CN112405579A

CN112405579A - Electric clamping jaw

Info

Publication number: CN112405579A
Application number: CN202011326923.8A
Authority: CN
Inventors: 兰海波; 刘主福
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-02-26

Abstract

The invention discloses an electric clamping jaw which comprises a clamping jaw seat, a frameless motor, a power output shaft and a plurality of clamping jaw mounting blocks, wherein the frameless motor, the power output shaft and the clamping jaw mounting blocks are arranged on the clamping jaw seat, clamping jaw parts are arranged on the clamping jaw mounting blocks, the frameless motor comprises a stator and a rotor, the power output shaft penetrates through the rotor and can rotate around the axis of the power output shaft, and the power output shaft is in transmission connection with the clamping jaw mounting blocks so as to drive the clamping jaw parts to be opened and closed. The electric clamping jaw adopts the frameless motor to replace a servo motor to serve as a power source, and the frameless motor is small in size and designable in size, so that the axial structure size of the electric clamping jaw can be reduced, the electric clamping jaw can adapt to more application scenes, and the applicability is enhanced.

Description

Electric clamping jaw

Technical Field

The invention relates to the technical field of clamping jaws, in particular to an electric clamping jaw.

Background

With the increasing maturity of industrial robot technology, the traditional manufacturing industry gradually changes from manual work to the intelligent manufacturing direction rapid development of industrial robot production, and industrial robot is widely used in the production processes such as welding, pile up neatly, application, and it can save labour cost, reduce intensity of labour and improve production efficiency. The clamping jaw is used as a part which is frequently configured and used by the industrial robot and is used for clamping a workpiece to match with a mechanical arm of the industrial robot so as to carry the workpiece.

The jaws can be divided according to their type into motorized jaws and pneumatic jaws, wherein motorized jaws are driven by electricity to control the gripping and release of the jaws. The electric clamping jaw in the market at present mainly adopts a servo motor as a power source to realize driving, but the servo motor is usually arranged in a sharp manner, so that the whole structure is long and the axial span is large. For example, the length of an electric clamping jaw with the diameter of about 70mm can reach 125-150 mm generally. However, when the electric clamping jaw enters some application scenes for actual operation, interference is easily caused between the electric clamping jaw and an original mechanism of the operated device due to the overlong axial structure size of the electric clamping jaw, normal work is affected, damage is possibly caused, and the applicability is not strong.

Disclosure of Invention

The invention mainly aims to provide an electric clamping jaw, and aims to solve the problems that the conventional electric clamping jaw is overlong in axial structural size and not strong in applicability.

In order to achieve the purpose, the invention provides an electric clamping jaw, which comprises a clamping jaw seat, a frameless motor, a power output shaft and a plurality of clamping jaw mounting blocks, wherein the frameless motor, the power output shaft and the clamping jaw mounting blocks are arranged on the clamping jaw seat, clamping jaw parts are arranged on the clamping jaw mounting blocks, the frameless motor comprises a stator and a rotor, the power output shaft is arranged in the rotor in a penetrating mode and can rotate around the axis of the power output shaft, and the power output shaft is in transmission connection with the clamping jaw mounting blocks to drive the clamping jaw parts to be opened and closed.

Preferably, a plurality of said jaw mounting blocks are disposed about an axis of said power take-off shaft.

Preferably, a transmission gear is arranged on the power output shaft, and a gear set matched with the transmission gear is arranged on the clamping jaw seat.

Preferably, still be provided with the slip subassembly on the clamping jaw seat, the slip subassembly include the slide rail and with slide rail sliding fit's slider, be provided with on the slider with gear train complex rack, clamping jaw installation piece with the rack is connected.

Preferably, the clamping jaw seat comprises an installation frame and an end cover located at one end of the installation frame, the installation frame and the end cover enclose a combined installation space, and an opening used for accommodating the clamping jaw installation block is arranged on the end cover in a penetrating mode.

Preferably, the power output shaft penetrates out of the other end of the mounting frame, and the electric clamping jaw further comprises an encoder which is mounted on the power output shaft and located outside the mounting frame.

Preferably, the encoder further comprises an end shell arranged on the mounting frame and used for covering the encoder.

Preferably, the end shell is provided with a wiring hole.

Preferably, a plurality of first mounting holes are formed in the end shell.

Preferably, a plurality of second mounting holes are correspondingly arranged on the clamping jaw mounting block and the clamping jaw part.

The technical scheme of the invention has the beneficial effects that: the electric clamping jaw consists of a clamping jaw seat, a frameless motor, a power output shaft and a plurality of clamping jaw mounting blocks, wherein the clamping jaw mounting blocks are provided with clamping jaw parts, so that clamping jaws are arranged by combining the clamping jaw parts, and the electric clamping jaw drives the power output shaft to rotate by the frameless motor so as to drive the clamping jaw mounting blocks to move and drive the clamping jaw parts to open and close, thereby realizing the opening and closing of the clamping jaws; the frameless motor is adopted by the electric clamping jaw to replace a servo motor to serve as a power source, and the frameless motor is small in size and designable in size, so that the axial structure size of the electric clamping jaw can be reduced, the electric clamping jaw can adapt to more application scenes, and the applicability is enhanced.

Drawings

FIG. 1 is a schematic view of an embodiment of a motorized jaw assembly of the present invention;

FIG. 2 is an exploded view of the powered jaw of FIG. 1;

fig. 3 is a schematic view of the internal structure of the electric jaw in fig. 1.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides an electric clamping jaw, and referring to fig. 1 to 3, the electric clamping jaw comprises a clamping jaw seat 100, a frameless motor 200, a power output shaft 10 and a plurality of clamping jaw mounting blocks 20, wherein the frameless motor 200, the power output shaft 10 and the clamping jaw mounting blocks 20 are arranged on the clamping jaw seat 100, the clamping jaw mounting blocks 20 are provided with clamping jaw parts 30, the frameless motor 200 comprises a stator and a rotor, the power output shaft 10 penetrates through the rotor and can rotate around the axis of the power output shaft, and the power output shaft 10 is in transmission connection with the clamping jaw mounting blocks 20 to drive the clamping jaw parts 30 to open and.

The electric clamping jaw can be arranged at the tail end of a joint mechanical arm of an industrial robot or other mechanical equipment to realize the work of clamping, transporting and the like of workpieces, and is different from a pneumatic clamping jaw and runs by electric drive. Specifically, the electric clamping jaw according to the present embodiment mainly includes a clamping jaw base 100, a frameless motor 200, a power output shaft 10, a plurality of clamping jaw mounting blocks 20, and clamping jaw portions 30 disposed on the clamping jaw mounting blocks 20, wherein:

referring to fig. 1, the jaw holder 100 may be a housing-holder type structure, which is used to mount other various kinds of components of the electric jaw, such as a frameless motor 200, a power output shaft 10, and a jaw mounting block 20. The frameless motor 200, which is a novel torque motor, may also be referred to as a frameless torque motor, mainly includes a stator and a rotor, and has an external shape and a size that can be designed, and has advantages of small volume, light weight, low inertia, high power, and the like. Further, the frameless motor 200 is a hollow structure, a central through hole adapted to the power output shaft 10 is formed in the rotor, and the power output shaft 10 is installed in the central through hole. That is, when the frameless motor 200 is powered on, the rotor thereof can drive the power output shaft 10 to rotate rapidly around the axis thereof.

In addition, the jaw mounting block 20 may be two or more circumferentially disposed blocks, which are oppositely disposed, and located at the bottom of the jaw base 100, and function to provide the jaw portion 30, it is easy to understand that, one jaw portion 30 is provided on each jaw mounting block 20, and a plurality of jaw portions 30 are combined to form a jaw. The specific configuration of the jaw portion is set according to actual conditions, and is not limited herein, and the jaw portion 30 may be detachably connected to the jaw mounting block 20, or may be integrally formed with the jaw mounting block 20. The jaw mounting block 20 may be slidably disposed on the jaw base 100, and the sliding structure thereof may be a sliding rail slider, a sliding rod sliding sleeve, or the like. The power output shaft 10 is in transmission connection with the jaw mounting block 20, i.e. a transmission structure is generally arranged between the power output shaft 10 and the jaw mounting block 20 to convert the rotary motion of the power output shaft 10 into the linear motion of the jaw mounting block 20. The form of the transmission structure adopted can be various, such as a gear rack and the like, which will be described in detail in the following embodiments. That is, in the present electric clamping jaw, the frameless motor 200 drives the power output shaft 10 to rotate, so as to drive the clamping jaw mounting blocks 20 to move, and drive the clamping jaw portions 30 to move outwards away from the center line or move inwards towards the center line, thereby realizing the opening and closing of the clamping jaw.

In this embodiment, the frameless motor 200 may be a tbm (S) frameless torque motor of kormon, a K series frameless motor of Parker, an Aerotech S-series high performance frameless torque motor, or an Alliedmotion frameless torque motor, but is not limited thereto.

Based on the above implementation content, the electric clamping jaw uses the frameless motor 200 as a power source, and because the frameless motor 200 has a small size and can be designed, compared with the electric clamping jaw using the servo motor in the prior art, the electric clamping jaw can reduce the axial structural size of the electric clamping jaw, so that the electric clamping jaw can adapt to more application scenes, and the applicability is enhanced. Specifically, through the improvement of actual design, after frameless motor 200 is adopted to electronic clamping jaw, its axial dimension reduces to about 60 ~ 75mm from original 125 ~ 150 mm.

In a preferred embodiment, referring to fig. 1 and 2, a plurality of jaw mounting blocks 20 are disposed about the axis of the power take-off shaft 10. Preferably, referring to fig. 1, there are three clamping jaw mounting blocks 20, the three clamping jaw mounting blocks 20 are arranged around the axial direction of the power output shaft 10, that is, they are sequentially arranged on the periphery of the power output shaft 10 in the circumferential direction, and the included angle between two adjacent clamping jaw mounting blocks 20 is 120 °. Through the arrangement, the three clamping jaw mounting blocks 20 are used for mounting the three clamping jaw parts 30 of the clamping jaws, so that the workpiece is clamped in the circumferential direction, and the clamping is stable and reliable in work.

Referring to fig. 2, a transmission gear 40 is provided on the power output shaft 10, and a gear set 50 engaged with the transmission gear 40 is provided on the jaw base 100.

In addition, the jaw base 100 is further provided with a sliding assembly, the sliding assembly includes a sliding rail 60 and a sliding block 70 in sliding fit with the sliding rail 60, the sliding block 70 is provided with a rack 80 in sliding fit with the gear set 50, and the jaw mounting block 20 is connected with the rack 70.

To allow the jaw mounting block 20 to move on the jaw housing 100, a slide assembly is provided to connect the jaw mounting block 20 with the jaw housing 100. In this embodiment, the sliding assembly includes a sliding rail 60 and a sliding block 70, wherein the sliding rail 60 is fixed on the jaw base 100, and the jaw mounting block 20 is connected to the sliding block 70, and the connection and fixation can be implemented by screws. The slide rails 60 and the sliders 70 allow the jaw mounting block 20 to move smoothly on the jaw base 100 to improve the gripping stability of the jaws.

Based on the above-mentioned structure, when the power output shaft 10 rotates, the transmission gear 40 rotates therewith and engages with the transmission gear set 50 and the rack 80, and the rack 80 and the slider 70 move linearly along the slide rail 60, thereby moving the jaw mounting block 20 and the jaw portion 30. In this embodiment, the driving of the power output shaft 10 to the clamping jaw mounting block 20 and the clamping jaw portion 30 is realized by adopting gear and rack transmission, and the driving is accurate, the efficiency is high, the structure is compact, and the operation is reliable.

The jaw mounting block 20 may be directly connected to the slider 70 without being connected to the rack 80, and the connection form may be a detachable connection form using a screw, as the case may be. In addition, the drive gear 40, the gear train 50, the rack 80, and the slider 70 and the slide rail 60 may be disposed at the same level to further reduce the axial structural size of the power jaw.

Further, referring to fig. 1 to 3, the jaw seat 100 includes a mounting frame 110 and an end cover 120 located at one end of the mounting frame 110, the mounting frame 110 and the end cover 120 enclose a mounting space, and an opening 121 for receiving the jaw mounting block 20 is penetratingly disposed on the end cover 120. The mounting frame 110 and the end cover 120 have the same contour size, and can be assembled by connecting a plurality of screws, main components of the electric clamping jaws such as the frameless motor 200 and the power output shaft 10 are located in a mounting space formed by the two, and the mounting frame 110 and the end cover 120 can mechanically protect the components in the mounting space. Specifically, the frameless motor 200 and the power take-off shaft 10 are located in the mounting frame 110, and the sliding assembly and the transmission member in the above-described embodiment are located at the position of the end cover 120.

For each clamping jaw mounting block 20, an opening 121 is correspondingly formed in the end cover 120 for accommodating the clamping jaw mounting block 20, and the clamping jaw mounting block 20 is connected with the sliding block 70 or the rack 80 from the opening 121. The opening 121 is in an "L" shape and is disposed on the bottom surface and the side surface of the end cover 120 in a straddling manner, i.e., the jaw mounting block 20 can be extended and retracted from the side surface of the end cover 120 under the driving of the power output shaft 10. The opening 121 accommodates the jaw mounting block 20, which further reduces the axial structural size of the electric jaw.

Further, referring to fig. 2 and 3, the power output shaft 10 penetrates out of the other end of the mounting frame 110, and the electric clamping jaw further includes an encoder 90 mounted on the power output shaft 10 and located outside the mounting frame 110. The encoder 90 is used for measuring the rotation speed of the power output shaft 10, converting the rotation displacement of the power output shaft 10 into a series of digital pulse signals, and outputting the digital pulse signals to the control system so as to facilitate the control of the electric clamping jaws. Preferably, the encoder 90 may be an opto-electronic encoder.

Further, referring to fig. 1 to 3, the electric chuck further includes an end housing 300 disposed on the mounting frame 110 for housing the encoder 90. Specifically, the end shell 300 and the end cap 120 are respectively located at two opposite ends of the mounting frame 110, and the end shell 300 is used for providing mechanical protection for the encoder 90 and also preventing dust and impurities from entering into the encoder 90 and affecting the service life thereof. The end shell 300 is matched with the mounting frame 110 in shape and contour, and is fixed by a plurality of screws, and a plurality of screw mounting positions are sequentially arranged along the edges of the end shell 300 and the mounting frame 110.

Further, referring to fig. 1 and 2, the end housing 300 is provided with a wiring hole 1. The wiring hole 1 is used for the connection line body of the encoder 90 and the control system to penetrate through so as to facilitate the wiring arrangement of the encoder 90. In this embodiment, the wire hole 1 is located at one side of the end housing 300, and a protective sleeve is further disposed at the wire hole 1.

Further, referring to fig. 2, the end shell 300 is provided with a plurality of first mounting holes 2. The first mounting hole 2 is a hole position for fixing the electric clamping jaw, so that the electric clamping jaw is integrally mounted at the execution tail end of a mechanical arm or other motion mechanisms, and can also be connected with an adapter plate through the first mounting hole 2 and then connected with a centering device (namely a center correction module) commonly used on a transmission and an automobile engine through the adapter plate.

In a preferred embodiment, referring to fig. 1, the jaw mounting block 20 and the jaw portion 30 are provided with a plurality of second mounting holes 3. The second mounting hole 3 can be a threaded hole for penetrating a screw to detachably mount the clamping jaw part 30 on the clamping jaw mounting block 20, and the operation is simple and the dismounting is convenient. The number of the second mounting holes 3 is set according to the actual situation, and in the present embodiment, the second mounting holes 3 are two spaced apart from each other on the jaw mounting block 20 and the jaw portion 30. In addition, the clamping jaw can be in various structural forms, and a user can select the type of the clamping jaw according to actual conditions, so that the clamping jaw is flexible in arrangement.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.

Claims

1. The electric clamping jaw is characterized by comprising a clamping jaw seat, a frameless motor, a power output shaft and a plurality of clamping jaw mounting blocks, wherein the frameless motor, the power output shaft and the clamping jaw mounting blocks are arranged on the clamping jaw seat, the clamping jaw mounting blocks are provided with clamping jaw parts, the frameless motor comprises a stator and a rotor, the power output shaft penetrates through the rotor and can rotate around the axis of the power output shaft, and the power output shaft is in transmission connection with the clamping jaw mounting blocks so as to drive the clamping jaw parts to be opened and closed.

2. The powered jaw of claim 1, wherein a plurality of said jaw mounting blocks are disposed about an axis of said power take-off shaft.

3. The motorized clamp jaw of claim 2, wherein the power take-off shaft is provided with a drive gear, and the jaw base is provided with a gear set that cooperates with the drive gear.

4. The electric clamping jaw as claimed in claim 3, wherein a sliding assembly is further arranged on the clamping jaw seat, the sliding assembly comprises a sliding rail and a sliding block in sliding fit with the sliding rail, a rack in sliding fit with the gear set is arranged on the sliding block, and the clamping jaw mounting block is connected with the rack.

5. The electric clamping jaw according to claim 4, wherein the clamping jaw seat comprises a mounting frame and an end cover located at one end of the mounting frame, the mounting frame and the end cover enclose a mounting space, and an opening for accommodating the clamping jaw mounting block is arranged on the end cover in a penetrating manner.

6. The electric clamping jaw according to claim 5, wherein the power output shaft penetrates out of the other end of the mounting frame, and the electric clamping jaw further comprises an encoder mounted on the power output shaft and located outside the mounting frame.

7. The motorized clamp jaw of claim 6, further comprising an end housing disposed on said mounting frame for housing said encoder.

8. The powered gripping jaw of claim 7, wherein the end shell has a wire routing hole.

9. The motorized clamp jaw of claim 8, wherein said end shell defines a plurality of first mounting holes.

10. The motorized clamp jaw of claim 1, wherein said jaw mounting block and said jaw portion have a plurality of second mounting holes formed therein.