Improved electric clamping jaw

Abstract

The utility model discloses an improved electric clamping jaw. The improved electric clamping jaw comprises a shell, a drive-control integrated stepping motor, a clamping jaw drive assembly, a transmission assembly and two clamping jaw bodies. Two slideways are formed in the end face of one end of the shell in a sunken mode, a spacing bar is formed between the two slideways, and a gear is arranged in the middle of the spacing bar; a barrel cavity and a motor cavity are formed in the other end of the shell, and a long-strip-shaped opening is formed between the barrel cavity and one sliding way; a transmission cavity is concavely formed in one side of the shell; the driving and control integrated stepping motor is mounted in the motor cavity; the clamping jaw driving assembly comprises a ball screw and two driving sliding blocks, the ball screw is arranged in the barrel cavity, and a screw nut is arranged on the ball screw; the two driving sliding blocks are installed on the opposite sides of the two sliding ways, each driving sliding block is provided with a rack edge meshed with the gear, and one driving sliding block is connected with the lead screw nut; the transmission assembly is arranged in the transmission cavity; the two clamping jaw bodies are installed on the two driving sliding blocks. According to the utility model, larger clamping force and stroke can be realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to a clamping jaw technical field, especially in an improved electric clamping jaw. BACKGROUND

[0002] Clamping jaw as the end gripping device of mechanical arm, in medical automation, 3C electron, new energy, automation etc. industry, machining, assembly etc. occasion often need to use, have high precision force control and position control characteristics, often due to the space restriction of working condition and the requirement volume small, the characteristics of big output, so to the clamping jaw requirement used:

[0003] 1, the volume is small, to prevent processing tool collision or assembly space is too small and can not install problem.

[0004] 2, the clamping force is big, to prevent the workpiece loose situation.

[0005] 3, stroke is long, to satisfy more working condition and more model product adaptation

[0006] But in the existing market, clamping jaw mostly with pneumatic clamping jaw, there are following problems: only have open, close two functions, inconvenient to adjust the size of clamping force, do not have arbitrary position start, stop control condition, and electric clamping jaw mostly use trapezoidal screw, gear and rack, connecting rod mechanism etc. transmission structure, transmission efficiency is low, structure design is not enough compact, the weight is bigger. UTILITY MODEL CONTENTS

[0007] The utility model is provided with an improved electric clamping jaw.

[0008] To realize above-mentioned purpose, the utility model provides following technical scheme:

[0009] The utility model provides an improved electric clamping jaw, including casing, drive control integrated stepper motor, clamping jaw drive assembly, transmission assembly and two clamping jaw main bodies, one end of casing is recessed to form two slide tracks and interval strip between two slide tracks on the front and back opposite end face, and the middle part of interval strip is rotatably provided with gear, the other end of casing is provided with cylinder cavity and motor cavity in the corresponding position of the upper and lower of the slide track, and the middle section between cylinder cavity and corresponding slide track is provided with long strip opening, the side surface of casing is recessed to form transmission cavity which is spaced from slide track and communicates cylinder cavity and motor cavity, drive control integrated stepper motor is installed in motor cavity, and the rotating shaft of drive control integrated stepper motor passes out to transmission cavity, clamping jaw drive assembly includes ball screw and two drive sliding blocks, the ball screw is rotatably arranged in cylinder cavity, the ball screw is provided with screw nut, and one end of ball screw passes out to transmission cavity, two drive sliding blocks are slidably installed on the opposite side of two slide tracks, each drive sliding block is formed with rack edge which is engaged with gear, and one drive sliding block is connected with screw nut through the long strip opening of one pin, transmission assembly is arranged in transmission cavity, the rotating shaft of drive control integrated stepper motor and one end of ball screw form transmission, and two clamping jaw main bodies are installed on two drive sliding blocks.

[0010] As a further technical scheme of the utility model: the other side of the casing is recessed to form loading cavity which is spaced from slide track and communicates cylinder cavity and motor cavity on the side surface, and the two sides of the casing are detachably provided with cover shell for covering transmission cavity or loading cavity.

[0011] As a further technical scheme of the utility model: the cross section of the slide track is convex, and the shape of the drive sliding block is matched with the slide track, so as to improve the stability of the drive sliding block when sliding along the slide track.

[0012] As a further technical scheme of the utility model: a plurality of connecting holes are formed on the drive sliding block for connecting with the clamping jaw main body.

[0013] As a further technical scheme of the utility model: two deep groove ball bearings are oppositely installed at both ends of the cylinder cavity for the two ends of the ball screw to pass into the two deep groove ball bearings.

[0014] As a further technical scheme of the utility model: the transmission assembly includes drive synchronous wheel installed on the rotating shaft of drive control integrated stepper motor, driven synchronous wheel installed on one end of ball screw passing into transmission cavity, and synchronous belt sleeved on drive synchronous wheel and driven synchronous wheel.

[0015] Compared with the prior art, the beneficial effects of this utility model are: This utility model proposes an improved electric gripper. Through the cooperation between the housing, the integrated stepper motor for drive and control, the gripper drive assembly, the transmission assembly and the two gripper bodies, the overall structure is compact, and greater clamping force and stroke are achieved in a smaller size and weight. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an improved electric gripper.

[0017] Figure 2 for Figure 1 AA sectional view.

[0018] Figure 3 for Figure 1 BB cross-sectional view.

[0019] Figure 4 This is a schematic diagram showing the engagement of the drive slider with the gear.

[0020] Figure 5 This is a schematic diagram of the elongated opening on the shell.

[0021] Figure 6 This is a schematic diagram of the transmission cavity of the improved electric gripper.

[0022] Figure 7 This is a schematic diagram of the loading cavity for the improved electric gripper. Detailed Implementation

[0023] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of protection of this utility model.

[0024] Please see Figure 1 , Figure 2 An improved electric gripper includes a housing 10, a stepper motor 20 with integrated drive and control, a gripper drive assembly 30, a transmission assembly 40, and two gripper bodies (not shown in the figure).

[0025] One end of the housing 10 has two through-flow slides 11 recessed at opposite ends, and a spacer 12 formed between the two slides 11. A gear 121 is rotatably mounted in the middle of the spacer 12, with both ends of the gear 121 inserting into the two slides 11. The other end of the housing 10 has a cylindrical cavity 13 extending to both sides adjacent to and corresponding to one of the slides 11, and a motor cavity 14 extending to both sides at a location away from the slides 11. (See reference...) Figure 5 A long opening 101 connecting the two is provided in the middle section between the cylindrical cavity 13 and the corresponding slide rail 11; see reference Figure 6 ,Figure 7 Two sides of the shell 10 are oppositely recessed to form a transmission cavity 15 and a loading cavity 16 which are spaced from the slide 11 and communicate the cylinder cavity 13 with the motor cavity 14, and each of the transmission cavity 15 and the loading cavity 16 is provided with a detachable cover shell 102 for covering the transmission cavity 15 or the loading cavity 16;

[0026] The drive-integrated stepping motor 20 is installed in the motor cavity 14, and a rotating shaft of the drive-integrated stepping motor 20 penetrates into the transmission cavity 15;

[0027] In combination with the accompanying drawings, Figure 3 Figure 4 The jaw driving assembly 30 comprises a ball screw 31 and two driving sliders 32, the ball screw 31 is rotatably arranged in the cylinder cavity 13, the ball screw 31 is provided with a screw nut 311 which is displaced with the rotation of the ball screw 31, and one end of the ball screw 31 penetrates into the transmission cavity 15; the two driving sliders 32 are slidably arranged in the opposite sides of the two slides 11, each of the driving sliders 32 is formed with a rack edge 321 which is engaged with the gear 121, and the driving slider 32 located in the slide 11 corresponding to the cylinder cavity 13 is connected with the screw nut 311 by a pin 301 penetrating through the long slot 101;

[0028] The transmission assembly 40 is arranged in the transmission cavity 15, so that the rotating shaft of the drive-integrated stepping motor 20 and one end of the ball screw 31 form a transmission, and the drive-integrated stepping motor 20 drives the jaw driving assembly 30 to operate;

[0029] The two jaw bodies are installed on the two driving sliders 32, and are opened and closed with the operation of the drive-integrated stepping motor 20, the jaw driving assembly 30, the engagement of the rack edges 321 of the two driving sliders 32 with the gears 121 and the rotation of the gears 121.

[0030] It can be understood that the use method of the improved electric jaw is as follows: the rotating shaft of the drive-integrated stepping motor 20 is reversely rotated, the transmission assembly 40 transmits to the ball screw 31, the ball screw 31 is rotated, the screw nut 311 on the ball screw 31 is displaced with the rotation, the driving slider 32 is connected with the screw nut 311 by a pin penetrating through the long slot 101, the rack edges 321 of the two driving sliders 32 are engaged with the gears 121, the two driving sliders 32 are displaced along the two slides 11 to approach or move away from each other with the rotation of the gears 121, and the jaw bodies on the two driving sliders 32 are opened and closed. The drive-integrated stepping motor 20 is controlled by a special algorithm of motor motion pulse feedback and motor current size, so that the position, speed and power output can be accurately controlled, and functions such as inductive collision return to zero, clamping position judgment and falling judgment can be realized.

[0031] ​Further, in the embodiment, the improved electric clamping jaw has a volume of 58mm*84mm*95mm, a weight of 1.6Kg, a clamping force of 1000N, and a stroke of 80mm, and compared with similar products on the market, the volume is reduced by 57%, the weight is reduced by 30%, the clamping force is increased by 471%, and the stroke is increased by 33%, so that greater clamping force and stroke are realized under the conditions of smaller volume and weight.

[0032] Further, in the embodiment, the cross section of the slide 11 is convex, and the shape of the driving sliding block 32 is matched with the slide 11, so that the stability of the driving sliding block 32 when sliding along the slide 11 is improved.

[0033] Further, in the embodiment, a plurality of connecting holes 322 are formed in the driving sliding block 32, and the driving sliding block 32 is connected with the clamping jaw body.

[0034] Further, in the embodiment, the specific structure of the clamping jaw body can be designed flexibly, and different structures of the clamping jaw body can be replaced according to different requirements.

[0035] Further, in the embodiment, referring to Figure 2 , two deep groove ball bearings 131 are oppositely arranged at the two ends of the barrel cavity 13, the two ends of the ball screw 31 are oppositely penetrated into the two deep groove ball bearings 131, and the ball screw 31 is rotatably arranged in the barrel cavity 13 by the two deep groove ball bearings 131.

[0036] Further, in the embodiment, referring to Figure 6 , the transmission assembly 40 comprises a driving synchronous wheel 41 arranged on the rotating shaft of the driving and control integrated stepping motor 20, a driven synchronous wheel 42 arranged on one end of the ball screw 31 penetrated into the transmission cavity 15, and a synchronous belt 43 sleeved on the driving synchronous wheel 41 and the driven synchronous wheel 42, and the driving synchronous wheel 41, the driven synchronous wheel 42 and the synchronous belt 43 are matched to form transmission between the rotating shaft of the driving and control integrated stepping motor 20 and one end of the ball screw 31.

[0037] In summary, the improved electric clamping jaw is compact in overall structure, and greater clamping force and stroke are realized under the conditions of smaller volume and weight through the cooperation between the shell 10, the driving and control integrated stepping motor 20, the clamping jaw driving assembly 30, the transmission assembly 40 and the two clamping jaw bodies.

[0038] As long as the idea of the utility model is not violated, various different embodiments of the utility model can be combined arbitrarily, and all should be regarded as the disclosed contents of the utility model; within the technical concept of the utility model, various simple modifications of the technical scheme and arbitrary combinations of different embodiments without violating the idea of the utility model should be within the protection scope of the utility model.

Claims

1. An improved electrically powered clamp jaw, characterized by: The utility model provides a kind of integrated stepping motor drive control device, including shell (10), drive control integrated stepping motor (20), jaw drive assembly (30), transmission assembly (40) and two pieces of jaw body;The one end of the shell (10) is recessed with two slides (11) in end face front and back, and interval strip (12) is formed between two slides (11), and the middle part of interval strip (12) is rotatably provided with gear (121);The other end of shell (10) is provided with barrel cavity (13) in with one slide (11) adjacent and upper and lower corresponding place and is provided with motor cavity (14) in away from slide (11) place, and long slot (101) is opened in the middle section between barrel cavity (13) and corresponding slide (11);The side surface of shell (10) is recessed with transmission cavity (15) spaced apart from slide (11) and communicating barrel cavity (13) with motor cavity (14);The drive control integrated stepping motor (20) is installed in motor cavity (14), and the rotating shaft of drive control integrated stepping motor (20) is out to transmission cavity (15);The jaw drive assembly (30) includes ball screw (31) and two pieces of drive slider (32), the ball screw (31) is rotatably arranged in barrel cavity (13), and the ball screw (31) is provided with screw nut (311), and the one end of ball screw (31) is out to transmission cavity (15);Two pieces of drive slider (32) are slidably loaded to the opposite side of two slides (11), and each drive slider (32) is formed with rack edge (321) engaged with gear (121), and one drive slider (32) is connected with screw nut (311) by a pin (301) through long slot (101);Transmission assembly (40) is arranged in transmission cavity (15), so that the rotating shaft of drive control integrated stepping motor (20) and one end of ball screw (31) form transmission;Two pieces of jaw body are installed on two pieces of drive slider (32).

2. The improved electrically operated clamp jaw as claimed in claim 1 wherein: The other side of the shell (10) is recessed with loading cavity (16) spaced apart from slide (11) and communicating barrel cavity (13) with motor cavity (14) in side surface;Two sides of shell (10) can be detachably provided with cover shell (102) for covering transmission cavity (15) or loading cavity (16).

3. The improved electrically operated clamp jaw as claimed in claim 1 wherein: The cross section of the slide (11) is convex, and the shape of the drive slider (32) matches the slide (11) to improve the stability of the drive slider (32) when sliding along the slide (11).

4. The improved electrically powered clamp jaw of claim 1, wherein: A plurality of connecting holes (322) are formed in the drive slider (32) for connecting with the jaw body.

5. The improved electrically powered clamp jaw of claim 1 wherein: Two deep groove ball bearings (131) are mounted at both ends of the barrel cavity (13) opposite to each other for the two ends of the ball screw (31) to pass through the two deep groove ball bearings (131) inside.

6. The improved electrically powered clamp jaw of claim 1 wherein: The transmission assembly (40) includes a drive synchronous wheel (41) mounted on the rotating shaft of the drive control integrated stepping motor (20), a driven synchronous wheel (42) mounted on the end of the ball screw (31) passing through the transmission cavity (15), and a synchronous belt (43) sleeved on the drive synchronous wheel (41) and the driven synchronous wheel (42).

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