Rotary telescopic electric claw

Abstract

The utility model discloses a kind of rotary telescopic electric claws, belong to the technical field of automation equipment, including support, rotary telescopic electric claw component, rotary telescopic electric claw component includes rotating mechanism, clamping jaw mechanism, telescopic mechanism, rotating mechanism includes first servo motor, gear, gear sleeve, clamping jaw mechanism includes servo clamping jaw, telescopic mechanism includes second servo motor, synchronous transmission assembly, first screw rod, nut seat, second screw rod, first servo motor is installed on support, gear is installed on the output shaft of first servo motor and is engaged with gear sleeve, synchronous transmission assembly one end is connected with second servo motor transmission, other end is connected with first screw rod, nut seat is slidably installed on first screw rod, second screw rod one end is connected with nut seat, other end passes through gear sleeve and is connected with servo clamping jaw. The present application can realize the function of grabbing, rotating and telescoping without additional auxiliary equipment, greatly simplifies the overall structure, reduces the equipment volume, saves installation space.

Description

Technical Field

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

[0002] In fields such as automated production, logistics handling, and precision assembly, equipment capable of gripping, rotating, and extending is often needed to perform operations such as picking up, placing, moving, and adjusting the posture of workpieces.

[0003] Currently, some electric gripper products on the market only have a single gripping function. If rotation or extension is required, they often need to be used in combination with other drive mechanisms (such as rotary cylinders, telescopic cylinders, or separate motor drive modules). This results in a complex overall structure, large size, and a lot of space occupation. In addition, the coordination accuracy between the various mechanisms is low, making it difficult to meet the requirements of high-precision operation. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a rotary telescopic electric gripper that integrates the rotation mechanism, telescopic mechanism and gripper mechanism into one unit. It can realize the functions of gripping, rotating and telescopic without additional auxiliary equipment, which greatly simplifies the overall structure, reduces the size of the equipment and saves installation space.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A rotary telescopic electric gripper includes a bracket and a rotary telescopic electric gripper assembly. The rotary telescopic electric gripper assembly includes a rotating mechanism, a gripping mechanism, and a telescopic mechanism. The rotating mechanism includes a first servo motor, a gear, and a gear sleeve. The gripping mechanism includes a servo gripper. The telescopic mechanism includes a second servo motor, a synchronous transmission assembly, a first lead screw, a nut seat, and a second lead screw. The first servo motor is mounted on the bracket. The gear is mounted on the output shaft of the first servo motor and meshes with the gear sleeve. One end of the synchronous transmission assembly is connected to the second servo motor, and the other end is connected to the first lead screw. The nut seat is slidably mounted on the first lead screw. One end of the second lead screw is connected to the nut seat, and the other end passes through the gear sleeve and connects to the servo gripper.

[0007] Furthermore, the servo gripper includes a third servo motor and multiple claw fingers, with the multiple claw fingers forming a gripping area for gripping the workpiece. The third servo motor controls the opening and closing angle and gripping force of the multiple claw fingers through a transmission component, making it suitable for gripping workpieces of different sizes and materials.

[0008] Furthermore, the claw is detachably mounted on the third servo motor, and the claw can be replaced as needed for the product.

[0009] Furthermore, the rotary telescopic electric gripper also includes a control system, which is electrically connected to the first servo motor, the second servo motor, and the third servo motor. The control system is capable of controlling the rotation angle and telescopic stroke of the servo gripper.

[0010] Furthermore, the rotating mechanism also includes a zero-position sensor, which is mounted on the bracket and electrically connected to the control system, for providing a reference position for the rotation of the second lead screw.

[0011] Furthermore, the telescopic mechanism also includes multiple position sensors, which are spaced apart on the bracket along the axial direction of the first lead screw and are all electrically connected to the control system.

[0012] Furthermore, the number of the rotary telescopic electric gripper assemblies is two, one of which has a servo gripper for gripping the workpiece, and the other has a servo gripper for placing the workpiece.

[0013] Furthermore, the synchronous transmission component is a synchronous pulley or a synchronous belt.

[0014] Compared with existing technologies, the rotary telescopic electric gripper of this invention has the following advantages:

[0015] (1) This application integrates the rotating mechanism, the telescopic mechanism and the gripper mechanism into one unit, which can realize the functions of gripping, rotating and telescopic without additional auxiliary equipment, greatly simplifying the overall structure, reducing the size of the equipment and saving installation space.

[0016] (2) The rotating mechanism of this application adopts a first servo motor in combination with gear transmission, and the telescopic mechanism adopts a second servo motor in combination with screw transmission. The servo motor can achieve precise speed and position control, and the gear transmission and screw transmission have high transmission accuracy, so that the rotation angle and telescopic amount of the servo gripper can be precisely controlled to meet the requirements of high-precision operation.

[0017] (3) The servo gripper of this application can accurately grasp different workpieces. The rotation and extension functions can flexibly adjust the position and posture of the gripper, which is suitable for processing various complex working conditions and workpieces of different specifications, greatly improving the versatility and flexibility of the equipment.

[0018] (4) The servo motor of this application responds quickly and, together with the efficient transmission components, enables the electric gripper to complete the rotation, extension and gripping actions quickly, thereby improving work efficiency. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the structure of the rotary telescopic electric gripper of this utility model;

[0020] Figure 2 for Figure 1 A partial structural diagram of the rotary telescopic electric gripper;

[0021] Figure 3 for Figure 1 Another partial structural diagram of the rotary telescopic electric gripper.

[0022] In the diagram: 1. Bracket; 2. Rotary telescopic electric gripper assembly; 21. Rotation mechanism; 211. First servo motor; 212. Gear; 213. Gear sleeve; 214. Zero-position sensor; 22. Telescopic mechanism; 221. Second servo motor; 222. Synchronous transmission assembly; 223. First lead screw; 224. Nut seat; 225. Second lead screw; 226. Position sensor; 23. Gripper mechanism; 231. Servo gripper; 2311. Third servo motor; 2312. Claw. Detailed Implementation

[0023] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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 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, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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; and they can refer to the internal connection of 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.

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Figures 1-3 The present invention relates to a rotary telescopic electric gripper, comprising a bracket 1 and a rotary telescopic electric gripper assembly 2.

[0027] In this embodiment:

[0028] The rotary telescopic electric gripper assembly 2 is mounted on the bracket 1, and specifically includes a rotating mechanism 21, a gripper mechanism 23, and a telescopic mechanism 22. In this embodiment, there are two rotary telescopic electric gripper assemblies 2: one with a servo gripper 231 for gripping workpieces, and the other with a servo gripper 231 for placing workpieces. This enables the clamping and placing of products with different requirements onto the machine tool and in the logistics box, improving work efficiency.

[0029] The rotating mechanism 21 includes a first servo motor 211, a gear 212, a gear sleeve 213, and a zero-position sensor 214.

[0030] The first servo motor 211 is mounted on the bracket 1, and the gear 212 is mounted on the output shaft of the first servo motor 211 and meshes with the gear sleeve 213. The gear sleeve 213 is rotatably mounted on the bracket 1 via a bearing. The bearing reduces the friction between the gear sleeve 213 and the bracket 1 when they rotate, making the rotation smoother, reducing wear, improving rotational accuracy, and extending the service life of the mechanism.

[0031] The zero-position sensor 214 is mounted on the bracket 1 and electrically connected to the control system, and is used to provide a reference position for the rotation of the second lead screw 225 in the telescopic mechanism 22.

[0032] The gripper mechanism 23 includes a servo gripper 231, which comprises a third servo motor 2311 and multiple gripper fingers 2312. The multiple gripper fingers 2312 form a gripping area for holding workpieces. The third servo motor 2311 controls the opening and closing angles and gripping forces of the multiple gripper fingers 2312 through a transmission assembly, making it suitable for gripping workpieces of different sizes and materials. In this embodiment, the gripper fingers 2312 are detachably mounted on the third servo motor 2311, and can be replaced according to product requirements.

[0033] The telescopic mechanism 22 includes a second servo motor 221, a synchronous transmission assembly 222, a first lead screw 223, a nut seat 224, a second lead screw 225, and multiple position sensors 226.

[0034] The second servo motor 221 is mounted on the bracket 1. One end of the synchronous transmission assembly 222 is connected to the second servo motor 221, and the other end is connected to the first lead screw 223. In this embodiment, the synchronous transmission assembly 222 is a synchronous pulley or a synchronous belt.

[0035] The nut seat 224 is slidably mounted on the first lead screw 223. One end of the second lead screw 225 is connected to the nut seat 224, and the other end passes through the gear sleeve 213 and is connected to the servo gripper 231. In this embodiment, the second lead screw 225 and the servo gripper 231 are connected by a flange. The flange connection has the characteristics of firm connection, convenient disassembly, and high coaxiality, which can ensure that the extension and retraction of the second lead screw 225 is accurately transmitted to the servo gripper 231, thus ensuring the motion accuracy of the gripper.

[0036] The control system is electrically connected to the first servo motor 211, the second servo motor 221, and the third servo motor 2311. The control system can control the rotation angle and extension stroke of the servo gripper.

[0037] Multiple position sensors 226 are spaced apart on the bracket 1 along the axial direction of the first lead screw 223 and are all electrically connected to the control system.

[0038] During operation, the coordinated actions of the various mechanisms in the rotary telescopic electric gripper of this application are as follows:

[0039] Rotation Action: When the servo gripper 231 needs to rotate, the first servo motor 211 starts, and its output shaft drives the gear 212 to rotate. Since the gear 212 meshes with the gear sleeve 213, the gear sleeve 213 rotates under the drive of the gear 212. This, in turn, drives the servo gripper 231 to rotate together through the second lead screw 225 connected to the gear sleeve 213, thus realizing the rotation action of the gripper. By controlling the speed and rotation angle of the first servo motor 211, the rotation speed and rotation angle of the servo gripper 231 can be precisely controlled.

[0040] Extension / Retraction Action: When the servo gripper 231 needs to extend or retract, the second servo motor 221 starts, and its output shaft drives the first lead screw 223 to rotate via the synchronous transmission assembly 222. Since the nut seat 224 is slidably mounted on the first lead screw 223, the rotation of the first lead screw 223 is converted into linear movement of the nut seat 224 along the axial direction of the first lead screw 223. The nut seat 224 then drives the second lead screw 225 connected to it to move. The second lead screw 225 passes through the gear sleeve 213 and drives the servo gripper 231 to achieve the extension / retraction action. By controlling the speed and direction of rotation of the second servo motor 221, the extension / retraction speed, extension / retraction amount, and extension / retraction direction of the servo gripper 231 can be precisely controlled.

[0041] Gripping action: Driven by the third servo motor 2311, the servo gripper 231 grips and releases the workpiece through the relative opening and closing of multiple claw fingers 2312. The third servo motor 2311 can precisely control the opening and closing degree and clamping force of the claw fingers 2312 to ensure the reliability of the gripping action.

[0042] This application features a compact structure and high integration: the rotating mechanism 21, the telescopic mechanism 22, and the gripper mechanism 23 are integrated into one unit, enabling gripping, rotating, and telescopic functions without additional auxiliary equipment. This greatly simplifies the overall structure, reduces the size of the equipment, and saves installation space.

[0043] This application features high control precision and stable and reliable operation: the rotating mechanism 21 uses a first servo motor 211 in conjunction with a gear 212 for transmission, and the telescopic mechanism 22 uses a second servo motor 221 in conjunction with a lead screw for transmission. The servo motor can achieve precise speed and position control, and the gear 212 transmission and lead screw transmission have high transmission precision, so that the rotation angle and telescopic amount of the servo gripper 231 can be precisely controlled to meet the requirements of high-precision operation.

[0044] This application is highly adaptable: the servo gripper 231 can accurately grasp different workpieces, and the rotation and extension functions can flexibly adjust the position and posture of the gripper, making it suitable for processing various complex working conditions and workpieces of different specifications, greatly improving the versatility and flexibility of the equipment.

[0045] This application features a fast response speed: the servo motor responds quickly, and combined with efficient transmission components, the rotation, extension, and gripping actions of the electric gripper can be completed rapidly, improving work efficiency.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rotary telescopic electric gripper, comprising a support (1), characterized in that: It also includes a rotary telescopic electric gripper assembly (2), which includes a rotary mechanism (21), a gripper mechanism (23), and a telescopic mechanism (22). The rotary mechanism (21) includes a first servo motor (211), a gear (212), and a gear sleeve (213). The gripper mechanism (23) includes a servo gripper (231). The telescopic mechanism (22) includes a second servo motor (221), a synchronous transmission assembly (222), a first lead screw (223), a nut seat (224), and a second lead screw (225). 1) Installed on the bracket (1), the gear (212) is installed on the output shaft of the first servo motor (211) and meshes with the gear (212) sleeve. One end of the synchronous transmission assembly (222) is connected to the second servo motor (221) and the other end is connected to the first lead screw (223). The nut seat (224) is slidably installed on the first lead screw (223). One end of the second lead screw (225) is connected to the nut seat (224) and the other end passes through the gear sleeve (213) and is connected to the servo gripper (231).

2. The rotary telescopic electric gripper according to claim 1, characterized in that: The servo gripper (231) includes a third servo motor (2311) and multiple gripper fingers (2312). The multiple gripper fingers (2312) form a gripping area for gripping workpieces. The third servo motor (2311) controls the opening and closing angle and gripping force of the multiple gripper fingers (2312) through a transmission component, which is suitable for gripping workpieces of different sizes and materials.

3. The rotary telescopic electric gripper according to claim 2, characterized in that: The claw (2312) is detachably mounted on the third servo motor (2311), and the claw (2312) can be replaced according to the needs of the product.

4. The rotary telescopic electric gripper according to claim 2, characterized in that: The rotary telescopic electric gripper also includes a control system, which is electrically connected to the first servo motor (211), the second servo motor (221), and the third servo motor (2311). The control system can control the rotation angle and telescopic stroke of the servo gripper.

5. The rotary telescopic electric gripper according to claim 4, characterized in that: The rotating mechanism (21) also includes a zero-position sensor (214), which is mounted on the bracket (1) and electrically connected to the control system, and is used to provide a reference position for the rotation of the second lead screw (225).

6. The rotary telescopic electric gripper according to claim 4, characterized in that: The telescopic mechanism (22) also includes a plurality of position sensors (226), which are spaced apart on the bracket (1) along the axial direction of the first lead screw (223) and are all electrically connected to the control system.

7. The rotary telescopic electric gripper according to claim 1, characterized in that: The number of the rotary telescopic electric gripper assembly (2) is two. The servo gripper (231) of one rotary telescopic electric gripper assembly (2) is used to grip the workpiece, and the servo gripper (231) of the other rotary telescopic electric gripper assembly (2) is used to place the workpiece.

8. The rotary telescopic electric gripper according to claim 1, characterized in that: The synchronous transmission assembly (222) is a synchronous pulley or a synchronous belt.

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