An electrically powered gripper

Abstract

The application discloses an electric clamping jaw, which transmits the torque of a motor to an output gear of the clamping jaw through a synchronous belt transmission pair, a straight gear transmission pair and a worm and gear transmission pair under the premise of compact shell space and without brake, the output gear is respectively connected with two clamping sliding blocks to form a gear and rack transmission pair, and drives the clamping sliding blocks to relatively translate in the sliding groove to realize clamping action, the worm and gear transmission pair is used to realize mechanical self-locking and relatively large speed reduction ratio of the clamping jaw, so that the relatively large clamping force between the two clamping sliding blocks is realized, the motor horizontally arranged in the transverse direction is connected with the worm and gear transmission pair through the synchronous belt wheel transmission pair and the straight gear transmission pair, the torque of the motor is transmitted to the worm, and the compact overall shape and volume of the clamping jaw are realized.

Description

Technical Field

[0001] This utility model belongs to the field of electric grippers, specifically a novel electric gripper with mechanical self-locking and a compact shape. It is installed on the end tool flange of a robot as an end effector and is programmed to grasp and transport objects. Background Technology

[0002] Currently, the main performance indicators for evaluating a robot's electric gripper are gripping force, weight, size, power consumption, and whether it can mechanically lock itself. A high-performance electric gripper often has a large gripping force, light weight, small size, and can mechanically lock itself. Mechanical locking can effectively prevent the electric gripper from suddenly losing its gripping force when it accidentally loses power and is holding an object, causing the object to fall and causing a safety accident.

[0003] Currently, commercially available electric grippers typically employ a combination of planetary gear reducers and electromagnetic brakes. Planetary gear reducers can achieve a large reduction ratio, converting the high-speed motion of the motor into low-speed, high-torque motion. Since planetary gear reducers lack mechanical self-locking characteristics, an electromagnetic brake is usually connected to the motor rotor to provide the gripper with mechanical self-locking. The electromagnetic brake increases the gripper's size and weight. Furthermore, the electromagnetic brake requires continuous power during long-term operation, increasing energy consumption. Electromagnetic brakes are also sensitive to environmental conditions; prolonged use and accumulation of dust in the gaps can cause malfunctions. Additionally, because electromagnetic brakes are controlled by circuits and programs, strong electromagnetic interference can easily disrupt the control circuitry and program, leading to malfunctions and safety accidents. Therefore, in certain special environments and under extremely high safety requirements, an electromagnetically resistant and reliable electric gripper is essential.

[0004] Furthermore, worm gear drives are typically not used in electric grippers that aim for smaller dimensions. While worm gear drives offer a large reduction ratio and mechanical self-locking, another characteristic is that their input and output shafts are not on the same axis or plane. If the motor is directly connected to the worm gear drive pair, the motor will occupy an excessive amount of space in the plane perpendicular to the worm gear shaft. This results in a relatively large overall size for the electric gripper, making it impossible to operate in confined spaces. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a novel electric gripper that addresses the shortcomings of existing technologies. This electric gripper uses a worm gear transmission structure to achieve high output torque and mechanical self-locking characteristics. By combining a synchronous belt pulley transmission pair and a spur gear transmission pair, the relative position and direction of the motor and the worm gear transmission pair are adjusted to achieve a compact gripper size. The motor torque is then output to the worm. This achieves both very high output torque and mechanical self-locking characteristics in the electric gripper, as well as a small external size and low power consumption.

[0006] The specific technical solution of this invention is as follows:

[0007] 1. A gripper, characterized in that it comprises:

[0008] Upper support plate;

[0009] An intermediate support plate, which is fixed to the upper support plate and located below the upper support plate;

[0010] A motor mounting plate, which is fixed to the intermediate support plate and located on the side of the intermediate support plate;

[0011] The first side plate is fixed to the side of the intermediate support plate by a plurality of screws;

[0012] The motor is fixed to the motor mounting plate and located on the side of the motor mounting plate. The motor is arranged horizontally below the intermediate support plate.

[0013] Small synchronous pulley, the small synchronous pulley is fixed on the output shaft of the motor;

[0014] A first input gear is rotatably mounted on the intermediate support plate and parallel to the small synchronous pulley;

[0015] A large synchronous pulley is fixed to the first input gear, parallel to the small synchronous pulley, and located on the side of the intermediate support plate;

[0016] An annular synchronous belt, which is fitted onto the small synchronous pulley and the large synchronous pulley, and together with the small synchronous pulley and the large synchronous pulley, forms a synchronous belt transmission pair;

[0017] A worm gear shaft, the two ends of which are rotatably mounted on the intermediate support plate and the first side plate, respectively;

[0018] A worm gear, which is fixed to the worm gear shaft and coaxially arranged with the worm gear shaft, and located below the upper support plate and inside the middle support plate;

[0019] An output gear is fixed to the top of the worm gear shaft and is coaxially arranged with the worm gear shaft, and is located above the upper support plate;

[0020] A worm gear, the two ends of which are rotatably disposed on the first side plate and the intermediate support plate, respectively; and the worm gear meshes with the worm wheel for transmission.

[0021] The second input gear is fixed to the worm and forms a spur gear transmission pair with the first input gear.

[0022] The outer casing is fixed to the upper support plate and located below the upper support plate;

[0023] The gripper head is fixed to the upper support plate and located above the upper support plate.

[0024] 2. The gripper, characterized in that: the motor drives the annular synchronous belt through the small synchronous pulley, and the annular synchronous belt drives the large synchronous pulley; the large synchronous pulley drives the first input gear to rotate, and the first input gear drives the second input gear to rotate; the second input gear drives the worm to rotate, and the worm drives the output gear to rotate through meshing transmission with the worm wheel; the output gear drives the gripper head to perform clamping or opening actions.

[0025] 3. The gripper is characterized in that the motor is arranged horizontally below the intermediate support plate, the motor mounting plate is arranged on the side of the intermediate support plate, and the annular synchronous belt is tightened or loosened by adjusting the position of the motor mounting plate on the intermediate support plate.

[0026] 4. The gripper is characterized in that the first input gear is rotatably mounted on the intermediate support plate, and the large synchronous pulley is fixed to one end of the first input gear, the other end of the first input gear has gear features, and forms a spur gear transmission pair with the second input gear.

[0027] 5. The gripper, characterized in that the first side plate is adjusted and fixed to the position of the intermediate support plate, thereby adjusting the installation center distance between the worm gear and the worm.

[0028] 6. The gripper, characterized in that the second input gear is fixed to one end of the worm and is coaxially arranged with the worm.

[0029] 7. The gripper is characterized in that the outer shell and the upper support plate form a closed cavity, which encloses the motor, and the side of the outer shell is provided with an aviation plug for the gripper and an LED indicator light.

[0030] 8. The gripper, characterized in that the upper support plate, the middle support plate, and the first side plate form a closed cavity, which encloses the gear-featured end of the first input gear, the second input gear, the worm, and the worm wheel.

[0031] 9. The gripper head, characterized by: a contact plate, a slide groove, and a clamping slider; there are two clamping sliders, which are distributed parallel and symmetrically in the slide groove, and both clamping sliders are slidably disposed in the slide groove; a rack feature is provided in the middle of the clamping slider; the gripper head is mounted on the upper support plate; the two clamping sliders and the output gear respectively form a gear and rack transmission pair; there are two contact plates, which are fixedly connected to the two clamping sliders respectively; when the output gear rotates, it drives the two clamping sliders and the two contact plates to move parallel to each other. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of the internal transmission structure of the gripper according to one embodiment of the present disclosure.

[0033] Figure 2 This is a perspective view of a gripper according to one embodiment of the present disclosure.

[0034] Figure 3 This is a perspective view of a gripper without a housing and a transition flange according to one embodiment of the present disclosure.

[0035] Figure 4 This is a front view of the gripper in the open state according to one embodiment of the present disclosure.

[0036] Figure 5 yes Figure 4 A cross-sectional view along section line AA.

[0037] Figure 6 yes Figure 5 A cross-sectional view along section line BB.

[0038] Figure 7 This is a front view of the clamping state of the gripper according to one embodiment of the present disclosure.

[0039] Figure 8 This is a perspective view of the gripper head of a gripper according to one embodiment of the present disclosure.

[0040] Explanation of icon numbers:

[0041] 100-gripper head;

[0042] 110 - Contact plate;

[0043] 120-Slide groove;

[0044] 130 - Clamping slider;

[0045] 201-Electric motor;

[0046] 202-Motor mounting plate;

[0047] 203 - Small synchronous belt pulley;

[0048] 204 - Circular Synchronous Belt;

[0049] 205 - Large synchronous belt pulley;

[0050] 206 - Locking screw;

[0051] 207 - Intermediate support plate;

[0052] 208 - First side plate;

[0053] 209 - Upper support plate;

[0054] 210 - Input gear bearing;

[0055] 211 - First input gear;

[0056] 212 - Second input gear;

[0057] 213 - Worm Gear Bearing;

[0058] 214 - Worm;

[0059] 215-worm gear;

[0060] 216 - Worm gear shaft;

[0061] 217 - Worm gear bearing;

[0062] 218 - Output gear;

[0063] 300 - Outer casing;

[0064] 400-aviation plug;

[0065] 500-Transfer Flange; Detailed Implementation

[0066] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0067] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element 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 this utility model.

[0068] 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, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0069] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0070] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0071] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0072] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0073] like Figures 1 to 8 The image shows a gripper according to one embodiment of this utility model, used to be installed at the end of a robot to grasp materials or workpieces. The gripper includes a gripper head 100, a motor 201, a motor mounting plate 202, a small synchronous pulley 203, an annular synchronous belt 204, a large synchronous pulley 205, a locking screw 206, a middle support plate 207, a first side plate 208, an upper support plate 209, an input gear bearing 210, a first input gear 211, a second input gear 212, a worm bearing 213, a worm 214, a worm 215, a worm wheel 216, a worm wheel shaft 217, a worm wheel bearing 218, an output gear 300, a housing 400, an aviation plug 500, and an adapter flange.

[0074] like Figure 8 As shown, the gripper head 100 is fixed to the top of the upper support plate 209 by screws. The gripper head 100 mainly includes: a contact plate 110, a slide groove 120, and a clamping slider 130; there are two clamping sliders 130, which are respectively confined inside the slide groove 120 and can slide inside the slide groove 120. There are also two contact plates 110, which are respectively fixed to the top of the two clamping sliders 130. The contact plates 110 act as the fingers of the gripper for clamping objects. The clamping sliders 130 have a rack feature in the middle and form two gear rack transmission pairs with the output gear 218.

[0075] like Figure 1 and Figure 7 As shown, the following details how the motor 201 transmits torque to the gripper head 100 through the transmission structure. A small synchronous pulley 203 is fixed to the output shaft of the motor 201. The motor 201 is fixedly mounted on the motor mounting plate 202 with screws, and is horizontally positioned below the intermediate support plate 207. The motor mounting plate 202 has elongated holes through which screws pass, fixing the motor mounting plate 202 to the side of the intermediate support plate 207. The position of the motor mounting plate 202 within the intermediate support plate 207 is adjustable. The small synchronous pulley 203 is fixed to the output shaft of the motor 201. One end of the annular synchronous belt 204 is fitted onto the small synchronous pulley 203, and the other end… The end sleeve is on the large synchronous pulley 205, which is fixed to one end of the first input gear 211. The other end of the first input gear 211 has gear features and forms a spur gear transmission pair with the second input gear 212. An input gear bearing 210 is installed in the middle of the first input gear 211 and is mounted on the side plate of the intermediate support plate 207. With the above settings, the first input gear 211 can rotate relative to the intermediate support plate 207. The annular synchronous belt 204 can be tightened or loosened by adjusting the position of the motor mounting plate 202 on the intermediate support plate 207.

[0076] The second input gear 212 is fixed in the middle of the worm 214. Worm bearings 213 are installed at both ends of the worm 214. The two worm bearings 213 are respectively installed on the intermediate support plate 207 and the first side plate 208. The worm 214 can rotate relative to the intermediate support plate 207 and the first side plate 208. The worm 214 and the worm wheel 215 form a worm gear transmission pair. The worm wheel 215 is fixed in the middle of the worm wheel shaft 216. The worm wheel shaft 216 is rotatably set on the upper support plate 209 and the intermediate support plate 207 through two worm wheel bearings 217. The worm wheel shaft 216 is perpendicular to the output shaft of the motor 201 and passes through the upper support plate 209. The top of the support plate 209 is fixed with an output gear 218. The output gear 218 and the two clamping sliders 130 inside the gripper head 100 form a gear and rack transmission pair.

[0077] With the above settings, the motor 201 rotates, driving the small synchronous pulley 203 to rotate. The small synchronous pulley 203 drives the large synchronous pulley 205 to rotate via the annular synchronous belt 204. The large synchronous pulley 205 drives the first input gear 211 to rotate. The first input gear 211 drives the second input gear 212 to rotate. The second input gear 212 drives the worm gear 214 to rotate. The worm gear 214 drives the worm wheel 215 to rotate. The worm wheel 215 drives the output gear 218 to rotate. Finally, the output gear 218 drives the two clamping sliders 130 to move relatively within the slide groove 120, realizing the clamping or opening action of the contact plate 110.

[0078] Furthermore, since the worm gear transmission pair composed of worm 214 and worm wheel 215 has mechanical self-locking characteristics, the contact plate 110 cannot reverse the rotation of motor 201, thereby realizing the self-locking characteristic of the gripper.

[0079] Furthermore, the first side plate 208 can adjust the installation clearance of the worm gear 215 and worm 214 transmission pair by adjusting its position on the intermediate support plate 207.

[0080] Furthermore, the first side plate 208, the upper support plate 209, and the middle support plate 207 form a closed cavity, which encloses the gear-featured end of the first input gear, the second input gear, the worm, and the worm wheel within the cavity, preventing lubricating grease from leaking out and dust from entering.

[0081] Furthermore, the housing 300 is fixed to the bottom of the upper support plate 209 and forms a closed cavity with the gripper head 100 to prevent dust and moisture from entering the gripper. An aviation plug 400 and an adapter flange 500 are mounted on the side of the housing 300. The adapter flange 500 is used for easy installation at the end of the robot.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A gripper, characterized in that, include: Upper support plate; An intermediate support plate, which is fixed to the upper support plate and located below the upper support plate; A motor mounting plate, which is fixed to the intermediate support plate and located on the side of the intermediate support plate; The first side plate is fixed to the side of the intermediate support plate by a plurality of screws; The motor is fixed to the motor mounting plate and located on the side of the motor mounting plate. The motor is arranged horizontally below the intermediate support plate. Small synchronous pulley, the small synchronous pulley is fixed on the output shaft of the motor; A first input gear is rotatably mounted on the intermediate support plate and parallel to the small synchronous pulley; A large synchronous pulley is fixed to the first input gear, parallel to the small synchronous pulley, and located on the side of the intermediate support plate; An annular synchronous belt, which is fitted onto the small synchronous pulley and the large synchronous pulley, and together with the small synchronous pulley and the large synchronous pulley, forms a synchronous belt transmission pair; A worm gear shaft, the two ends of which are rotatably mounted on the intermediate support plate and the first side plate, respectively; A worm gear, which is fixed to the worm gear shaft and coaxially arranged with the worm gear shaft, and located below the upper support plate and inside the middle support plate; An output gear is fixed to the top of the worm gear shaft and is coaxially arranged with the worm gear shaft, and is located above the upper support plate; A worm gear, the two ends of which are rotatably disposed on the first side plate and the intermediate support plate, respectively; and the worm gear meshes with the worm wheel for transmission. The second input gear is fixed to the worm and forms a spur gear transmission pair with the first input gear. The outer casing is fixed to the upper support plate and located below the upper support plate; The gripper head is fixed to the upper support plate and located above the upper support plate.

2. The gripper according to claim 1, characterized in that, The motor drives the annular synchronous belt via the small synchronous pulley, and the annular synchronous belt drives the large synchronous pulley; the large synchronous pulley drives the first input gear to rotate, and the first input gear drives the second input gear to rotate; the second input gear drives the worm to rotate, and the worm drives the output gear to rotate via a worm gear and worm wheel transmission pair; the output gear drives the gripper head to perform clamping or opening actions.

3. The gripper according to claim 1, characterized in that, The motor is horizontally arranged below the intermediate support plate, and the motor mounting plate is arranged on the side of the intermediate support plate. The annular synchronous belt is tightened or loosened by adjusting the position of the motor mounting plate on the intermediate support plate.

4. The gripper according to claim 1, characterized in that, The first input gear is rotatably mounted on the intermediate support plate, and the large synchronous pulley is fixed to one end of the first input gear. The other end of the first input gear has gear features and forms a spur gear transmission pair with the second input gear.

5. The gripper according to claim 1, characterized in that, The first side plate is fixed to the middle support plate by adjusting the position, thereby adjusting the installation center distance between the worm gear and the worm.

6. The gripper according to claim 1, characterized in that, The second input gear is fixed to one end of the worm and is coaxially arranged with the worm.

7. The gripper according to claim 1, characterized in that, The outer shell and the upper support plate form a closed cavity that encloses the motor. The side of the outer shell is provided with an aviation plug for grippers and an LED indicator.

8. The gripper according to claim 1, characterized in that, The upper support plate, the middle support plate, and the first side plate form a closed cavity, which encloses the gear-featured end of the first input gear, the second input gear, the worm, and the worm wheel.

9. The gripper according to claim 1, characterized in that, The gripper head features a contact plate, a slide groove, and a clamping slider; there are two clamping sliders, which are distributed parallel and symmetrically in the slide groove, and both clamping sliders are slidably disposed in the slide groove; a rack feature is provided in the middle of the clamping slider, the gripper head is mounted on the upper support plate, and the two clamping sliders form a gear and rack transmission pair with the output gear; there are two contact plates, which are fixedly connected to the two clamping sliders respectively, and when the output gear rotates, it drives the two clamping sliders and the two contact plates to move parallel to each other.

Images