CN223656830U

CN223656830U - A rotary electric clamp

Info

Publication number: CN223656830U
Application number: CN202423171849.3U
Authority: CN
Inventors: 翁孟坤; 陈武
Original assignee: Once Top Motor Manufacture Co ltd
Current assignee: Once Top Motor Manufacture Co ltd
Priority date: 2024-12-23
Filing date: 2024-12-23
Publication date: 2025-12-12
Anticipated expiration: 2034-12-23

Abstract

This utility model discloses a rotary electric gripper, including a base, a first drive motor, a transmission mechanism, and an electric mechanical gripper. The electric mechanical gripper includes a rotating base, a second drive motor, a lead screw pair, multiple sets of linkage mechanisms, and multiple sets of gripper assemblies. The lead screw pair has a lead screw and a transmission nut. The second drive motor and each set of gripper assemblies are respectively mounted on the rotating base. The lead screw is connected to the output shaft of the second drive motor, and the transmission nut is connected to all the linkage mechanisms. Each set of linkage mechanisms is respectively connected to one set of gripper assemblies. A bearing is provided between the base and the rotating base. The first drive motor is fixedly mounted on the base and is connected to the rotating base of the electric mechanical gripper through the transmission mechanism to drive the electric mechanical gripper to rotate. The first drive motor of this utility model can drive the entire electric mechanical gripper to rotate, and can grip items in various placement positions, with higher adaptability and usability, thereby reducing manual operation and achieving a high degree of automation.

Description

Rotary electric clamp

Technical Field

The utility model belongs to the field of clamps, and particularly relates to a rotary electric clamp.

Background

The working principle of the electric clamp is based on the cooperation of the motor drive, the transmission mechanism and the clamping jaw part. When the motor receives the control signal, the motor starts to rotate, and the rotation motion is converted into linear motion of the clamping jaw part through the transmission mechanism, so that the opening and closing actions of the clamping jaws are realized. The opening and closing degree of the clamping jaw can be accurately adjusted by controlling the rotation angle and the speed of the motor so as to meet the clamping requirements of different workpieces.

The motorized clasps typically employ a modular design that integrates the core components of the motor, drive mechanism, jaw members, etc. together to form a single module. The design is convenient to install and maintain, can be flexibly configured according to actual requirements, and improves the adaptability and flexibility of the equipment.

The electric clamp is widely applied to various industrial automation scenes, such as assembly production lines, transfer robots and the like. On the assembly production line, the electric clamping jaw is used for clamping and assembling various parts, so that the assembly precision and stability are ensured, and in the transfer robot, the electric clamping jaw can be quickly and accurately transferred.

However, at present, when the electric clamp is used for carrying, assembling and other tasks, the electric clamp is generally driven by a one-dimensional, two-dimensional or three-dimensional motion platform, and can only linearly move to clamp objects, the space posture of the clamping jaw body of the electric clamping jaw cannot be adjusted, and if the objects in the same batch are not consistent in placement posture, for example, if the placement positions of the objects are twisted relative to the electric clamping jaw, the electric clamping jaw is difficult to clamp the objects, the objects are required to be placed correctly manually, and especially when the environment of the placement positions of the objects is complex, the difficulty of manual operation is increased.

In addition, the existing parallel clamping jaw moves along the track, and as the service time increases, clamping is often easy to occur, so that the normal operation of the clamping jaw is affected, and the service life of the motor is reduced.

Disclosure of utility model

Aiming at the defects or improvement demands of the prior art, the utility model provides the electric mechanical claw, which can rotate when clamping, can clamp various articles in a put state, and has higher adaptability and usability.

In order to achieve the above object, according to the present utility model, there is provided a rotary electric clamp, characterized by comprising a housing, a first driving motor, a transmission mechanism, and an electric gripper, wherein:

The electric mechanical claw comprises a rotating seat, a second driving motor, a screw pair, a plurality of groups of connecting rod mechanisms and a plurality of groups of clamping jaw assemblies, wherein the screw pair is provided with a screw and a transmission nut penetrating through the screw;

A bearing is arranged between the stand and the rotating seat, an outer ring of the bearing is fixedly arranged on the stand, and an inner ring of the bearing is fixedly arranged on the rotating seat;

the first driving motor is fixedly arranged on the base, and is connected with the rotating seat of the electric mechanical claw through a transmission mechanism so as to be used for driving the electric mechanical claw to rotate.

Preferably, the transmission mechanism comprises a gear ring and a screw, external teeth of the gear ring are meshed with the screw, the gear ring is arranged on the rotating seat, and the screw is connected with an output shaft of the first driving motor.

Preferably, the rotating seat and the gear ring are fixed together in an interference fit manner.

Preferably, the rotating seat is provided with a transmission nut sliding tunnel for restraining the sliding of the transmission nut.

Preferably, the rotating seat is provided with an upper main body seat and a lower cylinder which are integrally formed, the outer side of the lower cylinder is reduced relative to the outer side of the upper main body seat, the lower cylinder stretches into the inner ring of the bearing and is in interference fit with the inner ring of the bearing, and a gap exists between the upper main body seat and the outer ring of the bearing.

Preferably, a sliding rail is arranged on the rotating seat, and the sliding rail is perpendicular to the lead screw;

For each clamping jaw assembly, the clamping jaw assembly comprises a sliding block and clamping fingers arranged on the sliding block, the sliding block is slidably arranged on the sliding rail, an accommodating groove is formed in the bottom of the sliding block, the connecting rod mechanism comprises a sliding block connecting rod, a transmission nut connecting rod, a hinge shaft and a round pin shaft, the first end of the sliding block connecting rod is fixedly connected with the first end of the transmission nut connecting rod, the joint of the sliding block connecting rod and the transmission nut connecting rod is hinged to the rotating seat through the hinge shaft, the round pin shaft is fixedly arranged on the transmission nut, the hinge shaft and the round pin shaft are parallel to each other, the second end of the sliding block connecting rod stretches into the accommodating groove of the sliding block, a guide groove is formed in the second end of the transmission nut connecting rod, and the round pin shaft is slidably arranged in the guide groove so as to move in the guide groove under the driving of the transmission nut.

Preferably, first ball grooves are formed in two opposite sides of the sliding rail, the length direction of each first ball groove is consistent with the length direction of the sliding rail, and balls are respectively arranged in each first ball groove;

Baffles are arranged at two ends of each first ball groove so as to prevent the balls from falling out;

And each sliding block is respectively provided with a second ball groove at a position corresponding to the first ball groove, and the groove walls of the second ball grooves and the groove walls of the first ball grooves are matched together to clamp the balls.

Preferably, the first ball groove and the second ball groove are semicircular grooves.

Preferably, the clamping finger is detachably mounted on the slider.

Preferably, the housing includes a housing having a plurality of openings and a plurality of housing covers, each of the housing covers being mounted at one of the openings of the housing.

In general, the above technical solutions conceived by the present utility model, compared with the prior art, enable the following beneficial effects to be obtained:

1) According to the rotary electric clamp, the first driving motor can drive the electric mechanical claw to integrally rotate, so that objects in various placing states can be clamped, adaptability and usability are higher, manual operation can be reduced, and automation degree is high. In addition, the rotating seat is matched with the bearing for use, so that the rotation of the electric mechanical claw is more stable.

2) According to the rotary electric clamp, the screw rod is matched with the gear, only a small load is applied between the screw rod and the gear, the abrasion is small, and the service life is long. In addition, the noise is therefore small.

3) According to the rotary electric clamp, the clamping fingers are detachably arranged on the sliding blocks, so that different types of clamping fingers can be replaced according to different clamped articles, and the universality is high.

4) According to the rotary electric clamp disclosed by the utility model, the friction between the clamping jaw and the sliding rail on the side surface can be reduced by the balls, and the service life of the electric mechanical claw is prolonged.

5) According to the rotary electric clamp disclosed by the utility model, the gap exists between the upper main body seat of the rotary seat and the outer ring of the bearing, so that the rotary seat is not in direct contact with the outer ring, and the service life of the rotary seat is prolonged.

6) According to the rotary electric clamp, the transmission nut sliding tunnel is arranged in the rotary seat, so that the sliding path strength of the transmission nut is standardized, and the operation of the transmission nut is more stable.

7) The rotary electric clamp disclosed by the utility model has the advantages that the machine base is provided with the shell structure such as the shell, a reserved space is reserved in the machine base, and the encoder or the controller can be arranged, so that the use is more convenient.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic illustration of the present utility model with the housing and some of the cover removed;

FIG. 3 is a schematic view of an electric gripper according to the present utility model;

FIG. 4 is a schematic view of the ring gear of the present utility model mounted on a rotating base;

FIG. 5 is a top view of the present utility model;

Fig. 6 is a cross-sectional view taken along line A-A in fig. 5.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

Referring to fig. 1 to 6, a rotary electric clamp includes a base 1, a first driving motor 13, a transmission mechanism 3, and an electric gripper 20, wherein:

The electric gripper 20 comprises a rotating seat 9, a second driving motor 12, a screw pair, a plurality of groups of connecting rod mechanisms 17 and a plurality of groups of clamping jaw assemblies 22, wherein the screw pair is provided with a screw 15 and a transmission nut 16 penetrating through the screw 15, the second driving motor 12 and each group of clamping jaw assemblies 22 are respectively arranged on the rotating seat 9, the screw 15 is connected with an output shaft of the second driving motor 12, the transmission nut 16 is connected with all the connecting rod mechanisms 17, each group of connecting rod mechanisms 17 is respectively connected with one group of clamping jaw assemblies 22 for driving the clamping jaw assemblies 22 to move, and the connecting rod mechanisms 17 can be in various structural forms as long as the clamping jaw assemblies 22 can be driven to move. When the clamping jaw is in operation, the rotation of the second driving motor 12 drives the screw rod 15 to rotate, the rotation of the screw rod 15 drives the transmission nut 16 on the screw rod 15 to move, the movement of the transmission nut 16 drives the link mechanism 17 to swing, and the swinging of the link mechanism 17 drives the clamping jaw to move. The motor housing of the second drive motor 12 is preferably fixedly arranged at the lower part of the rotary seat 9 and is fixedly mounted by screws. The electric gripper 20 of the utility model thus belongs to a parallel jaw.

A bearing 10 is arranged between the machine base 1 and the rotating seat 9, an outer ring of the bearing 10 is fixedly arranged on the machine base 1, and an inner ring of the bearing 10 is fixedly arranged on the rotating seat 9.

The first driving motor 13 is fixedly installed on the base 1, and the first driving motor 13 is connected with the rotating seat 9 of the electric gripper 20 through the transmission mechanism 3, so as to drive the electric gripper 20 to rotate integrally, and the electric gripper can rotate by 360 degrees preferably. The rotating seat 9 is matched with the bearing 10 for use, so that the rotation of the electric mechanical claw 20 is more stable. The transmission mechanism 3 may adopt a conventional transmission structure, such as a gear transmission mechanism, a belt transmission mechanism, etc., as long as the rotation seat 9 can be driven to rotate, and the rotation of the rotation seat 9 enables the whole electric gripper 20 to rotate. The transmission mechanism 3 preferably comprises a gear ring 11 and a screw rod 14, wherein external teeth of the gear ring 11 are meshed with the screw rod 14, the gear ring 11 is arranged on the rotating seat 9, the screw rod 14 is connected with an output shaft of the first driving motor 13, the screw rod 14 is matched with the gear, and only a small load is applied between the screw rod 14 and the gear, so that the abrasion is small, and the service life is long. In addition, the noise is therefore small. The screw 14 is matched with the gear, so that the transmission is stable, and in the transmission process, the tooth shape precision of the gear is high, and the contact between the teeth is point contact, so that the transmission is stable, no impact and vibration occur, and in addition, the transmission precision of the screw 14 is high, the transmission of the screw 14 has high transmission precision, and the screw is suitable for occasions requiring high precision. The external teeth on the outer side of the gear ring 11 are distributed at 360 degrees, and the screw 14 can drive the electric mechanical claw to rotate at 360 degrees.

Further, the rotating seat 9 and the gear ring 11 are preferably fixed together in an interference fit manner, and the gear ring 11 is an independent part and is convenient to replace after being worn.

Further, the rotating seat 9 is provided with a transmission nut sliding tunnel 91 for restraining the sliding of the transmission nut 16, so as to reduce the shaking and friction of the transmission nut 16 and make the mechanical claw more stable in use.

Further, the rotating seat 9 has an integrally formed upper body seat 93 and a lower cylinder 92, the outer side of the lower cylinder 92 is reduced relative to the outer side of the upper body seat 93, the lower cylinder 92 extends into the inner ring of the bearing 10 and is in interference fit with the inner ring of the bearing 10, a gap exists between the upper body seat 93 and the outer ring of the bearing 10, and the gap is not in direct contact, so that the service life of the rotating seat 9 is prolonged. The center of the gear ring 11 is provided with a through hole, and the lower cylinder 92 of the rotating seat 9 extends into the center through hole of the gear ring 11 and is in interference fit

Further, a sliding rail 8 is arranged on the rotating seat 9, the sliding rail 8 is perpendicular to the screw rod 15, chamfers are arranged on the periphery of the sliding rail 8, the whole sliding rail 8 is located in the upper circumference of the rotating seat 9, and the end part of the sliding rail 8 does not exceed the rotating seat 9.

For each clamping jaw assembly 22, the clamping jaw assembly comprises a sliding block 7 and a clamping finger 6 arranged on the sliding block 7, the sliding block 7 is slidably arranged on the sliding rail 8, an accommodating groove is formed in the bottom of the sliding block 7, the connecting rod mechanism 17 comprises a sliding block connecting rod, a transmission nut connecting rod, a hinge shaft 18 and a round pin shaft 19, a first end of the sliding block connecting rod and a first end of the transmission nut connecting rod are fixedly connected together, the sliding block connecting rod and the transmission nut connecting rod can be two rods which are fixedly connected together at a certain angle, the sliding block connecting rod and the transmission nut connecting rod are preferably two sections of one V-shaped rod which is integrally formed, the joint of the sliding block connecting rod and the transmission nut connecting rod is hinged on the rotating seat 9 through the hinge shaft, the hinge shaft 18 can be directly and rotatably arranged on the rotating seat 9 and also can be indirectly arranged on the rotating seat 9, the hinge shaft 18 is preferably limited through a screw 181 arranged on the rotating seat 9, the round pin shaft 19 is fixedly arranged on the transmission nut 16, the hinge shaft and the round pin shaft 19 are mutually parallel, the second end of the sliding block connecting rod and the sliding block connecting rod are arranged in the guide groove 19, and the guide groove is arranged in the second guide groove of the sliding block connecting rod and the guide groove is arranged in the circular pin shaft 19. Through the rotation of the link mechanism 17, the vertical movement of the transmission nut 16 is converted into the horizontal movement of the sliding block 7 and the clamping fingers 6, so that the two clamping fingers 6 can move oppositely to clamp or move oppositely to loosen the object, and the positioning precision and the grabbing precision are high.

The upper portion setting of slider connecting rod is in the inside of slider 7, slider 7 sets up on slide rail 8, and the both sides of slide rail 8 all are provided with semicircular track and are used for holding ball 5, simultaneously, also be provided with the holding track of ball 5 on the slider 7, be used for holding ball 5 jointly with the holding track of slide rail 8, hold and be provided with a plurality of balls 5 in the track, and slide rail 8 both sides all are provided with baffle 4, baffle 4 and slide rail 8 are interference fit, all be provided with the chamfer around slide rail 8, make whole slide rail 8 be located the upper portion circumference of roating seat 9, slide rail 8 and roating seat 9 pass through screw fixed connection. The clamping finger 6 is fixedly connected with the sliding block 7 through a screw.

Further, first ball grooves are formed in two opposite sides of the sliding rail 8, the length direction of each first ball groove is consistent with the length direction of the sliding rail 8, and balls 5 are respectively arranged in each first ball groove;

both ends of each first ball groove are provided with baffle plates 4 for preventing the balls 5 from falling out;

Each of the sliders 7 is provided with a second ball groove at a position corresponding to the first ball groove, and the groove wall of the second ball groove cooperates with the groove wall of the first ball groove to sandwich the balls 5. The first ball groove and the second ball groove are preferably semicircular grooves, so that the balls 5 can be conveniently installed and matched with the balls 5. One of the first ball grooves and one of the second ball grooves together form a receiving track for receiving the balls 5. Through setting up ball 5, become the friction between slider 7 and the slide rail 8 by conventional sliding friction and roll friction, can make the removal of slider 7 and clamp finger 6 smoother and smoother, prevent to take place the card in the translation in-process.

Further, the clamping fingers 6 are detachably mounted on the sliding blocks 7, and the corresponding clamping fingers 6 can be replaced according to articles with different sizes and shapes, so that the articles can be clamped conveniently.

Further, the base 1 includes a housing 2 and a plurality of housing covers, the housing 2 has a plurality of openings, each of the housing covers is mounted at an opening of the housing respectively, and the first driving motor 13, the second driving motor 12, the screw 14 and other parts can enter the housing 2 from the opening of the housing 2 and are fixed, and after the mounting, the housing cover is mounted at the opening of the housing 2. The first drive motor 13 is preferably fixedly mounted inside the housing 2 by means of a flange. The shell cover is fixedly connected with the shell 2 through screws. The housing 2 has an internal boss, and the outer race of the bearing 10 is mounted on the internal boss 21 of the housing 2.

The movement mode of the utility model is as follows:

The rotation of the second driving motor 12 drives the rotation of the lead screw 15, the rotation of the lead screw 15 drives the up-and-down movement of the transmission nut 16, the up-and-down movement of the transmission nut 16 drives the transmission nut 16 and the slide block connecting rod to rotate around the hinge shaft 18 through the hinge shaft 18, and the rotation of the slide block connecting rod drives the slide block 7 and the clamping finger 6 to slide left and right on the slide rail 8 to form opening and closing, and the article is clamped.

Simultaneously, the rotation of first driving motor 13 drives the rotation of ring gear 11, and the rotation of ring gear 11 drives the rotation of roating seat 9 of installing on the inner race of bearing 10, and the rotation of roating seat 9 drives the rotation of whole all parts of installing at roating seat 9, including second driving motor 12, slide rail 8 and slider 7 and the clamp finger 6 of installing on slide rail 8 all rotate for electric gripper 20 can rotate when opening and shutting, snatchs article, thereby can snatch article under more postures.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the utility model and is not intended to limit the utility model, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

Claims

1. The utility model provides a rotation type electric clamp which characterized in that includes frame, first driving motor, drive mechanism and electric gripper, wherein:

2. The rotary electric clamp according to claim 1, wherein the transmission mechanism comprises a gear ring and a screw, external teeth of the gear ring are meshed with the screw, the gear ring is arranged on the rotary seat, and the screw is connected with an output shaft of the first driving motor.

3. A rotary electric clamp according to claim 2, wherein the rotary seat and the ring gear are secured together by means of an interference fit.

4. The rotary electric clamp according to claim 1, wherein the rotary base is provided with a drive nut sliding tunnel for restricting sliding of the drive nut.

5. The rotary electric clamp according to claim 1, wherein the rotary base has an integrally formed upper body base and a lower cylinder, the outer side of the lower cylinder is reduced relative to the outer side of the upper body base, the lower cylinder extends into and is in interference fit with the inner ring of the bearing, and a gap exists between the upper body base and the outer ring of the bearing.

6. The rotary electric clamp according to claim 1, wherein the rotary seat is provided with a sliding rail, and the sliding rail is perpendicular to the screw rod;

7. The rotary electric tool according to claim 6, wherein first ball grooves are formed in opposite sides of the slide rail, the length direction of the first ball grooves is identical to the length direction of the slide rail, and balls are respectively arranged in each first ball groove;

8. The rotary electric clamp of claim 7, wherein the first and second ball grooves are semi-circular grooves.

9. The rotary electric clamp of claim 6, wherein the clamp fingers are removably mounted to the slider.

10. The rotary electric clamp of claim 1, wherein the housing includes a housing and a plurality of covers, the housing having a plurality of openings, each cover being mounted to a respective one of the openings of the housing.