AC servo shaft clamping mechanism

Abstract

The utility model discloses an AC servo shaft clamping mechanism which comprises a positioning cylinder frame and a first servo motor fixedly installed in the center of the interior of the positioning cylinder frame. A rotating mechanism is arranged below the positioning cylinder frame and comprises a first rotating support, and the center position of the top end of the first rotating support is fixedly connected to the bottom end of an output shaft of a first servo motor. Wherein a positioning mechanism is arranged below the rotating mechanism, the positioning mechanism comprises a positioning flat plate, and positioning clamping arms are fixedly arranged on the left side and the right side of the bottom face of the positioning flat plate. According to the AC servo shaft clamping mechanism, the first servo motor and the second servo motor drive the first rotating support and the second rotating support to rotate in the X-axis direction and the Y-axis direction so that the positioning mechanism can be driven to adapt to workpieces in different directions, and the positioning clamping arm, the abutting sliding plate and the abutting sliding block can achieve lifting and clamping positioning on the workpieces; therefore, the stability in the transferring process is improved.

Description

Technical Field

[0001] This utility model relates to the field of servo axis clamping technology, specifically to an AC servo axis clamping mechanism. Background Technology

[0002] A servo axis clamping mechanism refers to clamping that achieves rotation along different axes through a servo driver (motor). By rotating at different angles, the mechanical fixture is driven to clamp and position the required workpiece or equipment so as to transfer it to different positions.

[0003] The utility model disclosed in CN220679726U is a servo clamping mechanism. The moving direction of the rack and corner plates is related to the rotation direction of the rotating gear. When the rotating gear rotates clockwise, the two corner plates move relative to each other; when the rotating gear rotates counterclockwise, the two corner plates move in opposite directions. This ensures that the relative movement distance of the two corner plates is equal. When clamped, the pipe can be clamped exactly below the laser cutting machine, ensuring the accuracy and quality of laser cutting.

[0004] However, the servo clamping mechanism disclosed above still has the following problems in actual use: Although the clamping arm is adjusted by the driver moving in opposite directions to achieve clamping and positioning, this type of clamping mechanism can only clamp the workpiece in the same direction and cannot adapt to rotation in different directions. At the same time, this rigid clamping also lacks stability and affects the clamping effect.

[0005] Therefore, we propose an AC servo axis clamping mechanism to solve the problems mentioned above. Utility Model Content

[0006] The purpose of this utility model is to provide an AC servo axis clamping mechanism to solve the problem that existing clamping mechanisms can only clamp workpieces in the same direction and cannot adapt to rotation in different directions. In addition, this rigid clamping also lacks stability, which affects the clamping effect.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an AC servo axis clamping mechanism, including a positioning cylinder and a first servo motor fixedly installed at the center position inside the positioning cylinder, and the top of the positioning cylinder is fixedly installed at the connecting end of a mobile robotic arm;

[0008] A rotating mechanism is provided below the positioning cylinder frame, and the rotating mechanism includes a first rotating bracket, and the top center of the first rotating bracket is fixedly connected to the bottom end of the output shaft of the first servo motor.

[0009] The rotating mechanism is equipped with a positioning mechanism below it, and the positioning mechanism includes a positioning plate. Positioning clamps are fixedly installed on both the left and right sides of the bottom surface of the positioning plate.

[0010] Preferably, the rotating mechanism includes a second servo motor, which is fixedly installed on the left side of the bottom end of the first rotating bracket, and the left end of the top surface of the first rotating bracket is fixedly connected to the bottom end of the lead wire bracket.

[0011] Preferably, the rotating mechanism includes a second rotating bracket, the top of which is fixedly connected to the right end of the output shaft of the second servo motor, and a third servo motor is fixedly disposed inside the lower part of the second rotating bracket.

[0012] Preferably, the positioning mechanism includes an adjustable frame, which is fixedly installed on the center of the top surface of the positioning plate, and the center of the top surface of the positioning plate is fixedly connected to the bottom end of the second rotating bracket.

[0013] Preferably, the positioning mechanism includes a drive gear, which is rotatably positioned at the inner center of the adjustable frame and is fixedly connected to the bottom end of the output shaft of the third servo motor.

[0014] Preferably, the positioning mechanism includes a driven rack, which is slidably disposed on the left and right sides inside the adjustable frame, and the symmetrically disposed driven racks are meshed with the outer wall of the drive gear, and the outer bottom end of the symmetrically disposed driven racks slides through the bottom surface of the positioning plate.

[0015] Preferably, the positioning mechanism includes a positioning clamp arm whose rear end is fixedly connected to the bottom end of the left and right driven racks, and the rear ends of the left and right positioning clamp arms are slidably connected to the inside of the positioning guide rail, and the positioning guide rail is fixedly connected to the bottom surface of the positioning plate.

[0016] Preferably, the positioning mechanism includes an abutting slide plate, which is elastically disposed on the inner side of the left and right positioning clamping arms. An abutting slider is elastically slidable inside the front end of the positioning clamping arm. The bottom end of the abutting slide plate and the abutting slider are connected to each other by a traction steel cable so that the movement of the abutting slide plate can drive the abutting slider to rise, thereby realizing the positioning and clamping of the workpiece.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: This AC servo axis clamping mechanism drives the first and second rotating brackets to rotate in the X and Y directions through the first and second servo motors, so as to enable the positioning mechanism to adapt to workpieces in different directions. The positioning clamping arm, the contact plate, and the contact slider can achieve lifting and clamping positioning of the workpiece, thereby improving the stability during the transfer process. The specific details are as follows:

[0018] 1. The first servo motor inside the positioning cylinder works, driving the first rotating bracket fixedly connected to the bottom of its output shaft to rotate, thereby driving the first rotating bracket, the second rotating bracket, and the positioning mechanism to rotate in the X-axis direction.

[0019] The second servo motor on the left side of the first rotating bracket operates, driving the second rotating bracket fixedly connected to the end of the output shaft on the right side and the positioning mechanism at the bottom to rotate in the Y-axis direction, thereby driving the positioning mechanism at the bottom to adapt to workpieces in different directions for clamping, positioning and transfer operations.

[0020] 2. The third servo motor drives the drive gear to rotate, which in turn drives the driven racks and positioning clamping arms on the left and right sides to move in the opposite direction. At the same time, the positioning guide rail limits the movement of the positioning clamping arms to accommodate workpieces of different widths. The workpieces are clamped and transported by side lifting.

[0021] The positioning clamping arm contacts the outer wall of the workpiece through the inner abutment sliding plate, and then drives the abutment sliding plate to slide outward, thereby releasing the traction steel cable. At this time, the elastically connected abutment slider moves upward so as to abut against the workpiece as it slides down, thus ensuring the stability of the workpiece clamping and positioning. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the first rotating bracket of this utility model after rotation;

[0024] Figure 3 This is a schematic diagram of the installation structure of the second rotating bracket of this utility model;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the positioning clamping arm of this utility model;

[0026] Figure 5 This is a schematic diagram of the positioning plate structure of this utility model from below;

[0027] Figure 6 This utility model Figure 4 Enlarged structural diagram at point A in the middle.

[0028] In the diagram: 1. Positioning cylinder frame; 2. First servo motor; 3. First rotating bracket; 4. Positioning plate; 5. Positioning clamp arm; 6. Second servo motor; 7. Lead wire bracket; 8. Second rotating bracket; 9. Third servo motor; 10. Adjustable distance frame; 11. Drive gear; 12. Driven rack; 13. Positioning guide rail; 14. Contact slide plate; 15. Contact slider; 16. Traction cable. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figures 1-6 The present invention provides the following technical solution:

[0031] Example 1: In order to solve the problems existing in the use of the existing mechanical clamping mechanism, this example provides an AC servo axis clamping mechanism, including a positioning cylinder 1 and a first servo motor 2 fixedly installed at the center of the positioning cylinder 1. The top of the positioning cylinder 1 is fixedly installed at the connecting end of the mobile robotic arm. A rotating mechanism is provided below the positioning cylinder 1, and the rotating mechanism includes a first rotating bracket 3. The top center of the first rotating bracket 3 is fixedly connected to the bottom end of the output shaft of the first servo motor 2.

[0032] The rotating mechanism includes a second servo motor 6, which is fixedly installed on the bottom left side of the first rotating bracket 3, and the top left end of the first rotating bracket 3 is fixedly connected to the bottom end of the lead wire bracket 7; the rotating mechanism includes a second rotating bracket 8, the top end of the second rotating bracket 8 is fixedly connected to the right end of the output shaft of the second servo motor 6, and a third servo motor 9 is fixedly installed inside the lower part of the second rotating bracket 8.

[0033] like Figures 2-3 As shown, the positioning cylinder 1 is fixedly installed on the connecting end of the mobile robotic arm by bolts. The first servo motor 2 inside the positioning cylinder 1 works, driving the first rotating bracket 3 fixedly connected to the bottom of its output shaft to rotate, thereby driving the first rotating bracket 3, the second rotating bracket 8, and the positioning mechanism to rotate in the X-axis direction.

[0034] The second servo motor 6, installed on the left side of the first rotating bracket 3, drives the second rotating bracket 8, which is fixedly connected to the end of the output shaft on the right side, and the positioning mechanism at the bottom to rotate in the Y-axis direction. This, in turn, drives the positioning mechanism at the bottom to adapt to workpieces in different directions for clamping, positioning, and transfer operations.

[0035] Example 2: In order to solve the problems existing in the use of the existing mechanical clamping mechanism, this example adopts the following technical solution: a positioning mechanism is provided below the rotating mechanism, and the positioning mechanism includes a positioning plate 4, and positioning clamping arms 5 are fixedly provided on both the left and right sides of the bottom surface of the positioning plate 4; the positioning mechanism includes an adjustable frame 10, and the adjustable frame 10 is fixedly installed in the middle of the top surface of the positioning plate 4, and the middle of the top surface of the positioning plate 4 is fixedly connected to the bottom end of the second rotating bracket 8.

[0036] The positioning mechanism includes a drive gear 11, which is rotatably located at the center of the adjustable frame 10 and is fixedly connected to the bottom of the output shaft of the third servo motor 9. The positioning mechanism also includes a driven rack 12, which is slidably located on the left and right sides inside the adjustable frame 10. The symmetrically arranged driven racks 12 are meshed with the outer wall of the drive gear 11, and the outer bottom ends of the symmetrically arranged driven racks 12 slide through the bottom surface of the positioning plate 4.

[0037] The positioning mechanism includes a positioning clamping arm 5 whose rear end is fixedly connected to the bottom end of the driven racks 12 on both sides, and the rear ends of the positioning clamping arms 5 on both sides are slidably connected to the inside of the positioning guide rail 13, and the positioning guide rail 13 is fixedly connected to the bottom surface of the positioning plate 4; the positioning mechanism includes an abutting slide plate 14, and the abutting slide plate 14 is elastically disposed on the inner side of the positioning clamping arms 5 on both sides, and an abutting slider 15 is elastically slidably disposed inside the front end of the positioning clamping arm 5, and the bottom end of the abutting slide plate 14 and the abutting slider 15 are connected to each other by a traction steel cable 16, so that the movement of the abutting slide plate 14 drives the abutting slider 15 to rise, thereby realizing the positioning and clamping of the workpiece.

[0038] like Figures 4-5 As shown, the third servo motor 9, which is fixedly installed inside the second rotating bracket 8, drives the drive gear 11 inside the adjustable frame 10 to rotate, which drives the driven rack 12 and the positioning clamping arm 5 connected on the left and right sides to move in the opposite direction. At the same time, the positioning guide rail 13 limits the movement of the positioning clamping arm 5 so as to adapt to workpieces of different widths and use the side lifting method for clamping and conveying.

[0039] like Figure 6 As shown, the positioning clamping arm 5, which moves inward synchronously, contacts the outer wall of the workpiece through the inner abutting slide plate 14, and drives the abutting slide plate 14 to slide outward, thereby releasing the traction steel cable 16. At this time, the elastically connected abutting slider 15 moves upward so as to abut against the workpiece when it slides down, thereby ensuring the stability of the workpiece clamping and positioning.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An AC servo axis clamping mechanism, comprising a positioning cylinder (1) and a first servo motor (2) fixedly installed at the center position inside the positioning cylinder (1), wherein the top of the positioning cylinder (1) is fixedly installed at the connecting end of a mobile robotic arm; Its features are, Also includes: A rotating mechanism is provided below the positioning cylinder (1), and the rotating mechanism includes a first rotating bracket (3), and the top center of the first rotating bracket (3) is fixedly connected to the bottom end of the output shaft of the first servo motor (2). The rotating mechanism is provided with a positioning mechanism below it, and the positioning mechanism includes a positioning plate (4), and positioning clamps (5) are fixedly provided on the left and right sides of the bottom surface of the positioning plate (4).

2. The AC servo axis clamping mechanism according to claim 1, characterized in that: The rotating mechanism includes a second servo motor (6), which is fixedly installed on the left side of the bottom end of the first rotating bracket (3), and the left end of the top surface of the first rotating bracket (3) is fixedly connected to the bottom end of the lead wire bracket (7).

3. The AC servo axis clamping mechanism according to claim 2, characterized in that: The rotating mechanism includes a second rotating bracket (8), and the top of the second rotating bracket (8) is fixedly connected to the right end of the output shaft of the second servo motor (6), and a third servo motor (9) is fixedly installed inside the lower part of the second rotating bracket (8).

4. The AC servo axis clamping mechanism according to claim 1, characterized in that: The positioning mechanism includes an adjustable frame (10), which is fixedly installed on the top center of the positioning plate (4), and the top center of the positioning plate (4) is fixedly connected to the bottom of the second rotating bracket (8).

5. The AC servo axis clamping mechanism according to claim 4, characterized in that: The positioning mechanism includes a drive gear (11), which is rotatably located at the center of the adjustable frame (10) and is fixedly connected to the bottom of the output shaft of the third servo motor (9).

6. The AC servo axis clamping mechanism according to claim 5, characterized in that: The positioning mechanism includes a driven rack (12) which is slidably disposed on the left and right sides inside the adjustable frame (10). The symmetrically disposed driven racks (12) are meshed with the outer wall of the drive gear (11), and the outer bottom end of the symmetrically disposed driven racks (12) slides through the bottom surface of the positioning plate (4).

7. The AC servo axis clamping mechanism according to claim 6, characterized in that: The positioning mechanism includes a positioning clamp arm (5) whose rear end is fixedly connected to the bottom end of the driven rack (12) on both the left and right sides, and the rear ends of the positioning clamp arms (5) on both the left and right sides are slidably connected to the inside of the positioning guide rail (13), and the positioning guide rail (13) is fixedly connected to the bottom surface of the positioning plate (4).

8. The AC servo axis clamping mechanism according to claim 7, characterized in that: The positioning mechanism includes an abutting slide plate (14), which is elastically disposed on the inner side of the left and right positioning clamping arms (5). An abutting slider (15) is elastically slid inside the front end of the positioning clamping arm (5). The bottom end of the abutting slide plate (14) and the abutting slider (15) are connected to each other by a traction steel cable (16). The movement of the abutting slide plate (14) drives the abutting slider (15) to rise, thereby realizing the positioning and clamping of the workpiece.

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