WO2019144355A1 - 电动夹爪 - Google Patents

电动夹爪 Download PDF

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Publication number
WO2019144355A1
WO2019144355A1 PCT/CN2018/074182 CN2018074182W WO2019144355A1 WO 2019144355 A1 WO2019144355 A1 WO 2019144355A1 CN 2018074182 W CN2018074182 W CN 2018074182W WO 2019144355 A1 WO2019144355 A1 WO 2019144355A1
Authority
WO
WIPO (PCT)
Prior art keywords
limit portion
rack
support shaft
lower limit
limiting
Prior art date
Application number
PCT/CN2018/074182
Other languages
English (en)
French (fr)
Inventor
李蒙
官辰勇
Original Assignee
深圳市固胜智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市固胜智能科技有限公司 filed Critical 深圳市固胜智能科技有限公司
Priority to PCT/CN2018/074182 priority Critical patent/WO2019144355A1/zh
Publication of WO2019144355A1 publication Critical patent/WO2019144355A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present application relates to the field of mechanical equipment, and in particular to an electric gripper for grasping an object.
  • the electric gripper is used as the end gripping device of the robot arm and has a wide range of applications in the field of industrial automation.
  • the electric gripper has two-finger translation type and three-finger type according to the hand index.
  • the movement of the two-finger translation mainly includes rack and pinion transmission, cam transmission and ball. Three implementations of screw drive power.
  • the rack is fixed to the slider, and the slider is two, which is slidably disposed on the slide base, and each of the sliders has a convex claw body.
  • the power of the electric jaw is transmitted to the rack by the drive motor through the 4-stage involute parallel shaft transmission mechanism, and then the power is transmitted to the slider through the shock absorber, thereby driving the motor to drive the claw body toward or away from the movement to complete the object. Clamping and release.
  • the support shaft is usually disposed on the side of the slider away from the sliding seat, and the support shaft and the sliding seat form a limiting structure to prevent the slider from The direction of motion is the rotation of the axis.
  • the rack of the electric gripper is embedded in the middle of the slider.
  • the support shaft needs to be in sliding contact with the slider on the upper and lower sides of the rack to form a limit, so the slider is located.
  • the upper and lower sides of the rack are all protruding from the rack.
  • the portion of the slider below the rack needs to form an opening so that the gear meshes with the rack from the opening.
  • the electric jaw has a complicated structure, and when a large stroke design is required, not only the rack needs to be lengthened, but also the structure of the slider needs to be redesigned according to the rack position.
  • the application provides a novel electric jaw.
  • an electric jaw in an embodiment, including:
  • Driving a motor the driving motor is fixedly disposed on the support base;
  • gear transmission mechanism wherein the gear transmission mechanism is driven by the drive motor
  • Two racks respectively meshing with the output teeth of the gear transmission mechanism for generating a direction or a deviation movement under the driving of the motor
  • the sliding seat comprising a pair of oppositely disposed supporting walls
  • Two sliding members respectively slidably disposed on the two supporting walls, and one sliding member is fixedly connected to one of the racks, the sliding member having an upper limit portion, a lower limit portion and a mounting position And a protruding claw body, the upper limit portion, the lower limit portion and the mounting position are laterally disposed on a side of the sliding member away from the corresponding supporting wall, the rack is fixedly mounted in the mounting position, and the upper limit portion is And the lower limit portion are respectively located on the upper and lower sides of the rack, and the limiting surface of the upper limit portion protrudes from the rack in a direction away from the support wall, and the rack is at least meshed from the lower limit portion
  • the upper direction protrudes away from the support wall and protrudes from the limiting surface of the lower limit portion, so as to prevent the lower limit portion from contacting the output teeth of the gear transmission when the slider moves, the claws of the two sliding members are used for sliding in two directions Clamping or releasing objects when facing or facing away from each other;
  • the short support shaft is vertically disposed, and an outer peripheral surface thereof is engaged with a limit surface of the lower limit portion, and an upper end surface of the short support shaft supports a bottom portion of the rack.
  • the upper limit portion, the mounting position and the lower limit portion form a stepped outer wall, and the mounting surface and the limiting surface of the lower limit portion are located on the same side wall of the first step
  • the limiting surface of the upper limit portion is located on a sidewall of the second step, and the limiting surface of the upper portion is parallel to the limiting surface of the lower portion.
  • the long support shaft is vertically disposed, and an outer peripheral surface thereof is engaged with a limit surface of the upper limit portion, the long support shaft being located between the two sliding members, the two The slider shares the long support shaft.
  • the long support shafts are at least two, and at least one long support shaft is vertically disposed on two sides of the output teeth of the gear transmission mechanism, and the short support shaft is located on the long support shaft and Corresponding between the support walls, and its position is aligned with the long support shaft.
  • the sliding seat comprises a base, two supporting walls are fixedly disposed on two sides of the base, and output gears of the gear transmission mechanism are mounted on the base through bearings.
  • the outer peripheral surface of the bearing cooperates with the limiting surface of the lower limit portion to form a limit to the lower limit portion.
  • the sliding seat further comprises two cover plates, the base and the support wall enclosing a U-shaped groove structure, and the two cover plates are respectively detachably mounted on the U-shaped groove structure Openings at both ends thereof, the sliding seat encloses a cavity, and the upper limit portion, the lower limit portion, the mounting position, the rack, the long support shaft and the short support shaft are all mounted in the cavity, the claw body Extend from the cavity.
  • a guide groove is disposed between the sliding member and the corresponding support wall, and a cross roller bearing is installed in the guide groove.
  • the gear transmission adopts a two-stage involute planetary transmission mechanism driven by an output end of the driving motor, the output end of the two-stage involute planetary transmission mechanism and the rack Engage.
  • the sliding member has an upper limit portion, a lower limit portion and a mounting position laterally disposed on a side of the sliding member away from the corresponding supporting wall, and the rack is fixedly mounted in the mounting position.
  • the limiting surface of the upper limit portion protrudes from the rack in a direction away from the supporting wall from the upper side of the rack, and at least the engaging portion of the rack protrudes from the upper side of the lower limit portion away from the supporting wall by the limiting surface of the lower limit portion .
  • the long support shaft and the short support shaft are further engaged with the limit faces of the upper limit portion and the lower limit portion for limiting the slide member together with the support wall of the slide seat.
  • the lower part of the rack of the electric clamp is a lower limit portion, and the limit surface is entirely retracted toward the support wall side, and the entire limit surface is separated from the output tooth of the gear transmission mechanism, and neither of the entire movement of the sliding member is in progress. It is in contact with the output teeth, so it does not affect the meshing of the output teeth and the rack.
  • the electric gripper adopts two kinds of support shafts for length support, and the support points are more and more reliable.
  • Figure 1 is a cross-sectional view showing an embodiment of the electric gripper of the present application
  • FIG. 2 is a schematic structural view of a sliding part of an embodiment of the electric gripper of the present application
  • Figure 3 is a side cross-sectional view of the slider portion of an embodiment of the electric jaw of the present application.
  • FIG. 4 is a cross-sectional view showing a driving motor and a transmission mechanism in an embodiment of the electric jaw of the present application
  • FIG. 5 is a schematic view showing the internal structure of a driving motor and a transmission mechanism in an embodiment of the electric jaw of the present application
  • FIG. 6 is a top plan view of an involute planetary transmission mechanism in an embodiment of the electric gripper of the present application
  • FIG 7 and 8 are schematic views showing the assembly and disassembly of the cover in an embodiment of the electric gripper of the present application.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment provides an electric gripper that is driven by a drive motor to achieve gripping and releasing of an object.
  • the electric jaw includes a support base 100 , a drive motor 200 , a gear transmission mechanism 300 , a rack 400 , a slide base 500 , a slider 600 , a long support shaft 710 , and a short support shaft 720 .
  • the drive motor 200 is fixedly disposed on the support base 100.
  • the support base 100 can serve as a support member for the electric jaws, which can form a housing structure in which the drive motor 200 can be housed.
  • the support base 100 may include a plurality of portions that are fixedly coupled together by screws 101 or the like.
  • the gear transmission mechanism 300 is used to complete the transmission of power, which is driven by the drive motor 200, and finally transmits the motion of the output of the drive motor 200 to the rack 400.
  • the rack 400 is two, and the two racks 400 are respectively engaged with the output teeth 301 of the gear transmission mechanism 300 to generate a facing or deviating motion under the driving of the motor.
  • the two racks 400 can be disposed on opposite sides of the output teeth 301 of the gear transmission mechanism 300 in such a manner that the engaging portions are opposite to each other as shown in FIGS. 2 and 3.
  • the two output racks 301 can drive the two racks 400. Achieve opposite or deviation movements.
  • each rack 400 can also be driven by a different output tooth 301.
  • the sliding seat 500 includes a pair of oppositely disposed support walls 510.
  • the sliding seat 500 can be fixedly mounted on the support base 100.
  • the slide base 500 serves as a support for the slider 600.
  • the two sliders 600 are slidably disposed on the two support walls 510, respectively.
  • a slider 600 is fixedly coupled to a rack 400 such that the rack 400 moves to move the slider 600.
  • the slider 600 can be a slider or other structure.
  • the slider 600 has an upper limit portion 610, a mounting position 620, a lower limit portion 630, and a protruding claw body 640.
  • the claws 640 of the two sliders 600 are used to clamp or release an object when the two sliders 600 are facing or facing away from each other.
  • the upper limit portion 610, the lower limit portion 630, and the mounting position 620 are laterally disposed on a side of the slider 600 away from the corresponding support wall 510, and the lateral direction refers to the left-right direction shown in FIG.
  • the rack 400 is fixedly mounted within the mounting location 620.
  • the mounting location 620 can be a variety of structures such as a flat, concave or convex surface.
  • the rack 400 can be fixed to the slider 600 by screws 402.
  • a positioning hole or positioning shaft 401 may also be provided for positioning the rack 400 on the slider 600.
  • the upper limit portion 610 and the lower limit portion 630 are respectively located on the upper and lower sides of the rack 400.
  • the limiting surface 611 of the upper limit portion 610 protrudes from the rack 400 in a direction away from the supporting wall 510 from the rack 400.
  • the long supporting shaft 710 is fixedly disposed and cooperates with the limiting surface 611 of the upper limit portion 610.
  • the slider 600 is restrained together with the support wall 510 of the slider 500. At least the meshing portion of the rack 400 protrudes from the upper side of the lower limit portion 630 away from the support wall 510 by the limiting surface 631 of the lower limit portion 630.
  • the engaging portion refers to a portion of the rack 400 for engaging with the output teeth 301.
  • the limiting surface 631 of the lower limit portion 630 is entirely retracted toward the support wall 510 side, and the entire limiting surface 631 is separated from the output tooth 301 of the gear transmission mechanism 300, and is not outputted during the entire movement of the sliding member 600.
  • the contact of 301 does not affect the engagement of the output teeth 301 with the rack 400.
  • the short support shaft 720 is fixedly disposed and cooperates with the limiting surface of the lower limit portion 630 for limiting the slider 600 together with the support wall 510 of the sliding seat 500.
  • the electric gripper adopts two kinds of support shafts for length support, and the support points are more and more reliable.
  • the upper limit portion 610, the lower limit portion 630, and the mounting position 620 may be entirely penetrating one side of the slider 600, that is, extending from one end (leftmost end) of the slider 600 to the other end (rightmost end) of the slider 600, This is not only simple to manufacture, but also requires only directly increasing the size of the slider 600 when a large stroke is to be made, without changing the positions of the upper limit portion 610, the lower limit portion 630, and the mounting position 620.
  • the short support shaft 720 is vertically disposed, and the outer peripheral surface thereof is engaged with the limiting surface of the lower limit portion 630, and the upper end surface of the short support shaft 720 The bottom of the rack 400 is supported to improve the fixing effect of the rack 400 on the slider 600.
  • the long support shaft 710 may also be vertically disposed, and the outer peripheral surface thereof is engaged with the limit surface of the upper limit portion 610.
  • the long support shaft 710 is longer than the short support shaft 720 and is relatively farther from the support wall 510 than the short support shaft 720.
  • the long support shaft 710 is located between the two sliding members 600, and the two sliding members 600 share the long support shaft 710, so that the structure of the electric jaws is more compact.
  • the long support shaft 710 and the short support shaft 720 can employ an optical axis, which can reduce the friction between the slider 600 and the long support shaft 710 and the short support shaft 720.
  • the long support shafts 710 are at least two. At least one long support shaft 710 is vertically disposed on two sides of the output gear 301 of the gear transmission mechanism 300, and the short support shaft 720 is located between the long support shaft 710 and the corresponding support wall 510, and its position is aligned with the long support shaft 710. . As shown in Fig. 2, the alignment here means that one long support shaft 710 and a corresponding one short support shaft 720 are in the same straight line in the Y-axis direction.
  • the short support shaft 720 can also be non-aligned with the long support shaft 710.
  • the number may be the same or different from the long support shaft 710.
  • the length of the long support shaft 710 and the short support shaft 720 are two, which are symmetrically distributed on both sides of the output tooth 301.
  • the two long support shafts 710 are on the same straight line in the X-axis direction, the distance between them is L1, and the two short support shafts 720 are also on the same straight line in the X-axis direction.
  • the length of the sliding space of the slider 600 in the X-axis direction is L2
  • the length of the sliding member 600 in the X-axis direction plus the total length of the sliding space thereof is L
  • the length of L1 satisfies: L1 ⁇ L-2 ⁇ L2, which allows the end of the slider 600 to fall out of the space defined by the one side long support shaft 710 when the slider 600 is slid to the extreme position.
  • the upper limit portion 610, the mounting location 620, and the lower limit portion 630 form a stepped outer wall.
  • the mounting surface 620 and the limiting surface of the lower limit portion 630 are located on the same sidewall of the first step A.
  • the limiting surface of the upper limit portion 610 is located on the side wall of the second step B, and the limiting surface 611 of the upper limit portion 610 is parallel to the limiting surface 631 of the lower limit portion 630.
  • This configuration is easier to machine for the slider 600, and a sufficient space is formed between the lower limit portion 630 and the rack 400 to mount the short support shaft 720.
  • the sliding base 500 includes a base 520, and two supporting walls 510 are fixedly disposed on both sides of the base 520, and the output teeth 301 of the gear transmission mechanism 300 pass through the bearing.
  • the 650 is mounted on the base 520.
  • the bearing 650 can be designed to cooperate with the limiting surface of the lower limit portion 630 to form a limit on the lower limit portion 630, thereby improving the limiting effect on the sliding member 600.
  • the base 520 can be mounted on the support base 100, for example, as shown in FIG. 1, fixedly connected by screws 501, thereby enclosing a closed space with the support base 100.
  • the driving motor 200 is installed in the closed space, and the gear transmission mechanism 300 is extended from the base 520 except for the output gear 301, and other parts are also accommodated in the closed space, thereby protecting the driving motor 200 and the gear transmission mechanism 300. It also prevents dust and other debris from entering.
  • a rail slot is disposed between the sliding member 600 and the corresponding supporting wall 510 , and a cross roller bearing 810 is mounted in the rail slot.
  • other manners of guiding structure can be used for guiding and limiting between the sliding member 600 and the supporting wall 510.
  • an electric caliper is installed in a common electric gripper, and the electric caliper refers to a device that can determine whether the size of the gripping position of the workpiece is within a set dimensional tolerance when the workpiece is gripped.
  • the gearing mechanism 300 employs a two-stage involute planetary transmission that is driven by the output of the drive motor 200.
  • the output of the two-stage involute planetary transmission meshes with the rack 400.
  • the two-stage involute planetary transmission mechanism includes an output pinion 301, a snap spring 302, a gasket 303, an internal tooth casing 304, an oil bearing 305, and an output frame. 306.
  • the output teeth 201 of the drive motor 200 are coupled to a planetary transmission.
  • the drive motor 200 has a copper sleeve 202 and a signal magnet 203.
  • the encoder 900 senses the angle at which the magnet 203 coupled to the output shaft of the drive motor 200 is rotated. Power is amplified by the two-stage involute planetary transmission mechanism 300 and transmitted through the output teeth 301 to the two oppositely placed racks 400.
  • the rack 400 is rigidly coupled to the slider 600.
  • the embodiment improves the impact resistance of the transmission portion by adopting an involute planetary transmission, and the rack and pinion 400 adopts a rigid coupling, which not only makes the rack 400 can omit the shock absorber when being mounted to the sliding member 600, but also realizes the The motor rotation angle is linearly consistent with the height of the movement of the sliding member 600, so that the electric caliper function can be realized without additionally adding a distance sensor at the output end, thereby saving the customer's use cost.
  • the number of the planetary transmission portion gears 314 in this embodiment is three.
  • the number of uniforms of the planetary transmission portion gears 314 may also be four or more.
  • the sliding seat 500 further includes two cover plates 530.
  • the base 520 and the support wall 510 enclose a U-shaped groove structure.
  • the two cover plates 530 are respectively detachably mounted at the opening ends of the U-shaped groove structure, so that the sliding seat 500 encloses a cavity.
  • the upper limit portion 610, the lower limit portion 630, the mounting position 620, the rack 400, the long support shaft 710, and the short support shaft 720 are all mounted in the cavity, and the claw body 640 protrudes from the cavity.
  • the side cover 530 can be coupled to the support wall 510 by two screws 540.
  • the cover 530 can also employ a detachable rubber plug. When the electric gripper needs maintenance, the screw can be removed, and the cover 530 can be removed to facilitate cleaning or adding grease.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种电动夹爪，其滑动件（600）具有上限位部（610）、下限位部（620）和安装位（630），齿条（400）固定安装在安装位内。齿条至少啮合部从下限位部的上方向远离支撑壁（510）的方向凸出于下限位部的限位面（631）。再利用长支撑轴（710）和短支撑轴（720）与上限位部和下限位部进行配合，用于与滑动座（500）的支撑壁一起对滑动件进行限位。该电动夹爪中齿条的下方为下限位部，其限位面整体向支撑壁一侧回缩，整个限位面均与齿轮传动机构的输出齿（301）分离，在滑动件整个移动过程中都不与输出齿接触，因此不会影响输出齿与齿条的啮合，当需要进行大行程设计时，只需按照需要的行程加长滑动件、齿条以及其他部件的长度即可，无需改变支撑轴的位置。而且该电动夹爪采用了长短两种支撑轴进行限位支撑，其支撑点更多，更加可靠。

Description

电动夹爪 技术领域
本申请涉及机械设备领域，具体涉及一种用于抓取物体的电动夹爪。
 背景技术
电动夹爪作为机械臂的末端夹取装置，在工业自动化领域中有着广泛的应用。电动夹爪按手指数分主要有两指平动型和三指型，工业自动化领域以两指平动型应用较多，两指平动的运动实现主要有齿轮齿条传动、凸轮传动以及滚珠丝杠传动三种实现方式动力。
通常使用齿轮齿条传动的电动夹爪中，齿条与滑块固定，滑块为两个，其滑动设置在滑动座上，并且每个滑块都具有凸起的爪体。电动夹爪的动力由驱动电机经过4级渐开线平行轴传动机构传递到齿条，然后经过减震器将动力传递给滑块，从而通过驱动电机驱动爪体相向或背离运动来完成对物体的夹取和释放。为了防止滑块在运动过程中产生以运动方向为轴心的转动，通常还会在滑块远离滑动座的一侧设置支撑轴，利用支撑轴与滑动座形成一个限位结构，防止滑块以运动方向为轴心的转动。
但是，这种电动夹爪中齿条镶嵌在滑块的中部，为了形成较好的限位，支撑轴需要同时与滑块位于齿条上下两侧的部位滑动接触形成限位，因此滑块位于齿条上下两侧的部位都是凸出于齿条的。又为了保证齿条和齿轮能够良好的啮合，滑块位于齿条下方的部分需要形成开口，以便齿轮从开口处与齿条啮合。这种电动夹爪结构复杂，在需要进行大行程设计时，不仅齿条需要加长，而且滑块的结构需要根据齿条位置重新设计。
 技术问题
本申请提供一种新型的电动夹爪。
 技术解决方案
根据本申请的一方面，一种实施例中提供一种电动夹爪，包括：
支撑座；
驱动电机，所述驱动电机固定设置在支撑座上；
齿轮传动机构，所述齿轮传动机构由所述驱动电机进行驱动；
两条齿条，所述两条齿条分别与齿轮传动机构的输出齿啮合，用以在电机的驱动下产生相向或背离运动；
滑动座，所述滑动座包括一对相对设置的支撑壁；
两个滑动件，所述两个滑动件分别可滑动地设置在两个支撑壁上，并且一个滑动件对应与一个齿条固定连接，所述滑动件具有上限位部、下限位部、安装位和突出设置的爪体，所述上限位部、下限位部和安装位横向设置在滑动件远离对应支撑壁的一侧，所述齿条固定安装在所述安装位内，所述上限位部和下限位部分别位于齿条的上下两侧，所述上限位部的限位面从齿条上方向远离支撑壁的方向凸出于齿条，所述齿条至少啮合部从下限位部的上方向远离支撑壁的方向凸出于下限位部的限位面，避免滑动件移动时下限位部与齿轮传动机构的输出齿接触，所述两个滑动件的爪体用于在两个滑动件相向或背离运动时夹持或释放物体；
长支撑轴，所述长支撑轴固定设置并与上限位部的限位面进行配合，用于与滑动座的支撑壁一起对滑动件进行限位；
以及短支撑轴，所述短支撑轴固定设置并与下限位部的限位面进行配合，用于与滑动座的支撑壁一起对滑动件进行限位。
作为所述电动夹爪的进一步改进，所述短支撑轴竖直设置，其外周面与下限位部的限位面进行配合，所述短支撑轴的上端面支撑所述齿条的底部。
作为所述电动夹爪的进一步改进，所述上限位部、安装位和下限位部形成阶梯状的外壁，所述安装位和下限位部的限位面位于第一级阶梯的同一侧壁上，所述上限位部的限位面位于第二级阶梯的侧壁上，且所述上限位部的限位面与下限位部的限位面平行。
作为所述电动夹爪的进一步改进，所述长支撑轴竖直设置，其外周面与上限位部的限位面进行配合，所述长支撑轴位于两个滑动件之间，所述两个滑动件共用所述长支撑轴。
作为所述电动夹爪的进一步改进，所述长支撑轴为至少两个，所述齿轮传动机构的输出齿两侧分别竖直设置至少一个长支撑轴，所述短支撑轴位于长支撑轴和对应支撑壁之间，且其位置与所述长支撑轴对齐。
作为所述电动夹爪的进一步改进，所述滑动座包括底座，两个支撑壁固定设置在底座的两侧，所述齿轮传动机构的输出齿通过轴承安装在底座上。
作为所述电动夹爪的进一步改进，所述轴承外周面与下限位部的限位面配合，对下限位部形成限位。
作为所述电动夹爪的进一步改进，所述滑动座还包括两个盖板，所述底座和支撑壁围成U形槽结构，所述两个盖板分别可拆卸地安装在U形槽结构的两端开口处，使滑动座围成一个腔体，所述上限位部、下限位部、安装位、齿条、长支撑轴和短支撑轴都安装在所述腔体内，所述爪体从腔体内伸出。
作为所述电动夹爪的进一步改进，所述滑动件与对应的支撑壁之间设置有导轨槽，所述导轨槽内安装有交叉滚子轴承。
作为所述电动夹爪的进一步改进，所述齿轮传动机构采用两级渐开线行星传动机构，其由驱动电机的输出端驱动，所述两级渐开线行星传动机构的输出端与齿条啮合。
 有益效果
依据上述实施例的电动夹爪，其滑动件具有横向设置在滑动件远离对应支撑壁的一侧的上限位部、下限位部和安装位，齿条固定安装在安装位内。上限位部的限位面从齿条上方向远离支撑壁的方向凸出于齿条，齿条至少啮合部从下限位部的上方向远离支撑壁的方向凸出于下限位部的限位面。再利用长支撑轴和短支撑轴与上限位部和下限位部的限位面进行配合，用于与滑动座的支撑壁一起对滑动件进行限位。该电动夹爪中齿条的下方为下限位部，其限位面整体向支撑壁一侧回缩，整个限位面均与齿轮传动机构的输出齿分离，在滑动件整个移动过程中都不与输出齿接触，因此不会影响输出齿与齿条的啮合，当需要进行大行程设计时，只需按照需要的行程加长滑动件、齿条以及其他部件的长度即可，无需改变支撑轴的位置。而且本电动夹爪采用了长短两种支撑轴进行限位支撑，其支撑点更多，更加可靠。
 附图说明
图1为本申请电动夹爪一种实施例的剖视图；
图2为本申请电动夹爪一种实施例中滑动件部分的结构示意图；
图3为本申请电动夹爪一种实施例中滑动件部分的侧向剖视图；
图4为本申请电动夹爪一种实施例中驱动电机及传动机构的剖视图；
图5为本申请电动夹爪一种实施例中驱动电机及传动机构内部结构示意图；
图6为本申请电动夹爪一种实施例中渐开线行星传动机构的俯视图；
图7和8本申请电动夹爪一种实施例中盖板装拆示意图。
 本发明的实施方式
具体实施方式
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接（联接）。
实施例一：
本实施例提供了一种电动夹爪，其由驱动电机进行驱动，实现对物体的夹取和释放。
请参考图1，该电动夹爪包括支撑座100、驱动电机200、齿轮传动机构300、齿条400、滑动座500、滑动件600、长支撑轴710以及短支撑轴720。
该驱动电机200固定设置在支撑座100上。该支撑座100可以作为电动夹爪的支撑部件，其可以形成一个壳体结构，驱动电机200可以收容在壳体结构内。支撑座100可以包括多个部分，该多个部分通过螺钉101等方式固定连接在一起。该齿轮传动机构300用以完成对动力的传递，其由驱动电机200进行驱动，最终将驱动电机200输出的运动传递到齿条400上。
该齿条400为两条，该两条齿条400分别与齿轮传动机构300的输出齿301啮合，用以在电机的驱动下产生相向或背离运动。其中，两条齿条400可以如图2和3所示这样以啮合部相对的方式设置在齿轮传动机构300的输出齿301的两侧，利用同一个输出齿301就可带动两条齿条400实现相向或背离运动。当然，在其他的实施例中，每条齿条400也可以分别采用不同的输出齿301来带动。
该滑动座500包括一对相对设置的支撑壁510。该滑动座500可以是固定安装在支撑座100上。其中，该滑动座500作为滑动件600的支撑。该两个滑动件600分别可滑动地设置在两个支撑壁510上。一个滑动件600对应与一个齿条400固定连接，这样齿条400移动时将带动滑动件600移动。该滑动件600可以是一种滑块或其他结构。
请参考图2和3，该滑动件600具有上限位部610、安装位620、下限位部630和突出设置的爪体640。该两个滑动件600的爪体640用于在两个滑动件600相向或背离运动时夹持或释放物体。该上限位部610、下限位部630和安装位620横向设置在滑动件600远离对应支撑壁510的一侧，该横向是指图1所示的左右方向。
该齿条400固定安装在安装位620内。该安装位620可以是一个平面、凹面或凸面等各种结构。请参考图2，齿条400可通过螺钉402固定在滑动件600上。另外，如图2所示，也可以设置定位孔或定位轴401用于定位齿条400在滑动件600上的位置。
请继续参考图2和3，该上限位部610和下限位部630分别位于齿条400的上下两侧。该上限位部610的限位面611从齿条400上方向远离支撑壁510的方向凸出于齿条400，长支撑轴710固定设置并与上限位部610的限位面611进行配合，用于与滑动座500的支撑壁510一起对滑动件600进行限位。该齿条400至少啮合部从下限位部630的上方向远离支撑壁510的方向凸出于下限位部630的限位面631。该啮合部是指齿条400上用于与输出齿301啮合的部位。该下限位部630的限位面631整体向支撑壁510一侧回缩，整个限位面631均与齿轮传动机构300的输出齿301分离，在滑动件600整个移动过程中都不与输出齿301接触，因此不会影响输出齿301与齿条400的啮合。该短支撑轴720固定设置并与下限位部630的限位面进行配合，用于与滑动座500的支撑壁510一起对滑动件600进行限位。
当本夹爪需要进行大行程设计时，只需按照需要的行程加长滑动件600、齿条400以及其他部件的长度即可，无需改变支撑轴的位置。而且本电动夹爪采用了长短两种支撑轴进行限位支撑，其支撑点更多，更加可靠。
该上限位部610、下限位部630和安装位620可以是整个贯通在滑动件600的一侧，即从滑动件600的一端（最左端）延伸到滑动件600的另一端（最右端），这样不仅制造简单，而且在要做大行程时，只需直接增加滑动件600尺寸即可，不用改变上限位部610、下限位部630和安装位620的位置。
进一步地，请继续参考图2和3，在一种实施例中，该短支撑轴720竖直设置，其外周面与下限位部630的限位面进行配合，该短支撑轴720的上端面支撑齿条400的底部，以提高齿条400在滑动件600上的固定效果。
同样的，长支撑轴710也可以竖直设置，其外周面与上限位部610的限位面进行配合。该长支撑轴710比短支撑轴720长，其相对短支撑轴720更远离支撑壁510。
请参考图3，一种实施例中，该长支撑轴710位于两个滑动件600之间，该两个滑动件600共用长支撑轴710，这样使得电动夹爪的结构更加紧凑。
该长支撑轴710和短支撑轴720可以采用光轴，这样可以减小滑动件600与长支撑轴710和短支撑轴720之间的摩擦力。
请继续参考图2和3，在一种实施例中，该长支撑轴710为至少两个。该齿轮传动机构300的输出齿301两侧分别竖直设置至少一个长支撑轴710，该短支撑轴720位于长支撑轴710和对应支撑壁510之间，且其位置与该长支撑轴710对齐。如图2所示，这里所说的对齐是指一个长支撑轴710和对应的一个短支撑轴720在Y轴方向上位于同一直线。
当然，在其他实施例中，该短支撑轴720也可以是与长支撑轴710非对齐的。而且其数量可以与长支撑轴710一致或者不同。
请参考图2和3，在一种实施例中，该长支撑轴710和短支撑轴720均选用2个，其对称的分布在输出齿301的两侧。请参考图2，两个长支撑轴710在X轴方向位于同一直线上，两者之间的距离为L1，两个短支撑轴720在X轴方向也位于同一直线上。一种实施例中，滑动件600在X轴方向上滑动空间的长度为L2，滑动件600在X轴方向上的长度加上其滑动空间的总长度为L，其中L1的长度满足：L1＜L-2×L2，这可以使得滑动件600滑动到极限位置时，滑动件600的一端不会从一侧长支撑轴710所限定的空间内脱落。
进一步地，请继续参考图2和3，在一种实施例中，该上限位部610、安装位620和下限位部630形成阶梯状的外壁。该安装位620和下限位部630的限位面位于第一级阶梯A的同一侧壁上。上限位部610的限位面位于第二级阶梯B的侧壁上，且上限位部610的限位面611与下限位部630的限位面631平行。这种结构对滑动件600来说更容易加工，而且下限位部630和齿条400之间形成了足够的空间来安装短支撑轴720。
进一步地，请继续参考图2和3，在一种实施例中，滑动座500包括底座520，两个支撑壁510固定设置在底座520的两侧，该齿轮传动机构300的输出齿301通过轴承650安装在底座520上。
其中，该轴承650可设计为外周与下限位部630的限位面配合，对下限位部630形成限位，从而提高对滑动件600的限定作用。
该底座520可以安装在支撑座100上，例如如图1所示，利用螺钉501固定连接，从而与支撑座100围成一个封闭的空间。驱动电机200安装在该封闭空间内，而齿轮传动机构300除输出齿301从底座520伸出，其他部分也收容在该封闭空间内，从而对驱动电机200和齿轮传动机构300起到保护作用，同时也可防止灰尘等杂物进入。
请参考图3，一种实施例中，该滑动件600与对应的支撑壁510之间设置有导轨槽，该导轨槽内安装有交叉滚子轴承810。在其他实施例中，滑动件600和支撑壁510之间还可以采用其他方式的导向结构进行导向和限位。
进一步地，通常的电动夹爪中会安装电动卡尺，该电动卡尺指：电动夹爪在夹取工件时，可判断工件夹取位置的尺寸是否在设定尺寸公差范围内的装置。
鉴于现有电动夹爪的结构，由于采用渐开线平行轴外啮合传动，同时啮合的齿轮只有一对，抗冲击性不好。为了提高传动的抗冲击性，不得不在齿条400两侧增加减震器来缓冲。由于减震器的弹性变形使得滑块的运动与马达输出轴的转动不线性相关，因而夹爪的电动卡尺功能不能直接由马达输出轴端的编码器实现。要实现夹爪的电动卡尺功能，需要在手指上另外安装距离传感器，成本较高。
对此，在一种实施例中，该齿轮传动机构300采用两级渐开线行星传动机构，其由驱动电机200的输出端驱动。该两级渐开线行星传动机构的输出端与齿条400啮合。
具体地，请参考图4-6，一种实施例中，该两级渐开线行星传动机构包括输出齿轴301、卡簧302、垫片303、内齿外壳304、含油轴承305、输出架306、第二级行星齿307、第一级行星架308、第一级行星齿309、第二垫片310、座体311。驱动电机200的输出齿201与行星传动机构连接。驱动电机200具有铜套202和信号磁铁203。
请参考图1、4、5，当驱动电机200转动时，编码器900感应与驱动电机200输出轴联接的磁铁203所转过的角度。动力通过两级渐开线行星传动机构300放大后通过输出齿301传递给两个相对放置的齿条400。齿条400与滑动件600刚性联接。
本实施例通过采用渐开线行星传动提高了传动部分的抗冲击性，该齿轮齿条400采用刚性联接，不仅使得齿条400在安装到滑动件600时可省略减震器，而且实现了从马达转角与滑动件600移动的高度线性一致，使得不用在输出端额外增加距离传感器便可实现电动卡尺功能，节约了客户的使用成本。
如图6所示，该实施例中行星传动部分齿轮314的均布数量为3个。当然，在其他实施例中，该行星传动部分齿轮314的均布数量也可以为4个或更多。
进一步地，通常的电动夹爪中，如果要对齿轮渐开线平行轴传动部分、输出齿301、齿条400以及交叉滚子保持架部分的灰尘和变质润滑脂进行清洗并补充新的润滑脂，则需要将夹爪的传动部分全部拆卸，操作非常不便。
请参考图7和8，一种实施例中，该滑动座500还包括两个盖板530。该底座520和支撑壁510围成U形槽结构，该两个盖板530分别可拆卸地安装在U形槽结构的两端开口处，使滑动座500围成一个腔体。上限位部610、下限位部630、安装位620、齿条400、长支撑轴710和短支撑轴720都安装在该腔体内，该爪体640从腔体内伸出。
该两侧盖板530可通过两颗螺丝540与支撑壁510联接。当然，盖板530也可采用可拆卸的胶塞。该电动夹爪需要维护时，可将螺丝卸下，取下盖板530即可方便进行清洗或添加润滑油脂的维护作业。
 
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本领域的一般技术人员，依据本发明的思想，可以对上述具体实施方式进行变化。

Claims (10)

  1. 一种电动夹爪,其特征在于，包括：
    支撑座；
    驱动电机，所述驱动电机固定设置在支撑座上；
    齿轮传动机构，所述齿轮传动机构由所述驱动电机进行驱动；
    两条齿条，所述两条齿条分别与齿轮传动机构的输出齿啮合，用以在电机的驱动下产生相向或背离运动；
    滑动座，所述滑动座包括一对相对设置的支撑壁；
    两个滑动件，所述两个滑动件分别可滑动地设置在两个支撑壁上，并且一个滑动件对应与一个齿条固定连接，所述滑动件具有上限位部、下限位部、安装位和突出设置的爪体，所述上限位部、下限位部和安装位横向设置在滑动件远离对应支撑壁的一侧，所述齿条固定安装在所述安装位内，所述上限位部和下限位部分别位于齿条的上下两侧，所述上限位部的限位面从齿条上方向远离支撑壁的方向凸出于齿条，所述齿条至少啮合部从下限位部的上方向远离支撑壁的方向凸出于下限位部的限位面，避免滑动件移动时下限位部与齿轮传动机构的输出齿接触，所述两个滑动件的爪体用于在两个滑动件相向或背离运动时夹持或释放物体；
    长支撑轴，所述长支撑轴固定设置并与上限位部的限位面进行配合，用于与滑动座的支撑壁一起对滑动件进行限位；
    以及短支撑轴，所述短支撑轴固定设置并与下限位部的限位面进行配合，用于与滑动座的支撑壁一起对滑动件进行限位。
  2. 如权利要求1所述的电动夹爪，其特征在于，所述短支撑轴竖直设置，其外周面与下限位部的限位面进行配合，所述短支撑轴的上端面支撑所述齿条的底部。
  3. 如权利要求1或2所述的电动夹爪，其特征在于，所述上限位部、安装位和下限位部形成阶梯状的外壁，所述安装位和下限位部的限位面位于第一级阶梯的同一侧壁上，所述上限位部的限位面位于第二级阶梯的侧壁上，且所述上限位部的限位面与下限位部的限位面平行。
  4. 如权利要求3所述的电动夹爪，其特征在于，所述长支撑轴竖直设置，其外周面与上限位部的限位面进行配合，所述长支撑轴位于两个滑动件之间，所述两个滑动件共用所述长支撑轴。
  5. 如权利要求1-4任一项所述的电动夹爪，其特征在于，所述长支撑轴为至少两个，所述齿轮传动机构的输出齿两侧分别竖直设置至少一个长支撑轴，所述短支撑轴位于长支撑轴和对应支撑壁之间，且其位置与所述长支撑轴对齐。
  6. 如权利要求1-5任一项所述的电动夹爪，其特征在于，所述滑动座包括底座，两个支撑壁固定设置在底座的两侧，所述齿轮传动机构的输出齿通过轴承安装在底座上。
  7. 如权利要求6所述的电动夹爪，其特征在于，所述轴承外周面与下限位部的限位面配合，对下限位部形成限位。
  8. 如权利要求6所述的电动夹爪，其特征在于，所述滑动座还包括两个盖板，所述底座和支撑壁围成U形槽结构，所述两个盖板分别可拆卸地安装在U形槽结构的两端开口处，使滑动座围成一个腔体，所述上限位部、下限位部、安装位、齿条、长支撑轴和短支撑轴都安装在所述腔体内，所述爪体从腔体内伸出。
  9. 如权利要求1-8任一项所述的电动夹爪，其特征在于，所述滑动件与对应的支撑壁之间设置有导轨槽，所述导轨槽内安装有交叉滚子轴承。
  10. 如权利要求1-9任一项所述的电动夹爪，其特征在于，所述齿轮传动机构采用两级渐开线行星传动机构，其由驱动电机的输出端驱动，所述两级渐开线行星传动机构的输出端与齿条啮合。
PCT/CN2018/074182 2018-01-25 2018-01-25 电动夹爪 WO2019144355A1 (zh)

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US6264419B1 (en) * 1998-10-15 2001-07-24 Tecan Schweig Ag Robot arm
CN103662828A (zh) * 2013-11-26 2014-03-26 杭州电子科技大学 一种钢管辅助夹持装置
CN205058063U (zh) * 2015-10-14 2016-03-02 东南大学 一种机械抓手装置
CN206244032U (zh) * 2016-11-24 2017-06-13 瑞安市中凯自动化科技有限公司 机械夹具
CN206677969U (zh) * 2017-04-17 2017-11-28 宁波中哲医疗科技有限公司 一种夹料机械手活动装置
CN108214479A (zh) * 2018-01-25 2018-06-29 深圳市固胜智能科技有限公司 电动夹爪
CN207841328U (zh) * 2018-01-25 2018-09-11 深圳市固胜智能科技有限公司 电动夹爪

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5163729A (en) * 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
US6264419B1 (en) * 1998-10-15 2001-07-24 Tecan Schweig Ag Robot arm
CN103662828A (zh) * 2013-11-26 2014-03-26 杭州电子科技大学 一种钢管辅助夹持装置
CN205058063U (zh) * 2015-10-14 2016-03-02 东南大学 一种机械抓手装置
CN206244032U (zh) * 2016-11-24 2017-06-13 瑞安市中凯自动化科技有限公司 机械夹具
CN206677969U (zh) * 2017-04-17 2017-11-28 宁波中哲医疗科技有限公司 一种夹料机械手活动装置
CN108214479A (zh) * 2018-01-25 2018-06-29 深圳市固胜智能科技有限公司 电动夹爪
CN207841328U (zh) * 2018-01-25 2018-09-11 深圳市固胜智能科技有限公司 电动夹爪

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