Compact electric clamping jaw

Abstract

The utility model discloses a compact type electric clamping jaw which comprises a shell, a micro servo driver, a closed-loop stepping motor, a synchronous transmission assembly, a clamping jaw driving assembly and two clamping jaw bodies. One end of the shell sinks in the end face to form a slideway, and a barrel cavity and a double-layer cavity are formed in the other end of the shell; a synchronous cavity is concavely formed in the side surface of one side of the shell; the micro servo driver and the closed-loop stepping motor are arranged in the double-layer cavity; the clamping jaw driving assembly comprises a forward and reverse thread ball screw capable of being rotationally arranged in the barrel cavity and two linear sliding blocks capable of being oppositely arranged on the two sides of the sliding way in a sliding mode, the forward thread section and the reverse thread section of the forward and reverse thread ball screw are each provided with a lead screw nut, and each linear sliding block corresponds to the corresponding lead screw nut and is connected with the corresponding lead screw nut through a pin; the synchronous transmission assembly is arranged in the synchronous cavity, so that transmission is formed between a rotating shaft of the closed-loop stepping motor and one end of the positive and negative thread ball screw; the two clamping jaw bodies are oppositely installed on the two linear sliding blocks. The utility model has a compact integral structure.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a compact electric gripper. Background Technology

[0002] Grippers, as the end effector of robotic arms, are frequently used in industries such as medical automation, 3C electronics, new energy, and automation, as well as in machining and assembly. They feature high-precision force and position control. However, due to space constraints and the requirement for small size and high output, the grippers used often have the following requirements:

[0003] 1. The size should be small to prevent problems such as collisions with machining tools or insufficient assembly space that prevents installation.

[0004] 2. The clamping force should be large to prevent the workpiece from becoming loose.

[0005] However, in the current market, most grippers are pneumatic grippers, which have the following problems: they only have two functions, opening and closing, making it inconvenient to adjust the gripping force and lack the ability to start and stop at any position; while electric grippers mostly use transmission structures such as trapezoidal screws, gear racks, and linkage mechanisms, which have low transmission efficiency, are not compact in structure design, and are relatively heavy. Summary of the Invention

[0006] The purpose of this invention is to provide a compact electric gripper.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A compact electric gripper includes a housing, a micro servo driver, a closed-loop stepper motor, a synchronous transmission assembly, a gripper drive assembly, and two gripper bodies. One end of the housing has a recessed slide rail, and the other end of the housing has a cylindrical cavity adjacent to the slide rail and a double-layer cavity away from the slide rail. The bottom surface of the slide rail has two elongated openings on opposite sides communicating with the cylindrical cavity. One side of the housing has a recessed synchronous cavity that is spaced from the slide rail and communicates with the cylindrical cavity and the double-layer cavity, and a detachable cover for sealing the synchronous cavity. The micro servo driver and the closed-loop stepper motor are disposed within the double-layer cavity. The shaft of the ring stepper motor extends into the synchronization cavity; the gripper drive assembly includes a rotatable ball screw with positive and negative teeth disposed within the cylindrical cavity and two linear sliders that are slidably disposed opposite each other on both sides of the slide rail. The ball screw with positive and negative teeth is provided with a lead screw nut on its positive tooth section and negative tooth section respectively. Each linear slider corresponds to a lead screw nut and is connected by a pin passing through a long slot; one end of the ball screw with positive and negative teeth extends into the synchronization cavity; the synchronization transmission assembly is disposed within the synchronization cavity, so that a transmission is formed between the shaft of the closed-loop stepper motor and one end of the ball screw with positive and negative teeth; the two gripper bodies are mounted opposite each other on the two linear sliders.

[0009] As a further technical solution of this utility model: the micro servo driver is integrated with the closed-loop stepper motor.

[0010] As a further technical solution of this utility model: two linear guide rails are provided on the inner walls of the two sides of the slide, and each linear slider is provided with a groove that matches the two linear guide rails.

[0011] As a further technical solution of this utility model: a dustproof plate is provided in the middle of the end face of the housing at one end of the slide, which covers the middle section of the slide and limits the movement of the two linear sliders.

[0012] As a further technical solution of this utility model: the linear slider is provided with several connecting holes for connecting with the gripper body.

[0013] As a further technical solution of this utility model: two deep groove ball bearings are installed opposite each other at both ends of the cylindrical cavity, and the two ends of the positive and negative toothed ball screw are inserted into the two deep groove ball bearings opposite each other.

[0014] As a further technical solution of this utility model: the synchronous transmission assembly includes a drive synchronous wheel installed on the shaft of a closed-loop stepper motor, a driven synchronous wheel installed on one end of a forward and reverse toothed ball screw that passes into the synchronous cavity, and a synchronous belt sleeved on the drive synchronous wheel and the driven synchronous wheel.

[0015] Compared with the prior art, the beneficial effects of this utility model are: This utility model proposes a compact electric gripper that achieves greater clamping force and stroke with a smaller size and weight by cooperating with the housing, micro servo driver, closed-loop stepper motor, synchronous transmission component, gripper drive component and two gripper bodies. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the casing.

[0018] Figure 3 This is a schematic diagram of the slide rails on the casing.

[0019] Figure 4 A schematic diagram showing the connection between the cylindrical cavity and the double-layered cavity for the loading chamber.

[0020] Figure 5 This is a schematic diagram of a synchronous transmission assembly.

[0021] Figure 6 This is a structural diagram of a compact electric gripper. Detailed Implementation

[0022] 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.

[0023] Please see Figure 1 , Figure 6 A compact electric gripper includes a housing 10, a micro servo driver 20, a closed-loop stepper motor 30, a synchronous transmission assembly 40, a gripper drive assembly 50, and two gripper bodies (not shown).

[0024] See also Figure 2 , Figure 4 and Figure 5 One end of the housing 10 has a recessed slide 11 extending to both sides. The other end of the housing 10 has a cylindrical cavity 12 extending to both sides near the slide 11 and a double-layer cavity 13 extending to both sides away from the slide 11. The bottom surface of the slide 11 has two elongated openings 101 on both sides that communicate with the cylindrical cavity 12. The two sides of the housing 10 have recessed synchronous cavities 14 and loading cavities 15 that are spaced apart from the slide 11 and connect the cylindrical cavity 12 and the double-layer cavity 13. The housing 10 also has a detachable cover 102 for sealing the synchronous cavity 14 or the loading cavity 15.

[0025] The micro servo driver 20 and the closed-loop stepper motor 30 are disposed in the double-layer cavity 13. The micro servo driver 20 and the closed-loop stepper motor 30 are integrated as one unit. The rotating shaft of the closed-loop stepper motor 30 extends out into the synchronization cavity 14.

[0026] The gripper drive assembly 50 includes a rotatable ball screw 51 with positive and negative teeth disposed in the cylindrical cavity 12 and two linear sliders 52 that are slidably disposed opposite each other on both sides of the slide rail 11. The ball screw 51 with positive teeth and negative teeth is provided with a screw nut 511 on its positive tooth section and its negative tooth section, which moves closer to each other or further away from each other as it rotates. Each linear slider 52 corresponds vertically to the screw nut 511 and is connected by a pin 501 passing through a long slot 101. One end of the ball screw 51 with positive and negative teeth extends into the synchronization cavity 14.

[0027] The synchronous transmission assembly 40 is disposed in the synchronous cavity 14, so that the shaft of the closed-loop stepper motor 30 and one end of the positive and negative tooth ball screw 51 form a transmission, so that the closed-loop stepper motor 30 drives the gripper drive assembly 50 to operate.

[0028] The two gripper bodies are mounted opposite each other on the two linear sliders 52, and open and close as the closed-loop stepper motor 30 drives the gripper drive assembly 50.

[0029] Understandably, the method of using the compact electric gripper of this utility model is as follows: the micro servo driver 20 controls the rotating shaft of the closed-loop stepper motor 30 to rotate in both directions, and the synchronous transmission component 40 transmits the forward and reverse tooth ball screw 51 to rotate. The screw nut 511 on the forward tooth section and the reverse tooth section of the forward and reverse tooth ball screw 51 moves closer or further away from each other as they rotate, which drives the two linear sliders 52 to move closer or further away from each other synchronously along the slide 11, so that the gripper body on the two linear sliders 52 opens and closes. The compact electric gripper utilizes a forward and reverse toothed ball screw 51, which effectively improves transmission efficiency and accuracy, thereby providing greater clamping force and higher transmission accuracy in a smaller size. The micro servo driver 20 is integrated internally, offering high precision with 10mA high-precision current control, low power consumption, and an efficiency of 99%. It also boasts strong main control adaptability, supporting protocols and communication methods such as EthereCAT, CANopen, Modbus, CIA402, pulse, and analog signals. No additional driver is required; the host computer can directly communicate and control it via a communication line.

[0030] Furthermore, in this embodiment, the compact electric gripper has a volume of 45mm*98mm*127mm, a weight of 2Kg, a clamping force of 600N, and a stroke of 40mm. Compared with similar products on the market, the volume is reduced by 48%, the weight is reduced by 13%, the clamping force is increased by 71%, and the stroke is increased by 33%. It achieves greater clamping force and stroke with smaller volume and weight.

[0031] Furthermore, in this embodiment, the closed-loop stepper motor 30 is a high-precision closed-loop motor. In conjunction with the micro servo driver 20, it can be controlled by a special algorithm based on motor motion pulse feedback and motor current magnitude to achieve precise control of position, speed, and output, and realize functions such as zero-return without sensor collision, clamping position judgment, and drop judgment.

[0032] Furthermore, in this embodiment, refer to Figure 1 , Figure 3 The slide 11 has two linear guide rails 111 on its two inner walls facing each other. Each linear slider 52 has a groove 521 that matches the two linear guide rails 111 to improve the stability of the linear slider 52 when it slides along the slide 11.

[0033] Furthermore, in this embodiment, a dustproof plate 103 is provided in the middle of the end face of the housing 10 at one end where the slide 11 is located, which covers the middle section of the slide 11 and limits the movement of the two linear sliders 52.

[0034] Furthermore, in this embodiment, the linear slider 52 is provided with a plurality of connecting holes 522 for connecting with the gripper body.

[0035] Furthermore, in this embodiment, the specific structure of the gripper body can be flexibly designed, and gripper bodies with different structures can be replaced according to different needs.

[0036] Furthermore, in this embodiment, two deep groove ball bearings 121 are installed opposite to each other at both ends of the cylindrical cavity 12, so that the two ends of the positive and negative tooth ball screw 51 can be inserted into the two deep groove ball bearings 121, and the two deep groove ball bearings 121 can rotatably set the positive and negative tooth ball screw 51 in the cylindrical cavity 12.

[0037] Furthermore, in this embodiment, the synchronous transmission assembly 40 includes a drive synchronous wheel 41 mounted on the shaft of the closed-loop stepper motor 30, a driven synchronous wheel 42 mounted on one end of the forward and reverse toothed ball screw 51 that passes through the synchronous cavity 14, and a synchronous belt 43 sleeved on the drive synchronous wheel 41 and the driven synchronous wheel 42. Through the cooperation of the drive synchronous wheel 41, the driven synchronous wheel 42 and the synchronous belt 43, a transmission is formed between the shaft of the closed-loop stepper motor 30 and one end of the forward and reverse toothed ball screw 51.

[0038] In summary, the compact electric gripper of this utility model, through the cooperation of the housing 10, the micro servo driver 20, the closed-loop stepper motor 30, the synchronous transmission component 40, the gripper drive component 50, and the two gripper bodies, has a compact overall structure and achieves greater clamping force and stroke with smaller size and weight.

[0039] Any combination of different embodiments of this utility model, provided it does not violate the inventive concept of this utility model, shall be considered as the disclosure of this utility model; any simple modifications to the technical solution and any combination of different embodiments within the scope of the inventive concept of this utility model, without violating the inventive concept of this utility model, shall be within the protection scope of this utility model.

Claims

1. A compact electrically powered clamp jaw characterized by: The utility model relates to a micro servo drive device, including shell (10), micro servo drive (20), closed loop step motor (30), synchronous transmission assembly (40), clamping jaw drive assembly (50) and two clamping jaw bodies, one end of shell (10) is recessed and is formed with slide (11) on the end face, the other end of shell (10) is equipped with cylinder cavity (12) in the proximity of slide (11) and is equipped with double -layer cavity (13) in the distance from slide (11), and the bottom surface of slide (11) is equipped with two long strip mouth (101) with cylinder cavity (12) communication on both sides, one side of shell (10) is recessed and is formed with synchronous cavity (14) with the interval of slide (11) and cylinder cavity (12) and double -layer cavity (13) communication in the side, and the detachable cover shell (102) for covering synchronous cavity (14) is equipped, micro servo drive (20) and closed loop step motor (30) are set in double -layer cavity (13), and the rotating shaft of closed loop step motor (30) is out to synchronous cavity (14), clamping jaw drive assembly (50) includes the ball screw (51) of positive and negative tooth that can rotate and is set in cylinder cavity (12) and the two straight line sliders (52) of opposite setting in the both sides of slide (11) can slide, and the ball screw (51) is equipped with a screw nut (511) on the positive tooth segment and the reverse tooth segment on it, and every straight line slider (52) and a screw nut (511) correspond and are connected with a cotter pin (501) through a long strip mouth (101), and one end of ball screw (51) is out to synchronous cavity (14), synchronous transmission assembly (40) is set in synchronous cavity (14), and the rotating shaft of closed loop step motor (30) and one end of ball screw (51) form transmission, and two clamping jaw bodies are oppositely installed on two straight line sliders (52).

2. The compact electrically powered clamp jaw of claim 1, wherein: The micro servo drive (20) and the closed loop step motor (30) are integrated.

3. The compact electrically powered clamp jaw of claim 1, wherein: Two straight line guides (111) are oppositely arranged on the inner walls of the two surfaces of the slide (11), and a sliding groove (521) matched with the two straight line guides (111) is formed on each straight line slider (52).

4. The compact electrically powered clamp jaw of claim 1, wherein: A dustproof plate (103) is arranged in the middle of the end face of the shell (10) at the end where the slide (11) is located, covering the middle section of the slide (11) and limiting the two straight line sliders (52).

5. The compact electrically powered clamp jaw of claim 1, wherein: A plurality of connecting holes (522) are formed on the straight line slider (52) for connecting with the clamping jaw bodies.

6. The compact electrically powered clamp jaw of claim 1, wherein: Two deep groove ball bearings (121) are oppositely arranged at the two ends of the cylinder cavity (12), and the two ends of the ball screw (51) are oppositely inserted into the two deep groove ball bearings (121).

7. The compact electrically powered clamp jaw of claim 1, wherein: The synchronous transmission assembly (40) comprises a driving synchronous wheel (41) mounted on the rotating shaft of the closed loop step motor (30), a driven synchronous wheel (42) mounted on one end of the ball screw (51) inserted into the synchronous cavity (14), and a synchronous belt (43) sleeved on the driving synchronous wheel (41) and the driven synchronous wheel (42).

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