Gripping mechanism for disassembly and assembly of screw-mounted parts

Abstract

The present invention discloses a clamping mechanism for disassembling and assembling screw-mounted parts, including a frame assembly, a swing frame assembly, a driving member, a clamping member, a cam, and a rotating member. The driving member is connected to the swing frame assembly, and the output end of the driving member is connected to the cam and the rotating member in sequence to cause the cam and the rotating member to rotate. The swing frame assembly is slidably connected to the top of the frame assembly, and the hinge point of the clamping member is connected to the swing frame assembly. The cam is located at the application end of the clamping member, and the rotation of the cam causes the clamping end of the clamping member to be intermittently loosened and clamped; when the clamping end of the clamping member is in a clamped state, the rotating member drives the clamping member to rotate. The beneficial effects of the present invention: through the mechanical cooperation between the cam and the rotating member, the principle of tightening a nut from the side by hand is imitated, and the problem that the robot cannot be automatically disassembled and assembled in a small space is solved, and the clamping force remains unchanged, the workpiece will not be damaged, the space occupied is small, and other parts are not easily affected.

Description

Technical Field

[0001] The invention relates to the field of manipulators, and in particular to a clamping mechanism for naked parts. Background Art

[0002] With the advancement of science and technology and the development of the times, in industrial production, due to high labor costs and low efficiency, production needs cannot be met. Therefore, robots occupy an irreplaceable position in industrial production. In the design of robots, the end gripper is an indispensable device. Due to different working conditions, the structure of the gripper is also different, and it is even subdivided into a special field of manipulators. In view of the assembly and maintenance problems of high-density electronic equipment due to small installation space, dense equipment, and limited operating space, most of the research on manipulators on the market today is aimed at realizing intelligent grasping and putting back, and there are few studies on the assembly of screw-mounted parts. There are also grippers for the purpose of rotation, but the grasping and rotating manipulators are mostly axially fed, which may cause interference when targeting screw-mounted parts. In addition, some manipulators are large in size and are not suitable for working in a small space. Moreover, this type of manipulator is large in size. If it is made smaller directly, the processing technology requirements will be higher and the investment cost will be higher.

[0003] Moreover, the traditional manipulator adopts the axial feeding mode and needs to rotate continuously during the rotation process, so there is a disadvantage: there can be no other interference in the axial direction of the screw-mounted parts. As disclosed in publication number CN111215882A, a bolt disassembly and installation tool capable of remote operation is characterized in that it comprises a fixed component (1), a rotating component (2), a translation component (3), a lifting component (4) and a sleeve component (5), wherein the fixed component (1) and the translation component (3) are respectively installed on both sides of the rotating component (2), and the fixed component (1), the rotating component (2) and the translation component (3) are sequentially distributed, the translation component (3) is slidably connected to the rotating component (2) and moves horizontally on the rotating component (2), the lifting component (4) is slidably connected to the end of the translation component (3) and moves vertically in a direction parallel to the central axis of the translation component (3), the sleeve component (5) is connected to the lifting component (4) via an electric impact wrench (6), the fixed component (1) is used for being in fixed contact with the operated equipment, and the sleeve component (5) acts on the bolt to realize the disassembly and installation of the bolt. If there is a wire at the end of the screw-mounted part, the ordinary manipulator may cause the wire to be entangled with the manipulator during the rotation process, causing damage to the part or the manipulator, so a radial feed manipulator is needed to overcome this shortcoming. However, if the radial feed manipulator is to rotate, it will inevitably occupy a larger space around it to accommodate the manipulator's rotation process, which runs counter to our purpose. Therefore, a mechanical gripper that can feed radially and is small in size is urgently needed.

[0004] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art known to a person skilled in the art. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that the feeding mode of the screw-type disassembly and assembly tool is axial feeding, which is easy to interfere with other parts such as wires.

[0006] The present invention solves the above technical problems through the following technical means:

[0007] A clamping mechanism for disassembling and assembling screw-mounted parts comprises a frame assembly, a swing frame assembly, a driving member, a clamping member, a cam, and a rotating assembly, wherein the driving member is connected to the swing frame assembly, and the output end of the driving member is sequentially connected to the cam and the rotating assembly to cause the cam and the rotating assembly to rotate, the swing frame assembly is slidably connected to the top end of the frame assembly, the hinge point of the clamping member is connected to the swing frame assembly, the cam is located at the application end of the clamping member, and the rotation of the cam causes the clamping end of the clamping member to be intermittently relaxed and clamped; when the clamping end of the clamping member is in a clamped state, the rotating assembly drives the clamping member to rotate.

[0008] The present invention realizes the simultaneous rotation of the cam and the rotating assembly through a driving member. The rotation of the cam can realize the intermittent loosening and clamping of the clamping jaw assembly, and the rotating assembly can realize the rotation. When the clamping jaw assembly is clamped, the rotating assembly drives the driving member, the clamping jaw assembly, the cam, and the swing frame assembly to rotate together. When the clamping jaw assembly is loosened, the rotating assembly returns to the center. When the present invention installs the nut, it extends from the side of the nut, and the driving member moves forward to rotate the cam to abut against the clamping jaw assembly to put it in a clamping state. After that, the rotating assembly rotates clockwise and rotates a certain angle. The rotating assembly stops rotating. At this time, the cam does not abut against the clamping jaw assembly. The clamping jaw assembly is reset, and the swing frame assembly is reset; the driving member continues to rotate, and the above action is repeated; when removing the nut, the driving member can perform the opposite action; the present invention imitates the principle of tightening the nut from the side by hand, and returns to the original position after tightening for a period of time, and continues to tighten until the nut is removed or installed, creatively solving the problem that the robot arm cannot automatically disassemble and assemble in a small space, and the clamping force remains unchanged and will not damage the workpiece; the present invention realizes clamping and swinging with only one driving member, which greatly saves space and simplifies the structure; and it resets after rotating a certain angle, even if it is entangled with the wire, it can loosen the wire automatically, and is not easy to affect other parts.

[0009] Preferably, there is a gap between the top ends of the frame components, the top end of one side of the frame component is an arc-shaped slide rail, the bottom of the swing frame component includes an arc-shaped slide groove, the top end of the other side of the frame component is an arc-shaped mounting plate, and the rotating component includes an arc-shaped rack, which is connected to the arc-shaped rack.

[0010] Preferably, the frame assembly includes a first main frame and a second main frame, the vertical cross-section of the first main frame and the second main frame after being connected is U-shaped, the top of the first main frame is an arc-shaped slide rail, and the top of the second main frame is connected to a arc-shaped mounting plate.

[0011] Preferably, the rotating assembly further comprises an incomplete gear, the output end of the driving member is connected to the incomplete gear, and the incomplete gear is meshed with the arc-shaped rack.

[0012] Preferably, the module of the arc-shaped rack is 0.5-1.0, and the number of teeth ranges from 15 to 22.

[0013] The present invention achieves clamping and swinging through the meshing of an incomplete gear and an arc-shaped rack through a purely mechanical structure, thereby improving the stability of the clamping mechanism. The driving member can be a stepper motor. Within the fixed speed range of the stepper motor, the failure rate of the clamp is low, and no complicated control system is required. It only needs to control the speed of the stepper motor.

[0014] Preferably, the swing frame assembly includes a first swing frame, a second swing frame, and a second return spring. The bottom of the first swing frame is slidably connected to the top of the first main frame, the bottom of the second swing frame is slidably connected to the second main frame, the first swing frame is fixedly connected to the driving member, the two ends of the pin shaft at the hinge point of the clamping jaw assembly are respectively connected to the top of the first swing frame and the top of the second swing frame, and the two ends of the second return spring are respectively connected to the frame assembly and the first swing frame.

[0015] Preferably, the clamp assembly includes a first clamp and a second clamp, the first clamp and the second clamp are in a W structure, the middle part of the first clamp and the second clamp are hinged, and the hinge point of the first clamp and the second clamp is connected to the swing frame assembly through a pin shaft.

[0016] Preferably, the first clamp and the second clamp both include a clamp body and a claw finger, the clamping end of the clamp body includes an adjustment slot, the claw finger includes an adjustment block and a locking bolt hole, the adjustment block is slidably connected to the adjustment slot, and the locking bolt hole passes through the adjustment block.

[0017] By adjusting the claw fingers, it can adapt to nuts with different outer diameters, making it more flexible to use.

[0018] Preferably, the clamping jaw assembly further comprises a first return spring, and both ends of the first return spring are respectively connected to the applying ends of the first clamping jaw and the second clamping jaw.

[0019] Preferably, it also includes a base assembly, which includes a base body, a guide rod, and a third return spring. The base body is a U-shaped frame, and the bottom of the frame assembly passes through at least two guide rods. The two ends of the guide rods are connected to the two sides of the base body. The third return spring is sleeved on the guide rods and the two ends are respectively abutted on the base body and the frame assembly.

[0020] The third return spring is mainly used to balance the axial displacement and return to the original position during the process of tightening or loosening the nut.

[0021] The advantages of the present invention are:

[0022] (1) The present invention realizes the simultaneous rotation of the cam and the rotating assembly through a driving member. The rotation of the cam can realize the intermittent loosening and clamping of the jaw assembly, and the rotating assembly can realize the rotation. When the jaw assembly is clamped, the rotating assembly drives the driving member, the jaw assembly, the cam, and the swing frame assembly to rotate together. When the jaw assembly is relaxed, the rotating assembly returns to the center. When the present invention installs the nut, it extends from the side of the nut, and the driving member moves forward to rotate the cam to abut against the jaw assembly to put it in a clamped state. After that, the rotating assembly rotates clockwise and rotates a certain angle. The rotating assembly stops rotating. At this time, the cam does not abut against the jaw assembly, the jaw assembly is reset, and the swing frame assembly is reset. ; The driving part continues to rotate, and the above action is repeated; when the nut is removed, the driving part can move in the opposite direction; the present invention imitates the principle of tightening the nut from the side by hand, and returns to the original position after tightening for a period of time, and continues to tighten until the nut is removed or installed, creatively solving the problem that the robot arm cannot automatically disassemble and assemble in a small space, and the clamping force remains unchanged, and the workpiece will not be damaged; the present invention realizes clamping and swinging with only one driving part, which greatly saves space and simplifies the structure; and it resets after rotating a certain angle, even if it is entangled with the wire, it can loosen the wire automatically, and it is not easy to affect other parts; during the use of the present invention, only part of the clamping jaw assembly is extended, which is particularly suitable for use in narrow spaces.

[0023] (2) The present invention realizes clamping, swinging, etc. through the meshing of the incomplete gear and the arc-shaped rack through a purely mechanical structure, thereby improving the stability of the clamping mechanism. The driving member can be a stepper motor. Within the fixed speed range of the stepper motor, the failure rate of the clamp is low, and no complicated control system is required. It only needs to control the speed of the stepper motor.

[0024] (3) Through the adjustment of the claw fingers, it can adapt to nuts with different outer diameters, making it more flexible to use;

[0025] (4) The third return spring is mainly used to balance the axial displacement and return to the original position during the process of tightening or loosening the nut. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a clamping mechanism for disassembling and assembling screw-mounted parts according to an embodiment of the present invention;

[0027] Figure 2 It is an exploded schematic diagram of a clamping mechanism for disassembling and assembling screw-mounted parts according to an embodiment of the present invention;

[0028] Figure 3 It is a structural schematic diagram of a clamping mechanism for disassembling and assembling screw-mounted parts according to an embodiment of the present invention;

[0029] Figure 4 is an exploded schematic diagram of a rack assembly according to an embodiment of the present invention;

[0030] Figure 5 is an exploded schematic diagram of a swing frame assembly according to an embodiment of the present invention;

[0031] Figure 6 is a schematic structural diagram of a clamping jaw assembly according to an embodiment of the present invention;

[0032] FIG. 7( a ) is a schematic diagram of the structure of a cam according to an embodiment of the present invention;

[0033] FIG. 7( b ) is a diagram showing the relationship between the displacement and angle of a cam during one rotation according to an embodiment of the present invention;

[0034] Figure 8 It is a mechanical principle diagram of an embodiment of the present invention;

[0035] FIG. 9( a ) is a schematic diagram showing the positions of the clamping jaw assembly and the cam in the clamping rotation state of the clamping jaw mechanism according to an embodiment of the present invention. Figure 1 ;

[0036] FIG9( b ) is a schematic diagram of the positions of the incomplete gear and the arc-shaped rack in the clamping rotation state of the clamping mechanism of the embodiment of the present invention. Figure 1 ;

[0037] FIG. 9( c ) is a schematic diagram of the positions of the clamping jaw assembly and the cam in the clamping rotation state of the clamping jaw mechanism according to an embodiment of the present invention. Figure 2 ;

[0038] FIG. 9( d ) is a schematic diagram showing the positions of the incomplete gear and the arc-shaped rack in the clamping rotation state of the clamping mechanism according to an embodiment of the present invention. Figure 2 ;

[0039] FIG. 10( a ) is a schematic diagram showing the positions of the clamping jaw assembly and the cam in the state where the clamping jaw mechanism is released and returned to its original position according to an embodiment of the present invention. Figure 1 ;

[0040] FIG. 10( b ) is a schematic diagram showing the positions of the incomplete gear and the arc-shaped rack in the state where the clamp mechanism is released and returned to the center position according to an embodiment of the present invention. Figure 1 ;

[0041] FIG. 11( a ) is a schematic diagram showing the positions of the clamping jaw assembly and the cam in the clamping and rotating state of the clamping jaw mechanism according to an embodiment of the present invention. Figure 3 ;

[0042] FIG. 11( b ) is a schematic diagram showing the positions of the incomplete gear and the arc-shaped rack in the clamping rotation state of the clamping mechanism according to an embodiment of the present invention. Figure 3 ;

[0043] FIG. 12( a ) is a schematic diagram of the working state of the clamping mechanism for disassembling and assembling screw-mounted parts according to an embodiment of the present invention;

[0044] FIG. 12( b ) is a schematic diagram of the working state of the clamping mechanism for disassembling and assembling screw-mounted parts according to an embodiment of the present invention;

[0045] Numbers in the figure:

[0046] 1. Rack assembly; 11. First main frame; 111. Arc-shaped slide rail; 112. Second hanging rod; 12. Second main frame; 121. Arc-shaped slide groove; 122. Arc-shaped mounting plate;

[0047] 2. Swing frame assembly; 21. First swing frame; 22. Second swing frame; 23. Second return spring; 24. First hanging rod;

[0048] 3. Driving parts;

[0049] 4. Clamping jaw assembly; 41. First clamping jaw; 411. Clamping jaw body; 412. Claw finger; 42. Second clamping jaw; 43. Pin shaft; 44. First return spring;

[0050] 5. Cam;

[0051] 6. Rotating assembly; 61. Incomplete gear; 62. Arc rack;

[0052] 7. Base assembly; 71. Base body; 72. Guide rod; 73. Third return spring; DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Embodiment 1:

[0055] like Figure 1 , Figure 2 As shown, the clamping mechanism for disassembling and assembling screw-mounted parts includes a frame assembly 1, a swing frame assembly 2, a driving member 3, a clamping jaw assembly 4, a cam 5, and a rotating assembly 6;

[0056] like Figure 2 , Figure 4 As shown, the frame assembly 1 includes a first main frame 11 and a second main frame 12. The bottom of the first main frame 11 extends to the side to form an L-shaped structure. The first main frame 11 and the second main frame 12 are connected together by bolts at the bottom. The vertical cross-section of the connected frame assembly 1 is U-shaped, so that the upper parts of the first main frame 11 and the second main frame 12 are spaced apart. The top of the first main frame 11 extends to the side to form an arc-shaped slide rail 111, and the bottom of the swing frame assembly 2 forms a sliding connection with the arc-shaped slide rail 111; Figure 3 As shown, an arc-shaped slide groove 121 is provided at the top of the second main frame 12 near the side of the first main frame 11, and the bottom of the swing frame assembly 2 is also slidably connected to the arc-shaped slide groove 121; in addition, the top of the second main frame 12 is connected to an arc-shaped mounting plate 122, which is a section of the arc-shaped top surface of the second main frame 12 extending toward the center of the circle, and the arc-shaped mounting plate 122 is used to install the arc-shaped rack 62.

[0057] like Figure 3 , Figure 5 As shown, the swing frame assembly 2 includes a first swing frame 21, a second swing frame 22, a second return spring 23, and a first hanging rod 24. The bottom of the first swing frame 21 is provided with a U-shaped slide groove, so that the bottom of the first swing frame 21 can be slidably connected to the arc-shaped slide rail 111 at the top of the first main frame 11, and the bottom of the second swing frame 22 has an arc-shaped plate extending to the side, so that the bottom of the second swing frame 22 can be slidably connected to the arc-shaped slide groove 121 at the top of the second main frame 12; the first swing frame 21 is fixedly connected to the driving member 3 by a plurality of bolts, and the second swing frame 22 is arranged at an interval with the first swing frame 21. A first hanging rod 24 is connected to the bottom side of the first swing frame 21, and the top of the second return spring 23 is connected to the first hanging rod 24. A second hanging rod 112 is connected to the bottom side of the first main frame 11, and the bottom of the second return spring 23 is connected to the second hanging rod 112. The function of the second return spring 23 is to pull the rotated swing frame assembly 2 back to the initial state. Two ends of the pin shaft 43 at the hinge point of the clamping jaw assembly 4 are respectively connected to the top end of the first swing frame 21 and the top end of the second swing frame 22 .

[0058] In this embodiment, the driving member 3 is a stepping motor, which can rotate along with the rotation of the swing frame assembly 2 , and provides power output for the cam 5 and the rotating assembly 6 .

[0059] like Figure 2 , Figure 6 As shown, the clamping jaw assembly 4 includes a first clamping jaw 41, a second clamping jaw 42, a pin 43, and a first reset spring 44. The first clamping jaw 41 and the second clamping jaw 42 are in a W-shaped structure or a 3-shaped structure. After the first clamping jaw 41 and the second clamping jaw 42 are connected, they are in an "8"-shaped structure with the upper and lower ends open. The middle part of the first clamping jaw 41 and the second clamping jaw 42 is hinged, with the hinge point as the boundary. The upper end of the hinge point is the clamping end, and the lower end of the hinge point is the application end. The clamping end is used to clamp the nut, and the application end is used to apply the clamping force. The hinge point of the first clamping jaw 41 and the second clamping jaw 42 is connected to the swing frame assembly 2 through the pin 43. The two ends of the first reset spring 44 are respectively connected to the application ends of the first clamping jaw 41 and the second clamping jaw 42, and are used to reset the first clamping jaw 41 and the second clamping jaw 42 when the nut is no longer clamped.

[0060] like Figure 6 As shown, the structures of the first clamping jaw 41 and the second clamping jaw 42 are basically the same, but in order to ensure that the clamping ends of the two can clamp the nut, the width of the second clamping jaw 42 is greater than that of the first clamping jaw 41. This embodiment is described by taking the composition of the first clamping jaw 41 as an example. The first clamping jaw 41 includes a clamping jaw body 411 and a claw finger 412. The clamping end of the clamping jaw body 411 includes an adjustment groove. The claw finger 412 includes an adjustment block and a locking bolt hole. The adjustment block is slidably connected to the adjustment groove, and the locking bolt hole passes through the adjustment block. The claw finger 412 is slidably connected to the adjustment groove through the adjustment block, and the clamping radius between the first clamping jaw 41 and the second clamping jaw 42 can be adjusted. After adjusting to the appropriate position, the adjustment block can be fixed by the locking bolt. Through the adjustment of the claw finger 412, nuts with different outer diameters can be adapted, and the use is more flexible.

[0061] As shown in Figures 7(a) and 7(b), the cam 5 is a symmetrical structure, wherein the far repose angle δ1 corresponds to a clamped state, and the near repose angle δ0 corresponds to a relaxed state. The position indicated by the arrow in Figure 7(a) is position O. As shown in Figure 7(b), during the rotation process, the jaw assembly 4 cooperates with the jaw assembly 4 to enable the jaw assembly 4 to achieve clamping and relaxing actions, and clamping and relaxing are performed twice each during the 360-degree rotation.

[0062] like Figure 2As shown, the rotating assembly 6 includes an incomplete gear 61 and an arcuate rack 62. The incomplete gear 61 is a symmetrical structure. The incomplete gear 61 and the arcuate rack 62 form an engaged and non-engaged state, wherein the engaged state corresponds to the clamping state of the clamping jaw assembly 4. The arcuate rack 62 is connected to the frame assembly 1. As the incomplete gear 61 rotates, a rotational torque is given to the swing frame assembly 2 to realize the swinging action. The second reset spring 23 is connected to the swing frame assembly 2 and the frame assembly 1 to realize the return action.

[0063] In this embodiment, the module of the arc-shaped rack 62 is 0.5-1.0, preferably 0.7; the number of teeth ranges from 15-22, preferably 18, and the pitch circle diameter is 98 mm.

[0064] This embodiment achieves clamping, swinging, etc. through the meshing of the incomplete gear 61 and the arc-shaped rack 62 through a purely mechanical structure, thereby improving the stability of the clamping mechanism. The driving member 3 can be a stepper motor. Within the fixed speed range of the stepper motor, the failure rate of the clamp is low, and no complicated control system is required. It only needs to control the speed of the stepper motor.

[0065] In this embodiment, the mechanical principle diagram is as follows: Figure 8 As shown, there are 4 spatial degrees of freedom, 4 low pairs, 2 high pairs, and the disc cam has no relative motion with the incomplete gear 61, so 1 degree of freedom needs to be subtracted. Therefore:

[0066] F=6n-5P l -P h -1, that is: F-6*4-5*4-2-1=1.

[0067] The clamping mechanism in this embodiment adopts a stepping motor, the number of prime movers is equal to the number of degrees of freedom of the mechanism, and the electric clamp has a definite movement.

[0068] The motion process of this embodiment:

[0069] Clamping rotation: As shown in FIG9(a), the driving member 3 is actuated, and the cam 5 is located within the far repose angle and enters the clamping state. This embodiment takes clockwise rotation as an example and is described with reference to point A1, that is, the two ends (end A1 and end A2) of the cam 5 with longer dimensions abut against the application ends of the first clamping jaw 41 and the second clamping jaw 42, so that the clamping ends of the first clamping jaw 41 and the second clamping jaw 42 are clamped; at this time, as shown in FIG9(b), the action of the driving member 3 will simultaneously drive the incomplete gear 61 to rotate, and the toothed portion (point B1) of the incomplete gear 61 begins to mesh with the arc-shaped rack 62, thereby driving the swing frame assembly 2, the clamping jaw assembly 4, and the cam 5 to rotate rightward around the center of the arc-shaped rack 62, and the second return spring 23 is stretched;

[0070] After rotating for a certain distance, as shown in FIG9(c), the cam 5 is about to leave the far repose angle and enter the near repose angle, and the A1 end has abutted against the outermost edge of the second clamp 42, that is, the two longer ends of the cam 5 abut against the application ends of the first clamp 41 and the second clamp 42, and the clamping is about to end; as shown in FIG9(d), at this time, the toothed part of the corresponding incomplete gear 61 is about to end the meshing with the internal rack and is about to enter the toothless part.

[0071] Loosen and return: as shown in FIG10( a), the cam 5 is located within the near-rest angle and enters a loosened state, that is, the two longer ends (A1 end and A2 end) of the cam 5 no longer abut against the application ends of the first jaw 41 and the second jaw 42. Under the action of the first return spring 44, the clamping ends of the first jaw 41 and the second jaw 42 are loosened; at this time, as shown in FIG10( b), the driving member 3 is actuated and drives the incomplete gear 61 to rotate, but the toothed portion of the incomplete gear 61 is no longer engaged with the arc-shaped rack 62, and the second return spring 23 contracts to rotate the swing frame assembly 2, the jaw assembly 4, and the cam 5 counterclockwise and will be pulled back.

[0072] As shown in FIG. 11( a ), the driving member 3 continues to rotate, and the cam 5 enters the far repose angle again, entering the clamping state; at this time, the end A1 abuts against the lowest point of the first clamping jaw 41; as shown in FIG. 11( b ), at this time, the toothed portion (at B2) on the other side of the incomplete gear 61 begins to mesh with the arc-shaped rack 62, and then drives the swing frame assembly 2, the clamping jaw assembly 4, and the cam 5 to rotate rightward around the center of the arc-shaped rack 62, and the second return spring 23 is stretched again;

[0073] After rotating for a certain distance, the cam 5 is close to the rest angle and enters a loosened state. The toothed portion of the incomplete gear 61 is no longer engaged with the arc-shaped rack 62, and the second return spring 23 contracts to pull back the swing frame assembly 2, the clamping jaw assembly, and the cam 5; at this point, a 360° rotation is completed.

[0074] During one rotation of the cam 5, two clamping and two loosening are achieved.

[0075] In this embodiment, the driving member 3 is used to realize the simultaneous rotation of the cam 5 and the incomplete gear 61. The rotation of the cam 5 can realize the intermittent loosening and clamping of the jaw assembly 4. The incomplete gear 61 periodically meshes with the arc-shaped rack 62 through the gear part and the gearless part to realize the rotation and return of the swing frame. When the jaw assembly 4 is clamped, the incomplete gear 61 drives the driving member 3, the jaw assembly 4, the cam 5, and the swing frame assembly 2 to rotate together. When the jaw assembly 4 is relaxed, the incomplete gear 61 returns to the center.

[0076] When installing the nut in this embodiment, the nut is inserted from the side, and the driving member 3 moves forward to cause the cam 5 to rotate until it abuts against the clamping jaw assembly 4 to put it in a clamping state. Then the incomplete gear 61 rotates clockwise and stops rotating after a certain angle. At this time, the cam 5 does not abut against the clamping jaw assembly 4, the clamping jaw assembly 4 is reset, and the swing frame assembly 2 is reset; the driving member 3 continues to rotate, and the above action is repeated; when removing the nut, the driving member 3 can move in the opposite direction.

[0077] In this embodiment, the toothed portion of the incomplete gear 61 corresponds to the far repose angle of the cam 5, and the toothless portion of the incomplete gear 61 corresponds to the near repose angle of the cam 5. The cooperation between the incomplete gear 61 and the cam 5 achieves the functions of clamping, screwing, loosening, returning to the original position and continuing to clamp and screw. In this way, the principle of tightening a nut from the side by hand is imitated. After screwing for a period of time, it returns to the original position and continues to screw until the nut is removed or installed. This creatively solves the problem that the robot cannot automatically disassemble and assemble in a small space, and the clamping force remains unchanged, and the workpiece will not be damaged. In this embodiment, clamping and swinging are achieved with only one driving member 3, which greatly saves space and simplifies the structure. It can also reset after rotating a certain angle. Even if it is entangled with the wire, it can loosen the wire automatically without affecting other parts.

[0078] During use of this embodiment, only part of the clamping jaw assembly is inserted, and the swing amplitude can be determined by the number of teeth, so a small amplitude of twisting can be achieved. The small size is particularly suitable for use in narrow spaces.

[0079] Embodiment 2:

[0080] like Figure 2 As shown, in this embodiment, based on the above-mentioned embodiment 1, the clamping mechanism for disassembling and assembling screw-mounted parts further includes a base assembly 7, the base assembly 7 includes a base body 71, a guide rod 72, and a third return spring 73. The base body 71 is a U-shaped frame, and the bottom of the frame assembly 1 passes through at least two guide rods 72, and the two ends of the guide rod 72 are connected to the two sides of the base body 71. The third return spring 73 is sleeved on the guide rod 72 and the two ends are respectively abutted against the base body 71 and the frame assembly 1.

[0081] The third return spring 73 is mainly used to balance the axial displacement and return to the original position during the process of tightening or loosening the nut.

[0082] The base assembly 7 can be connected to other structures such as a robot to achieve automated assembly and disassembly.

[0083] As shown in FIG. 12( a ) and FIG. 12( b ), this embodiment is particularly suitable for operation in a box with a narrow space. The clamping jaw assembly 4 only needs to be inserted into the box to simulate the human hand screwing from the side, and it is not easy to interfere with the wire.

[0084] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The clamping mechanism for disassembling and assembling screw-mounted parts is characterized in that: It comprises a frame assembly, a swing frame assembly, a driving member, a clamping jaw assembly, a cam, and a rotating assembly, wherein the driving member is connected to the swing frame assembly, the output end of the driving member is sequentially connected to the cam and the rotating assembly so that the cam and the rotating assembly rotate, the swing frame assembly is slidably connected to the top end of the frame assembly, the hinge point of the clamping jaw assembly is connected to the swing frame assembly, the cam is located at the application end of the clamping jaw assembly, and the rotation of the cam causes the clamping end of the clamping jaw assembly to be intermittently loosened and clamped; when the clamping end of the clamping jaw assembly is in a clamped state, the rotating assembly drives the clamping jaw assembly to rotate; There is a gap between the tops of the frame components, the top of one side of the frame component is an arc-shaped slide rail, the bottom of the swing frame component includes an arc-shaped slide groove, the top of the other side of the frame component is an arc-shaped mounting plate, the rotating component includes an arc-shaped rack, and the arc-shaped rack is connected to the arc-shaped mounting plate; The frame assembly comprises a first main frame and a second main frame, wherein the vertical cross-section of the first main frame and the second main frame after being connected is U-shaped, the top of the first main frame is an arc-shaped slide rail, and the top of the second main frame is connected to an arc-shaped mounting plate; The rotating assembly also includes an incomplete gear, the output end of the driving member is connected to the incomplete gear, and the incomplete gear is meshed with the arc-shaped rack; the swing frame assembly includes a first swing frame, a second swing frame, and a second return spring, the bottom of the first swing frame is slidably connected to the top of the first main frame, and the bottom of the second swing frame is slidably connected to the second main frame. The first swing frame is fixedly connected to the driving member, the two ends of the pin shaft at the hinge point of the clamping jaw assembly are respectively connected to the top of the first swing frame and the top of the second swing frame, and the two ends of the second return spring are respectively connected to the frame assembly and the first swing frame; The clamping jaw assembly comprises a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are in a W-structure, wherein the middle of the first clamping jaw and the second clamping jaw are hinged, and the hinge point of the first clamping jaw and the second clamping jaw is connected to the swing frame assembly through a pin shaft; The clamping jaw assembly further includes a first return spring, and two ends of the first return spring are respectively connected to the application ends of the first clamping jaw and the second clamping jaw.

2. The clamping mechanism for disassembling and assembling screw-mounted parts according to claim 1, characterized in that: The module of the arc-shaped rack is 0.5-1.0, and the number of teeth ranges from 15 to 22.

3. The clamping mechanism for disassembling and assembling screw-mounted parts according to claim 1, characterized in that: The first clamp and the second clamp both include a clamp body and a claw finger. The clamping end of the clamp body includes an adjustment slot. The claw finger includes an adjustment block and a locking bolt hole. The adjustment block is slidably connected to the adjustment slot, and the locking bolt hole passes through the adjustment block.

4. The clamping mechanism for disassembling and assembling screw-mounted parts according to claim 1, characterized in that: The machine body also includes a base assembly, which includes a base body, a guide rod, and a third return spring. The base body is a U-shaped frame. The bottom of the frame assembly passes through at least two guide rods. The two ends of the guide rods are connected to the two sides of the base body. The third return spring is sleeved on the guide rods and the two ends are respectively abutted on the base body and the frame assembly.

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