CN220145965U

CN220145965U - Triaxial electric gripper

Info

Publication number: CN220145965U
Application number: CN202321464811.8U
Authority: CN
Inventors: 李希卓; 蔡智; 王一冰; 刘小军; 何亭萱
Original assignee: Guangzhou Jiuzhao Intelligent Technology Co ltd
Current assignee: Guangzhou Jiuzhao Intelligent Technology Co ltd
Priority date: 2023-06-09
Filing date: 2023-06-09
Publication date: 2023-12-08
Anticipated expiration: 2033-06-09

Abstract

The utility model relates to a triaxial electric gripper which comprises a stepping motor pulling plate, a stepping motor ring plate positioned above the stepping motor pulling plate and a linear driving piece which is fixed on the stepping motor ring plate and can drive the stepping motor pulling plate to vertically move, wherein two connecting arms are rotationally connected to two sides of the stepping motor ring plate, the connecting arms adopt hard rods or traction springs, connecting blocks are rotationally connected to two sides of the stepping motor pulling plate, the connecting arms are rotationally connected with the connecting blocks through clamp spring shafts, and clamping claws are rotationally connected to the bottom ends of the connecting blocks. According to the utility model, two connecting modes are designed, wherein the first connecting mode is hard connection of hard rod connection, the second connecting mode is soft connection of traction spring connection, and different connecting arms can enable clamping jaws to generate different clamping forces; under the condition that an extension spring is added between clamping jaws, clamping force between the clamping jaws can be changed through different connecting arms, clamping force can be increased through hard connection, and clamping force can be reduced through soft connection.

Description

Triaxial electric gripper

Technical Field

The utility model relates to the field of environmental sanitation mechanical equipment, in particular to a triaxial electric gripper.

Background

The mechanical claw is a robot part capable of realizing the function similar to a human hand, is one of important actuating mechanisms in industrial production, and has the advantages that:

1. the mechanical claw can realize simple movements such as grabbing, transferring, rotating and the like of the articles through computer programming, has accuracy and flexibility, and can be adjusted according to actual production requirements so as to meet the production requirements;

2. the mechanical claw combines the advantages of human and machinery, plays an important role in industrial production and life service, and the diversified structural design enables the application range and the scene of the mechanical claw to be continuously expanded, so that the mechanical claw has wide development and prospect in the current industrial age.

However, the three-axis grippers currently on the market have the following drawbacks: when the article is clamped, the gripper jaws are easy to contact and rub with the article placing plane under the control of the triaxial mechanical arm, so that the gripper jaws are easy to damage; the clamping jaw design has simple structure, lacks adjustability and self-adaptability, and has large sorting limitation; the clamping force of the small mechanical claw is limited, the clamping force depends on the driving force, the objects can deviate and fall off in the actual sorting process, and the clamping success rate is low.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a triaxial electric mechanical gripper.

The utility model provides a triaxial electric gripper which adopts the following technical scheme:

the utility model provides a triaxial electric gripper, includes the step motor arm-tie, is located the step motor arm-tie top step motor arm-tie, is fixed in the step motor arm-tie on can drive the vertical moving linear drive spare of step motor arm-tie, step motor arm-tie both sides all rotate and are connected with two linking arms, the linking arm adopts hard pole or traction spring, step motor arm-tie both sides all rotate and are connected with the connecting block, the linking arm passes through jump ring axle rotation with the connecting block and is connected, the connecting block bottom rotates and is connected with the jack catch, jack catch fixedly connected with spring fixed axle, two that correspond fixedly connected with extension spring between the spring fixed axle, jack catch bottom fixedly connected with flexible glue sheath.

Through adopting above-mentioned technical scheme, designed two kinds of connected modes, first hard connection that is hard pole connection, second is the soft connection that traction spring connects, and different linking arm can make the clamping jaw produce different clamping forces. The connecting arm can be replaced according to actual production conditions; under the condition that an extension spring is added between clamping jaws, clamping force between the clamping jaws can be changed by different connecting arms, the clamping force can be increased by hard connection, and the clamping force can be reduced by soft connection; under the condition of soft connection, the four clamping jaws can be bent to different degrees, and the device is more suitable for sorting work to clamp articles with different shapes and sizes.

Preferably, the linear driving piece comprises a stepping motor fixed at the top of a stepping motor ring plate, a screw rod fixed at the output end of the stepping motor, and a screw rod nut sleeved on the screw rod in a threaded manner, and the screw rod nut is movably embedded in the stepping motor pulling plate.

Through adopting above-mentioned technical scheme, start step motor, drive the lead screw and deflect according to fixed angle, then drive the lead screw nut and slide on the lead screw, realize the vertical drive to step motor arm-tie for the jack catch of connecting block and connecting block one end is rotatory, carries out the centre gripping to the article.

Preferably, the linear driving piece is a cylinder fixed on a stepping motor annular plate, and the output end of the cylinder is fixedly connected with a stepping motor pulling plate.

By adopting the technical scheme, the stepping motor drive can be replaced by the cylinder drive, and the two driving modes can be selected by a user and are convenient to use.

Preferably, the front side and the rear side of the stepping motor annular plate are fixedly connected with screw rod fixing plates, bearing fixing seats are fixedly connected between the screw rod fixing plates, and the lower ends of the screw rods are rotatably inserted into the bearing fixing seats.

Through adopting above-mentioned technical scheme, because the lead screw lower extreme is specifically inserted in the bearing of locating the bearing fixing base, make the rotation of lead screw bottom smoother like this, wearing and tearing reduce.

Preferably, the miniature bearing is embedded and arranged on the side wall of the connecting block, the clamp spring shaft at the end part of the connecting arm is inserted into the miniature bearing, and the clamp spring shaft at the end part of the connecting arm is provided with a clamp spring.

Through adopting above-mentioned technical scheme, set up miniature bearing and make the wearing and tearing of jump ring axle reduce, set up the jump ring and avoid jump ring axle to drop or axial offset.

Preferably, the base connecting piece of step motor annular plate top fixedly connected with symmetric distribution, the embedded linear bearing that is equipped with of base connecting piece, the linear bearing interpolation is equipped with the guiding axle, still includes the guiding axle mounting, linear bearing set up in inside the guiding axle mounting, the epaxial cover of guiding is equipped with the bradyseism spring, the bradyseism spring sets up between linear bearing top and the guiding axle mounting, guiding axle mounting top fixedly connected with guiding axle support.

Through adopting above-mentioned technical scheme, the first half of this gripper passes through the guiding axle to be connected, utilizes the bradyseism spring to carry out the bradyseism, makes can relative motion between gripper second half and the arm, makes the jack catch not be the hard contact but soft contact when contacting the plane, has protected arm and this gripper, has reduced the destruction that the clamp got the error and bring.

Preferably, the top of the guide shaft support is fixedly connected with a flange sleeve, and the top of the flange sleeve is fixedly connected with a triaxial mechanical arm flange plate.

Through adopting above-mentioned technical scheme, be connected with triaxial arm only need with the flange sleeve dress into the guiding axle support screw up the screw and can accomplish the installation.

In summary, the present utility model includes at least one of the following beneficial technical effects:

1. the connecting arm is connected in two ways, the first is hard connection of hard rod connection, the second is soft connection of traction spring connection, and different connecting arms can enable clamping jaws to generate different clamping forces. The connecting arm can be replaced according to actual production conditions; under the condition that an extension spring is added between clamping jaws, clamping force between the clamping jaws can be changed by different connecting arms, the clamping force can be increased by hard connection, and the clamping force can be reduced by soft connection; under the condition of soft connection, the four clamping jaws can be bent to different degrees, and the device is more suitable for sorting work to clamp articles with different shapes and sizes.

2. An optional extension spring is added between the clamping jaws, so that the grabbing force of the mechanical jaws can be further improved. The clamping jaw is opened, and the extension spring belongs to a stretching state, so that when the clamping jaw is clamped, besides the driving force provided by the stepping motor, the tension of the extension spring is also provided, and the object grabbing stability is further improved. When the article is fragile, the extension spring can be disassembled.

3. The upper half part of the mechanical claw is connected through the guide shaft, and the damping spring is utilized to perform damping, so that the lower half part of the mechanical claw and the mechanical arm can move relatively, the claw is not in hard contact but in soft contact when contacting a plane, the mechanical arm and the mechanical claw are protected, and damage caused by clamping errors is reduced.

Drawings

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

FIG. 2 is a schematic side elevational view of an embodiment of the present utility model;

FIG. 3 is a schematic diagram of the front structure of an embodiment of the present utility model;

FIG. 4 is a schematic top view of an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a second connection mode according to an embodiment of the present utility model.

Reference numerals illustrate: 1. a flange sleeve; 2. a guide shaft support; 3. a damping spring; 4. a base connector; 5. a stepping motor; 6. a stepping motor annular plate; 7. a clamp spring shaft; 8. a connecting arm; 9. a connecting block; 10. clamping springs; 11. a guide shaft; 12. a guide shaft fixing member; 13. a linear bearing; 14. a miniature bearing; 15. a tension spring; 16. a spring fixing shaft; 17. a claw; 18. a soft rubber sheath; 19. pulling a plate by a stepping motor; 20. a screw rod; 21. a screw rod fixing plate; 22. a screw nut; 23. a bearing fixing seat; 24. triaxial arm ring flange.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-5.

Example 1

The embodiment of the utility model discloses a triaxial electric gripper, which comprises a stepping motor pulling plate 19, a stepping motor ring plate 6 positioned above the stepping motor pulling plate 19, and a linear driving piece which is fixed on the stepping motor ring plate 6 and can drive the stepping motor pulling plate 19 to vertically move, wherein two sides of the stepping motor ring plate 6 are rotationally connected with two connecting arms 8, the connecting arms 8 adopt hard rods or traction springs, two sides of the stepping motor pulling plate 19 are rotationally connected with connecting blocks 9, the connecting arms 8 and the connecting blocks 9 are rotationally connected through clamp spring shafts 7, the bottom ends of the connecting blocks 9 are rotationally connected with clamping claws 17, the surfaces of the clamping claws 17 are fixedly connected with spring fixing shafts 16, extension springs 15 are fixedly connected between the two corresponding spring fixing shafts 16, the bottom ends of the clamping claws 17 are fixedly connected with flexible glue jackets 18, and the flexible glue jackets 18 are made of flexible materials, so that the clamping damage to articles is reduced.

The connecting arms 8 are designed with two connecting modes, the first is hard connection of hard rod connection and the second is soft connection of traction spring connection, and different connecting arms 8 can enable clamping jaws to generate different clamping forces. The connecting arm 8 can be replaced according to actual production conditions; under the condition that an extension spring 15 is added between clamping jaws, the clamping force between the clamping jaws can be changed by different connecting arms 8, the clamping force can be increased by hard connection, and the clamping force can be reduced by soft connection; under the condition of soft connection, the four clamping jaws can be bent to different degrees, and the device is more suitable for sorting work to clamp articles with different shapes and sizes.

An optional tension spring 15 is added between the jaws 17 to further increase the gripping force of the gripper. The clamping jaw is opened, the extension spring 15 is in an extension state, and when the clamping is carried out, besides the driving force provided by the stepping motor 5, the tension of the extension spring 15 is also provided, so that the stability of grabbing the article is further improved. When the clamping object is fragile, the extension spring 15 can be disassembled, and the four designed clamping claws 17 are mutually independent, so that the object with irregular shape can be clamped. The design has the advantages that non-planar objects can be grabbed, the four clamping claws 17 can be fully contacted with the objects, and the soft rubber sheath 18 on the clamping claws 17 can achieve maximum friction force to clamp the objects.

When the clamping jaw is used, the linear driving piece is started to drive the stepping motor pulling plate 19 to descend, so that the connecting block 9 rotates, and the connecting block 9 drives the clamping jaw 17 to open, so that an article is clamped conveniently.

Referring to fig. 2, the linear driving member includes a stepping motor 5 fixed on the top of a stepping motor ring plate 6, a screw rod 20 fixed on the output end of the stepping motor 5, and a screw rod nut 22 screwed on the screw rod 20, wherein the screw rod nut 22 is movably embedded in a stepping motor pulling plate 19;

the stepping motor 5 is started to drive the screw rod 20 to deflect according to a fixed angle, then the screw rod nut 22 is driven to slide on the screw rod 20, vertical driving of a pull plate of the stepping motor 5 is achieved, the connecting block 9 and the clamping jaw 17 at one end of the connecting block 9 rotate to clamp objects, the stepping motor 5 is used as driving force, the opening and closing angle of the clamping jaw 17 can be accurately controlled, the clamped objects can be protected to a certain extent, and clamping force is achieved on the premise that the objects are not damaged.

Referring to fig. 1, screw rod fixing plates 21 are fixedly connected to both front and rear sides of a stepping motor ring plate 6, bearing fixing seats 23 are fixedly connected between the screw rod fixing plates 21, and lower ends of screw rods 20 are rotatably inserted into the bearing fixing seats 23.

Because the lower end of the screw rod 20 is specifically inserted into the bearing of the bearing fixing seat 23, the rotation of the bottom end of the screw rod 20 is smoother, and the abrasion is reduced.

Referring to fig. 1, a miniature bearing 14 is embedded and installed on the side wall of a connecting block 9, a clamp spring shaft 7 at the end part of a connecting arm 8 is inserted into the miniature bearing 14, and a clamp spring 10 is arranged on the clamp spring shaft 7 at the end part of the connecting arm 8.

The miniature bearing 14 is arranged to reduce the abrasion of the clamp spring shaft 7, and the clamp spring 10 is arranged to prevent the clamp spring shaft 7 from falling off or axially shifting.

Referring to fig. 1 and 2, the top of the stepper motor annular plate 6 is fixedly connected with a symmetrically distributed base connecting piece 4, a linear bearing 13 is embedded in the base connecting piece 4, a guide shaft 11 is inserted in the linear bearing 13, the stepper motor annular plate further comprises a guide shaft fixing piece 12, the linear bearing 13 is arranged inside the guide shaft fixing piece 12, a damping spring 3 is sleeved on the guide shaft 11, the damping spring 3 is arranged between the top of the linear bearing 13 and the guide shaft fixing piece 12, and a guide shaft support 2 is fixedly connected to the top of the guide shaft fixing piece 12.

The upper half part of the mechanical claw is connected through the guide shaft 11, and the damping spring 3 is utilized to perform damping, so that the lower half part of the mechanical claw and the mechanical arm can move relatively, the claw 17 is not in hard contact but in soft contact when contacting a plane, the mechanical arm and the mechanical claw are protected, and damage caused by clamping errors is reduced.

Referring to fig. 1, a flange sleeve 1 is fixedly connected to the top of a guide shaft support 2, a triaxial mechanical arm flange 24 is fixedly connected to the top of the flange sleeve 1, the flange sleeve 1 is mounted on the triaxial mechanical arm flange 24 of the triaxial mechanical arm, and the guide shaft support 2 passes through the flange sleeve 1 and then is screwed with screws, so that the mechanical claw can be mounted on the mechanical arm.

The implementation principle of the triaxial electric gripper provided by the embodiment of the utility model is as follows:

starting the stepping motor 5, driving the screw rod 20 to deflect according to a fixed angle, then driving the screw rod nut 22 to slide on the screw rod 20, and realizing vertical driving of a pull plate of the stepping motor 5, so that the connecting block 9 and a claw 17 at one end of the connecting block 9 rotate to clamp an article, and the soft connection can reduce clamping force due to the soft connection of traction spring connection; under the condition of soft connection, the four clamping jaws can be bent to different degrees, so that the mechanical gripper is more suitable for sorting work to clamp articles with different shapes and sizes, and the optional tension springs 15 are added between the clamping jaws 17, so that the grabbing force of the mechanical gripper can be further improved. The clamping jaw is opened, the extension spring 15 is in an extension state, and when the clamping is carried out, besides the driving force provided by the stepping motor 5, the tension of the extension spring 15 is also provided, so that the stability of grabbing the article is further improved. The tension spring 15 can also be removed when the article is to be gripped more fragile.

Example two

The difference between this embodiment and the first embodiment is that the linear driving member is a cylinder fixed on the stepper motor ring plate 6, and the output end of the cylinder is fixedly connected with the stepper motor pull plate 19.

By adopting the technical scheme, the driving of the stepping motor 5 can be replaced by the driving of the air cylinder, the two driving modes can be selected by a user, the use is convenient, and the air cylinder is arranged to enable the stepping motor pulling plate 19 to move in the vertical direction.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. A triaxial electric gripper, characterized in that: including step motor arm-tie (19), be located step motor arm-tie (6) of step motor arm-tie (19) top, be fixed in the linear drive spare of the vertical motion of drivable step motor arm-tie (19) on step motor arm-tie (6), step motor arm-tie (6) both sides all rotate and are connected with two linking arm (8), linking arm (8) adopt hard pole or traction spring, step motor arm-tie (19) both sides all rotate and are connected with connecting block (9), linking arm (8) are connected with connecting block (9) through jump ring axle (7) rotation, connecting block (9) bottom rotation is connected with jack catch (17), jack catch (17) fixed surface are connected with spring fixed axle (16), two that correspond fixedly connected with extension spring (15) between spring fixed axle (16), jack catch (17) bottom fixedly connected with soft rubber sheath (18).

2. A three-axis electromechanical gripper according to claim 1, characterized in that: the linear driving piece comprises a stepping motor (5) fixed at the top of a stepping motor annular plate (6), a screw rod (20) fixed at the output end of the stepping motor (5) and a screw rod nut (22) sleeved on the screw rod (20), and the screw rod nut (22) is movably embedded in the stepping motor pulling plate (19).

3. A three-axis electromechanical gripper according to claim 1, characterized in that: the linear driving piece is a cylinder fixed on the stepping motor annular plate (6), and the output end of the cylinder is fixedly connected with the stepping motor pulling plate (19).

4. A three-axis electromechanical gripper according to claim 2, characterized in that: the stepping motor is characterized in that screw rod fixing plates (21) are fixedly connected to the front side and the rear side of the stepping motor annular plate (6), bearing fixing seats (23) are fixedly connected between the screw rod fixing plates (21), and the lower ends of the screw rods (20) are rotatably inserted into the bearing fixing seats (23).

5. A three-axis electromechanical gripper according to claim 1, characterized in that: the miniature bearing (14) is embedded and installed on the side wall of the connecting block (9), the clamp spring shaft (7) at the end part of the connecting arm (8) is inserted into the miniature bearing (14), and the clamp spring shaft (7) at the end part of the connecting arm (8) is provided with a clamp spring (10).

6. A three-axis electromechanical gripper according to claim 1, characterized in that: the novel stepping motor comprises a stepping motor annular plate (6), wherein base connecting pieces (4) are symmetrically distributed at the top of the stepping motor annular plate, linear bearings (13) are embedded in the base connecting pieces (4), guide shafts (11) are arranged in the linear bearings (13) in an inserted mode, the novel stepping motor annular plate further comprises guide shaft fixing pieces (12), the linear bearings (13) are arranged inside the guide shaft fixing pieces (12), shock absorption springs (3) are sleeved on the guide shafts (11), the shock absorption springs (3) are arranged between the tops of the linear bearings (13) and the guide shaft fixing pieces (12), and guide shaft supports (2) are fixedly connected to the tops of the guide shaft fixing pieces (12).

7. A three-axis electromechanical gripper according to claim 6, wherein: the top of the guide shaft support (2) is fixedly connected with a flange sleeve (1), and the top of the flange sleeve (1) is fixedly connected with a triaxial mechanical arm flange plate (24).