A synchronous servo hand with protection

Abstract

The utility model discloses a kind of synchronous servo paw with protection, can realize high-precision synchronous action, while solving the deficiency existing in dustproof performance of existing servo paw. It includes paw main body, finger assembly and the driving assembly, synchronous transmission mechanism and dust cover installed in paw main body, finger assembly includes two fingers in left and right sides, synchronous transmission mechanism includes a pair of rack, a pair of finger slide plate and a pair of linear guide rail, the output end of driving assembly is equipped with driving gear, two racks are oppositely arranged in the front and back sides of driving gear, and correspondingly connected with two finger slide plates, two finger slide plates are correspondingly connected with two fingers, two finger slide plates are correspondingly slidably connected with two linear guide rails, driving gear is driven by engaging transmission with two racks, drives two finger slide plates to correspond along two linear guide rails sliding, and two fingers are opened and closed by two finger slide plates, dust cover is equipped with driving gear and two rack covers.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation technology, specifically relating to a protective synchronous servo gripper that can be used in a machining casting production environment. Background Technology

[0002] In the industrial automation manufacturing sector, servo grippers are widely used as key components for grasping and handling parts due to their superior safety, reliability, and high precision compared to pneumatic grippers. However, traditional pneumatic grippers and servo grippers generally suffer from several problems: 1. In dusty environments such as foundries and machining industries, small dust particles can easily enter the internal structure of the servo gripper, damaging internal transmission components, servo motors, and sensors, leading to equipment malfunctions and severely impacting the servo gripper's lifespan and operational stability. 2. Traditional servo grippers struggle to meet the ever-increasing demands for high-precision production. For the grasping and assembly of some precision parts, they cannot achieve the desired accuracy, affecting product quality and production efficiency. 3. Due to mechanical structure errors and elastic deformation of transmission components, traditional servo grippers cannot guarantee high-precision synchronous movement of the gripper's jaws, thus affecting grasping and handling accuracy. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide a protective synchronous servo gripper that can achieve high-precision synchronous action and solve the shortcomings of the existing servo gripper in dustproof performance.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A protective synchronous servo gripper includes a gripper body, finger assemblies, and a drive assembly, a synchronous transmission mechanism, and a dust cover mounted on the gripper body. The finger assembly includes two fingers on the left and right sides. The synchronous transmission mechanism includes a pair of racks, a pair of finger slides, and a pair of linear guides. The output end of the drive assembly is provided with a drive gear. The two racks are arranged opposite each other on the front and rear sides of the drive gear and are connected to the two finger slides respectively. The two finger slides are connected to the two fingers respectively and are slidably engaged with the two linear guides. The drive gear drives the two finger slides to slide along the two linear guides through meshing with the two racks, and the two finger slides drive the two fingers to open and close. The dust cover covers the drive gear and the two racks.

[0006] Preferably, the dust cover includes an upper sealing plate, side sealing plates, and a bottom sealing plate. The top of the hand claw body is provided with a window, the upper sealing plate covers the window, the two side sealing plates cover the left and right sides of the hand claw body respectively, and the bottom sealing plate covers the bottom of the hand claw body.

[0007] Preferably, the upper sealing plate, side sealing plate, and bottom sealing plate are all sheet metal parts made of stainless steel.

[0008] Preferably, the side sealing plate is provided with a contoured structure that cooperates with the finger slide.

[0009] Preferably, the drive assembly includes a servo motor and a reducer. The servo motor is located above the gripper body, the input end of the reducer is connected to the motor shaft of the servo motor, and the reducer extends downward into the interior of the gripper body.

[0010] Preferably, the output shaft of the reducer is connected to the drive gear by a key, and the drive gear is fixed to the output shaft by a locking screw connected to the end face of the output shaft.

[0011] Preferably, the finger slide is connected to the linear guide slider, the linear guide slider slides with the linear guide, and the linear guide is fixed to the hand body by fixing screws.

[0012] Preferably, the claw includes a finger support plate, the top of which is connected to a finger top plate and the bottom of which is connected to a supporting finger, and the finger top plate is connected to a finger slide plate.

[0013] Preferably, the finger top plate and the finger slide plate, the finger top plate and the finger upright plate, and the supporting finger and the finger upright plate are all positioned by positioning pins and fixed by fixing screws.

[0014] Preferably, the back of the finger stand is provided with a stand plate reinforcing rib, and the opposite two sides of the finger stand are provided with side plate reinforcing ribs.

[0015] The present invention adopts the above technical solution and has the following beneficial effects:

[0016] The synchronous transmission mechanism, which drives the simultaneous opening and closing of two fingers, is a key component for achieving synchronized finger movements. It includes a pair of racks, a pair of finger slides, and a pair of linear guides. The two racks are positioned opposite each other on the front and rear sides of the drive gear and are connected to the two finger slides. The two finger slides are connected to the two fingers and slide along the two linear guides. The drive gear, through meshing with the two racks, drives the two finger slides to slide along the two linear guides, thus initiating the opening and closing of the two fingers. Because of the synchronous transmission method using the drive gear and the two racks, the fingers connected to the racks move simultaneously towards or away from each other, achieving synchronized opening and closing of the hand. The rack and pinion transmission features high transmission capacity, high precision, high transmission efficiency, and a stable and reliable transmission ratio, effectively ensuring the synchronization accuracy of the two fingers. Furthermore, the sliding of the two finger slides along the two linear guides ensures the smoothness and straightness of the fingers during the opening and closing process.

[0017] A dust cover is installed on the outside and around the main body of the gripper to protect the synchronous transmission mechanism. The drive gear and two racks are enclosed in the cover to prevent a large amount of dust particles from entering the gripper during operation in the die-casting workshop. This prevents dust particles from adhering to the moving parts, thereby ensuring the transmission accuracy of the internal gears and racks and extending the life of each component.

[0018] In addition, a high-performance servo motor is used as the power source. Servo motors have advantages such as fast response speed, high control precision, and stable torque. When paired with a reducer, the torque transmission of the motor is enhanced by increasing the reduction ratio. The reducer has a compact structure, small backlash, high precision, and long service life. Through program programming, the output of controllable speed and torque can provide precise power for the movement of the gripper.

[0019] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0020] The utility model will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is the front view of the present invention;

[0023] Figure 3 for Figure 2 BB section view;

[0024] Figure 4 This is a side view of the present invention.

[0025] Figure 5This is a bottom view of the present invention;

[0026] Figure 6 for Figure 5 CC section view;

[0027] Reference numerals: Drive assembly 1, Servo motor 11, Reducer 12, Drive gear 13, Locking screw 14, Synchronous transmission mechanism 2, Rack 21, Finger slide plate 22, Linear guide rail 23, Linear guide rail slider 24, Finger assembly 3, Finger top plate 31, Finger upright plate 32, Supporting finger 33, Upright plate reinforcing rib 34, Side plate reinforcing rib 35, Dust cover 4, Top sealing plate 41, Side sealing plate 42, Side contour notch 421, Bottom sealing plate 43, Bottom contour notch 431, Hand gripper body 5. Detailed Implementation

[0028] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0029] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0030] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "left," and "right" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / component referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0033] 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.

[0034] like Figures 1 to 6 As shown, this embodiment provides a protective synchronous servo gripper, including a gripper body 5, a drive assembly 1, a synchronous transmission mechanism 2, and a finger assembly 3. The finger assembly 3 includes two fingers on the left and right sides. The drive assembly 1 drives the two fingers to open and close via the synchronous transmission mechanism 2. The synchronous transmission mechanism 2 includes a rack 21, finger slide plates 22, and linear guide rails 23. The output end of the drive assembly is provided with a drive gear 13. Two racks 21 are arranged opposite each other on the front and rear sides of the drive gear 13 and are connected to the two finger slide plates 22. The two finger slide plates 22 are connected to the two fingers respectively, and the two finger slide plates 22 are slidably engaged with the two linear guide rails 23. The drive gear 13 drives the two finger slide plates 22 to slide along the two linear guide rails 23 through meshing with the two racks 21, and the two finger slide plates 22 drive the two fingers to open and close.

[0035] This embodiment employs a synchronous transmission method where a drive gear meshes with two racks, causing the fingers connected to the two racks to move simultaneously towards or away from each other, thus achieving synchronized opening and closing of the hand. The gear and rack transmission features high transmission capacity, high precision, high transmission efficiency, and a stable and reliable transmission ratio, effectively ensuring the synchronization accuracy of the two fingers. Furthermore, the sliding of the two finger slides along two linear guide rails ensures the smoothness and straightness of the fingers during the opening and closing process.

[0036] In some embodiments, a dust cover 4 is provided on the exterior and around the gripper body 5 to protect the synchronous transmission mechanism. The dust cover 4 includes an upper sealing plate 41, side sealing plates 42, and a bottom sealing plate 43. The top of the gripper body 5 has a window, which is covered by the upper sealing plate 41. The two side sealing plates 42 cover the left and right sides of the gripper body, respectively, and the bottom sealing plate 43 covers the bottom of the gripper body. The dust cover 4 encloses the drive gear and two racks, preventing excessive dust particles from entering the gripper during die-casting operations and preventing dust particles from adhering to the moving parts. This ensures the transmission accuracy of the internal gears and racks and extends the lifespan of each component.

[0037] In some embodiments, the upper sealing plate 41, the side sealing plate 42, and the bottom sealing plate 43 are all sheet metal parts made of stainless steel.

[0038] Furthermore, the side sealing plate 42 is provided with a side-contour structure that cooperates with the finger slide 22. Because the finger slide will slide laterally through the side sealing plate, the side sealing plate has a side-contour notch 421 corresponding to the cross-sectional shape of the finger slide. Taking an L-shaped cross-section of the side sealing plate 42 as an example, an L-shaped contour notch is formed between the side sealing plate and the bottom sealing plate. Similarly, since the finger top plate 31 is connected to the finger slide 22, the bottom sealing plate 43 is provided with a bottom contour notch 431, so that when the connection between the finger top plate 31 and the finger slide 22 slides along the bottom sealing plate, it passes through the bottom contour notch 431.

[0039] In some embodiments, the drive assembly 1 includes a servo motor 11 and a reducer 12. The output shaft of the reducer is connected to a drive gear 13 via a key. The drive gear 13 is fixed to the output shaft by a locking screw 14 connected to the end face of the output shaft, ensuring the stability and accuracy of power transmission. A positioning step is provided on the output shaft, and the other end of the drive gear is positioned and engaged with the positioning step. Of course, a shim can be placed between the drive gear and the positioning step. This embodiment uses a high-performance servo motor as the power source. The servo motor has advantages such as fast response speed, high control precision, and stable torque. Combined with a reducer, the torque transmission of the motor is enhanced by increasing the reduction ratio. The reducer has a compact structure, small backlash, high precision, and long service life. Through program programming, controllable speed and torque output can be achieved, providing precise power for the movement of the gripper.

[0040] Specifically, the finger slide 22 is connected to the linear guide slider 24, the linear guide slider 24 is slidably engaged with the linear guide 23, and the linear guide 23 is fixed to the hand gripper body 5 by fixing screws. Each finger slide 22 engages with two linear guides 23 arranged side by side on the front and rear sides, one of which is higher and has a protrusion on the corresponding finger slide.

[0041] In some embodiments, the finger includes a finger support plate 32, with a finger top plate 31 connected to the top and a supporting finger 33 connected to the bottom. The finger top plate 31 is connected to the finger slide plate 22. Thus, the finger slide plate drives the finger's movement, primarily using the two finger supports to clamp the workpiece, while the supporting finger supports the bottom of the workpiece, increasing clamping stability. Simultaneously, the clamping surface of the finger support plate can be made of a special anti-slip material, such as a serrated rubber anti-slip material, to increase friction with the workpiece, preventing slippage during gripping and improving gripping reliability. Of course, it is understood that the shape and size of the finger can be customized according to the needs of different workpieces to adapt to diverse gripping tasks.

[0042] Furthermore, the finger top plate 31 and the finger slide plate 22, the finger top plate 31 and the finger upright plate 32, and the supporting finger 33 and the finger upright plate 32 are all positioned by locating pins and fixed by fixing screws, for example, using two locating pins for positioning and two fixing screws for fixing. The back of the finger upright plate 32 is provided with an upright plate reinforcing rib 34, and both opposite sides of the finger upright plate 32 are provided with side plate reinforcing ribs 35. This enhances the overall structural strength of the finger upright plate.

[0043] The above description is merely a specific embodiment of the utility model, but the scope of protection of the utility model is not limited thereto. Those skilled in the art should understand that the utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the utility model will be included within the scope of the claims.

Claims

1. A protective synchronous servo gripper, characterized in that, The device includes a main body of a hand, finger components, and a drive assembly, a synchronous transmission mechanism, and a dust cover mounted on the main body of the hand. The finger components include two fingers on the left and right sides. The synchronous transmission mechanism includes a pair of racks, a pair of finger slides, and a pair of linear guides. The output end of the drive assembly is provided with a drive gear. The two racks are arranged opposite each other on the front and rear sides of the drive gear and are connected to the two finger slides. The two finger slides are connected to the two fingers and slide in cooperation with the two linear guides. The drive gear drives the two finger slides to slide along the two linear guides through meshing with the two racks, and the two finger slides drive the two fingers to open and close. The dust cover encloses the drive gear and the two racks.

2. The protective synchronous servo gripper according to claim 1, characterized in that, The dust cover includes an upper sealing plate, side sealing plates, and a bottom sealing plate. The top of the claw body is provided with a window, the upper sealing plate covers the window, the two side sealing plates cover the left and right sides of the claw body respectively, and the bottom sealing plate covers the bottom of the claw body.

3. A protective synchronous servo gripper according to claim 2, characterized in that, The upper sealing plate, side sealing plate, and bottom sealing plate are all sheet metal parts made of stainless steel.

4. A protective synchronous servo gripper according to claim 2, characterized in that, The side panel is provided with a contoured structure that works in conjunction with the finger skateboard.

5. A protective synchronous servo gripper according to claim 1, characterized in that, The drive assembly includes a servo motor and a reducer. The servo motor is located above the gripper body, and the input end of the reducer is connected to the motor shaft of the servo motor. The reducer extends downward into the interior of the gripper body.

6. A protective synchronous servo gripper according to claim 5, characterized in that, The output shaft of the reducer is connected to the drive gear by a key, and the drive gear is fixed to the output shaft by a locking screw connected to the end face of the output shaft.

7. A protective synchronous servo gripper according to claim 1, characterized in that, The finger slide is connected to the linear guide slider, the linear guide slider slides with the linear guide, and the linear guide is fixed to the hand body by fixing screws.

8. A protective synchronous servo gripper according to claim 1, characterized in that, The finger includes a finger stand, with a finger top plate connected to the top of the finger stand and a finger support plate connected to the bottom. The finger top plate is connected to the finger slide plate.

9. A protective synchronous servo gripper according to claim 8, characterized in that, The finger top plate and the finger slide plate, the finger top plate and the finger upright plate, and the supporting finger and the finger upright plate are all positioned by positioning pins and fixed by fixing screws.

10. A protective synchronous servo gripper according to claim 8, characterized in that, The back of the finger stand is provided with a stand plate reinforcing rib, and the opposite two sides of the finger stand are provided with side plate reinforcing ribs.

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