearbox is provided with a gripping surface, and two opposing extension arms extend outward from one end of the gripping surface. The clamping arm is rotatably mounted between the two extension arms. The transmission gear set is installed inside the gearbox and is connected to the clamping arm for transmission. The motor assembly is fixed outside the gearbox and is connected to the transmission gear set for transmission. The motor assembly drives the clamping arm to rotate clockwise or counterclockwise through the transmission gear set.

2. The force-controlled flexible electric gripping device as described in claim 1, characterized in that, The motor assembly includes a servo motor, a reducer, an encoder, and an output gear. The output end of the servo motor is connected to the input end of the reducer. The encoder is fixed to the tail of the servo motor. The output gear is connected to the output end of the reducer and extends into the gearbox to drive the transmission gear set.

3. The force-controlled flexible electric gripping device as described in claim 2, characterized in that, The transmission gear set includes a double gear, a reduction gear, a first synchronous transmission gear, a second synchronous transmission gear, and a drive gear. The double gear has a large gear and a small gear fixed in the middle of the large gear with an outer diameter smaller than the large gear. The large gear meshes with the output gear. The reduction gear meshes with the small gear and the first synchronous transmission gear respectively. The second synchronous transmission gear meshes with the first synchronous transmission gear and the drive gear respectively. The drive gear is fixed to the clamping arm.

4. The force-controlled flexible electric gripping device as described in claim 3, characterized in that, The gearbox includes a housing and a cover, the cover being screwed onto the housing.

5. The force-controlled flexible electric gripping device as described in claim 1, characterized in that, A locating plate is provided between the two extension arms to prevent the clamping arm from continuing to rotate counterclockwise.

6. The force-controlled flexible electric gripping device as described in claim 3, characterized in that, The double gear, the reduction gear, the first synchronous transmission gear, the second synchronous transmission gear, and the drive gear are all rotatably mounted inside the gearbox via cylindrical pins.

7. The force-controlled flexible electric gripping device as described in claim 3, characterized in that, The drive gear is rotatably connected between the two extension arms via a cylindrical pin, and the clamping arm is provided with a fixing tube that is fixed to the gear hole of the drive gear.

8. The force-controlled flexible electric gripping device as described in claim 4, characterized in that, The gripping surface is disposed on the housing, and a pad is installed on the gripping surface.

9. The force-controlled flexible electric gripping device as described in claim 8, characterized in that, The pad is a silicone plate or a rubber plate.

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