A micro gripper

Abstract

The utility model belongs to electrically operated clamping jaw technical field, especially relates to a kind of micro clamping jaw, it includes drive mechanism and chuck, drive mechanism includes motor assembly and speed reducer component, the input end of speed reducer component is connected with the transmission of motor assembly's pivot, the other end of speed reducer component is equipped with output shaft, chuck includes clamping part and the palm part of wrapping clamping part, clamping part is connected with the output shaft transmission of speed reducer component, palm part is fixedly connected with the end of speed reducer component, the circumferential contour size of chuck is configured to not more than the circumferential contour size of motor assembly, to make micro clamping jaw overall present the contour of equal diameter or convergence. Since the circumferential contour size of chuck is not more than the circumferential contour size of motor assembly, to make the circumferential size of entire micro clamping jaw with the circumferential contour size of motor assembly as benchmark, to reduce the space occupied by entire micro clamping jaw further, satisfy narrow space operation demand.

Description

Technical Field

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

[0002] Traditional miniature grippers typically use a motor and reducer as the drive structure connected to the gripper, and the gripper grips and releases under the action of the transmission structure. Currently, the motor and reducer are often integrated into the same housing to ensure the compactness of the miniature gripper. However, since the motor and reducer also have their own housings, this not only increases the number of parts in the miniature gripper and increases the assembly difficulty, but also leads to an increase in the size of the housing, which in turn increases the space occupied by the entire miniature gripper, making it difficult to meet the needs of working in confined spaces.

[0003] Therefore, the above problems urgently need to be solved. Utility Model Content

[0004] The purpose of this invention is to provide a miniature gripper to reduce the space occupied by the miniature gripper and meet the needs of operation in confined spaces.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Miniature grippers, comprising:

[0007] The drive mechanism includes a motor assembly and a reducer assembly. The input end of the reducer assembly is connected to the rotating shaft of the motor assembly, and the other end of the reducer assembly is provided with an output shaft.

[0008] The chuck includes a clamping part and a palm part that wraps around the clamping part. The clamping part is drively connected to the output shaft of the reducer assembly, and the palm part is fixedly connected to the end of the reducer assembly. The circumferential profile dimension of the chuck is configured to be no larger than the circumferential profile dimension of the motor assembly, so that the miniature gripper as a whole presents a profile with equal diameter or constriction.

[0009] Preferably, the motor assembly and the reducer assembly are arranged along the axial direction of the shaft.

[0010] Preferably, the reducer assembly is disposed inside the housing of the motor assembly, and the input end and the rotating shaft are arranged side by side in a direction perpendicular to the axis of the rotating shaft;

[0011] The drive mechanism also includes a synchronization component, which is driven between the motor assembly and the reducer assembly to enable the motor assembly and the reducer assembly to rotate synchronously.

[0012] Preferably, the synchronization component includes two synchronization pulleys and a synchronization belt tensioned between the two synchronization pulleys, with the two synchronization pulleys respectively located on the rotating shaft and the input end.

[0013] Preferably, the motor assembly and the reducer assembly are arranged at an angle.

[0014] The drive mechanism further includes a reversing component, which is driven between the motor assembly and the reducer assembly to enable the motor assembly and the reducer assembly to rotate synchronously.

[0015] Preferably, the reversing assembly includes two meshing bevel gears, which are respectively disposed on the shaft and the input end.

[0016] Preferably, the clamping part includes two clamping ends, both of which are slidably disposed on the palm part;

[0017] A transmission mechanism is provided between the clamping part and the output shaft. The transmission mechanism is used to drive the two clamping ends to move synchronously towards or away from each other.

[0018] Preferably, the transmission mechanism includes:

[0019] The transmission gear is coaxially mounted on the output shaft;

[0020] Two transmission racks that mesh with the transmission gear are respectively connected to the two clamping ends of the clamping part and are located on both sides of the transmission gear.

[0021] Preferably, the palm portion is integrally formed with the end of the reducer assembly.

[0022] Preferably, the reducer assembly is a planetary gear reduction structure.

[0023] The beneficial effects of this utility model are:

[0024] The miniature gripper of this invention has an input end of a reducer assembly connected to the shaft of a motor assembly, and a palm part fixedly connected to the end of the reducer assembly. The circumferential profile dimension of the gripper is not greater than the circumferential profile dimension of the motor assembly, thereby enabling the circumferential dimension of the entire miniature gripper to be based on the circumferential profile dimension of the motor assembly, thus reducing the space occupied by the entire miniature gripper and meeting the needs of operation in confined spaces. Attached Figure Description

[0025] Figure 1 This is a cross-sectional view of the miniature gripper in Embodiment 1 of this utility model;

[0026] Figure 2This is a schematic diagram of the structure of the chuck and transmission assembly in an embodiment of this utility model;

[0027] Figure 3 This is a cross-sectional view of the miniature gripper in Embodiment 2 of this utility model;

[0028] Figure 4 This is a cross-sectional view of the miniature gripper in Embodiment 3 of this utility model.

[0029] In the picture:

[0030] 1. Drive mechanism; 11. Housing; 111. Mounting cavity; 112. Communicating hole; 12. Motor assembly; 13. Reducer assembly; 14. Synchronization assembly; 141. Synchronization pulley; 142. Synchronization belt; 15. Redirection assembly; 151. Bevel gear;

[0031] 2. Palm part; 21. Mounting groove; 22. Slide groove;

[0032] 3. Clamping part;

[0033] 4. Transmission mechanism; 41. Transmission gear; 42. Transmission rack. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0038] Currently, the motor and reducer are often integrated into the same housing. Since the motor and reducer themselves have their own housings, this not only increases the number of parts in the miniature gripper and the assembly difficulty, but also leads to an increase in the size of the housing, resulting in a larger space occupied by the entire miniature gripper, making it difficult to meet the needs of operations in confined spaces. Therefore, this embodiment proposes a miniature gripper that aims to reduce the number of parts while decreasing the overall size of the miniature gripper to meet the needs of operations in confined spaces. Please refer to Embodiments 1 to 3 below for details.

[0039] Example 1

[0040] Please see Figure 1 and Figure 2 The miniature gripper includes a drive mechanism 1 and a gripper head. The drive mechanism 1 includes a motor assembly 12 and a reducer assembly 13. The input end of the reducer assembly 13 is connected to the rotating shaft of the motor assembly 12. The other end of the reducer assembly 13 is provided with an output shaft. The gripper head includes a clamping part 3 and a palm part 2 that wraps around the clamping part 3. The clamping part 3 is connected to the output shaft of the reducer assembly 13. The palm part 2 is fixedly connected to the end of the reducer assembly 13. The circumferential profile dimension of the gripper head is configured to be no greater than the circumferential profile dimension of the motor assembly 12, so that the miniature gripper as a whole presents a profile with equal diameter or constriction.

[0041] It is understandable that the input end of the reducer assembly 13 is connected to the shaft of the motor assembly 12, the palm part 2 is fixedly connected to the end of the reducer assembly 13, and the circumferential contour dimension of the chuck is not greater than the circumferential contour dimension of the motor assembly 12. This allows the circumferential dimension of the entire miniature gripper to be based on the circumferential contour dimension of the motor assembly 12, thereby reducing the space occupied by the entire miniature gripper and meeting the needs of operation in confined spaces.

[0042] In this embodiment, the motor assembly 12 and the reducer assembly 13 are arranged along the axial direction of the rotating shaft. This arrangement can save the circumferential profile dimension of the miniature gripper, making it suitable for narrow working spaces. The circumferential profile dimension of the miniature gripper is determined by the circumferential dimension of the housing 11 of the motor assembly 12. When arranging the reducer assembly 13, the circumferential profile dimension of the reducer assembly 13 should not be greater than the circumferential dimension of the housing 11, thereby reducing the overall size of the miniature gripper.

[0043] Furthermore, the reducer assembly 13 is preferably a planetary gear reduction structure in the prior art, which has a high degree of integration and can ensure the maximum circumferential profile size of the miniature gripper while meeting high torque requirements, thereby reducing the space occupied by the miniature gripper. The planetary gear reduction structure can be a single-stage reduction structure, a two-stage reduction structure, or a multi-stage reduction structure, which can be selected according to the actual working conditions, and no specific restrictions are imposed here.

[0044] In this embodiment, the clamping part 3 includes two clamping ends, both of which are slidably disposed on the palm part 2. A transmission mechanism 4 is provided between the clamping part 3 and the output shaft. The transmission mechanism 4 is used to drive the two clamping ends to move synchronously towards or away from each other. It can be understood that the transmission direction of the output shaft can be changed under the action of the transmission mechanism 4 to realize the synchronous movement of the two clamping ends towards or away from each other, thereby realizing the clamping function of the clamping part 3.

[0045] Specifically, the transmission mechanism 4 includes a transmission gear 41 and two transmission racks 42 meshing with the transmission gear 41. The transmission gear 41 is coaxially mounted on the output shaft, and under the action of the output shaft, the transmission gear 41 can rotate around its own axis. The two transmission racks 42 are respectively connected to the two clamping ends of the clamping part 3 and are located on both sides of the transmission gear 41. It can be understood that under the action of the motor assembly 12 and the reducer assembly 13, the driving force can be transmitted to the transmission gear 41, so that the transmission gear 41 rotates around its own axis, thereby driving the racks to move in a preset direction. Since the two racks are respectively located on both sides of the gear, the two racks move in opposite directions, thereby driving the two clamping ends to move synchronously towards or away from each other.

[0046] Specifically, the palm part 2 facing the reducer assembly 13 is provided with a mounting groove 21 for mounting the transmission gear 41, and the palm part 2 away from the reducer assembly 13 is provided with two sliding grooves 22 arranged in a preset direction. Both sliding grooves 22 are connected to the mounting groove 21. The two clamping ends are slidably disposed inside the sliding grooves 22, and the transmission rack 42 is fixedly connected to the clamping ends. This arrangement can further reduce the axial dimension of the micro gripper, thereby further reducing the space occupied by the micro gripper.

[0047] Furthermore, the palm portion 2 and the end of the reducer assembly 13 are integrally formed to ensure the connection strength between the reducer assembly 13 and the palm portion 2. The integral forming method is preferably the existing internal and external screw connection, welding, etc., which requires space outside the housing to further ensure the space occupied by the miniature gripper.

[0048] Example 2

[0049] Please see Figure 3 The difference between this embodiment and Embodiment 1 is that the reducer assembly 13 is disposed inside the housing 11 of the motor assembly 12, and the input end and the rotating shaft are arranged side by side in a direction perpendicular to the axis of the rotating shaft. The drive mechanism 1 also includes a synchronization assembly 14, which is driven between the motor assembly 12 and the reducer assembly 13 to enable the motor assembly 12 and the reducer assembly 13 to rotate synchronously. It can be understood that the rotating unit of the motor assembly 12 and the reduction unit in the reducer assembly 13 are integrated in the same housing 11, thereby ensuring the compactness of the miniature gripper and reducing its axial length to meet the requirements of a shorter working space.

[0050] Specifically, the outer casing 11 is preferably cylindrical, and along the radial direction of the outer casing 11, the interior of the outer casing 11 has two parallel mounting cavities 111. One mounting cavity 111 is used to mount the rotating unit of the motor assembly 12, and the other mounting cavity 111 is used to mount the reduction unit of the reducer assembly 13. A connecting hole 112 is provided between the two mounting cavities 111. The drive mechanism 1 also includes a synchronization component 14, which passes through the connecting hole 112 and is driven between the motor assembly 12 and the reducer assembly 13 to enable the motor assembly 12 and the reducer assembly 13 to rotate synchronously. Compared with Embodiment 1, the miniature gripper proposed in this embodiment, by arranging the rotating unit of the motor assembly 12 and the reduction unit of the reducer assembly 13 side by side inside the outer casing 11, can reduce its axial length to meet the requirements of a shorter working space.

[0051] The synchronization component 14 includes two synchronization pulleys 141 and a synchronization belt 142 tensioned between the two synchronization pulleys 141. The two synchronization pulleys 141 are respectively located on the shaft of the motor assembly 12 and the input end of the reducer assembly 13. It can be understood that the shaft of the motor assembly 12, during rotation, can drive one of the synchronization pulleys 141 to rotate, and under the action of the synchronization belt 142, can cause the other synchronization pulley 141 to rotate synchronously, thereby transmitting the driving force of the motor assembly 12 to the reducer assembly.

[0052] Example 3

[0053] Please see Figure 4 The difference between this embodiment and Embodiment 1 is that the motor assembly 12 and the reducer assembly 13 are arranged at an angle; the drive mechanism 1 also includes a redirection assembly 15, which is driven between the motor assembly 12 and the reducer assembly 13 to enable the motor assembly 12 and the reducer assembly 13 to rotate synchronously. Compared to Embodiment 1, the miniature gripper proposed in this embodiment arranges the motor assembly 12 and the reducer assembly 13 at a certain angle to meet the needs of a more complex working space, and the circumferential contour dimension of the entire miniature gripper is limited to the outer shell 11 of the motor assembly 12, thereby further reducing the space occupied by the entire miniature gripper.

[0054] Specifically, the reversing assembly 15 includes two meshing bevel gears 151, which are respectively disposed on the shaft of the motor assembly 12 and the input end of the reducer assembly 13. The sum of the pitch cone angles between the two bevel gears 151 is consistent with the included angle between the motor assembly 12 and the reducer assembly 13. It can be understood that during rotation, the shaft of the motor assembly 12 can drive one of the bevel gears 151 to rotate, thereby driving the other bevel gear 151 to rotate synchronously, thus transmitting the driving force of the motor assembly 12 to the reducer assembly.

[0055] For example, the motor assembly 12 and the reducer assembly 13 are arranged perpendicularly, and the sum of the pitch cone angles between the two bevel gears 151 is 90°, so that the driving force of the motor assembly 12 can be transmitted to the reducer assembly 13 through the two bevel gears 151. Of course, in some other feasible embodiments, the sum of the pitch cone angles between the two bevel gears 151 is adjusted according to the included angle between the motor assembly 12 and the reducer assembly 13, which is not specifically limited here.

[0056] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A miniature gripper, characterized in that, include: The drive mechanism (1) includes a motor assembly (12) and a reducer assembly (13). The input end of the reducer assembly is connected to the rotating shaft of the motor assembly (12), and the other end of the reducer assembly (13) is provided with an output shaft. The chuck includes a clamping part (3) and a palm part (2) that wraps around the clamping part (3). The clamping part (3) is connected to the output shaft of the reducer assembly (13). The palm part (2) is fixedly connected to the end of the reducer assembly (13). The circumferential profile dimension of the chuck is configured to be no greater than the circumferential profile dimension of the motor assembly (12) so that the micro gripper as a whole presents a profile with equal diameter or constriction.

2. The miniature gripper according to claim 1, characterized in that, The motor assembly (12) and the reducer assembly (13) are arranged along the axial direction of the shaft.

3. The miniature gripper according to claim 1, characterized in that, The reducer assembly (13) is disposed inside the housing (11) of the motor assembly (12), and the input end and the rotating shaft are arranged side by side in a direction perpendicular to the axis of the rotating shaft; The drive mechanism (1) further includes a synchronization component (14), which is driven between the motor assembly (12) and the reducer assembly (13) to make the motor assembly (12) and the reducer assembly (13) rotate synchronously.

4. The miniature gripper according to claim 3, characterized in that, The synchronization component (14) includes two synchronization pulleys (141) and a synchronization belt (142) tensioned between the two synchronization pulleys (141). The two synchronization pulleys (141) are respectively located on the rotating shaft and the input end.

5. The miniature gripper according to claim 1, characterized in that, The motor assembly (12) and the reducer assembly (13) are arranged at an angle; The drive mechanism (1) further includes a reversing component (15), which is driven between the motor assembly (12) and the reducer assembly (13) so that the motor assembly (12) and the reducer assembly (13) rotate synchronously.

6. The miniature gripper according to claim 5, characterized in that, The reversing assembly (15) includes two meshing bevel gears (151), which are respectively disposed on the shaft and the input end.

7. The miniature gripper according to any one of claims 1-6, characterized in that, The clamping part (3) includes two clamping ends, both of which are slidably disposed on the palm part (2); A transmission mechanism (4) is provided between the clamping part (3) and the output shaft. The transmission mechanism (4) is used to drive the two clamping ends to move synchronously towards or away from each other.

8. The miniature gripper according to claim 7, characterized in that, The transmission mechanism (4) includes: The transmission gear (41) is coaxially mounted on the output shaft; Two transmission racks (42) mesh with the transmission gear (41), are respectively connected to the two clamping ends, and are located on both sides of the transmission gear (41).

9. The miniature gripper according to any one of claims 1-6, characterized in that, The palm part (2) is integrally formed with the end of the reducer assembly (13).

10. The miniature gripper according to any one of claims 1-6, characterized in that, The reducer assembly (13) is a planetary gear reduction structure.

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