Wire clamping and rotating device

Abstract

A wire clamping and rotating device comprises a base, a clamping execution gear, a rotating execution gear, a pair of sliding shafts, a pair of clamping assemblies, a clamping drive mechanism and a rotating drive mechanism. The clamping drive mechanism and the rotating drive mechanism are installed on the base, and are respectively used to drive the clamping execution gear and the rotating execution gear to rotate. The clamping execution gear is provided with a pair of guide inclined holes, the rotating execution gear is provided with a pair of guide straight holes, a pair of sliding shafts pass through the pair of guide inclined holes and the pair of guide straight holes respectively, and the front ends of the pair of sliding shafts are respectively connected to a pair of clamping assemblies. When the clamping execution gear rotates along a first direction, the pair of guide inclined holes drive the pair of sliding shafts to move toward each other along the pair of guide straight holes respectively, so as to drive the pair of clamping assemblies to slide toward each other and realize clamping. The present invention can realize the clamping of wires and drive the clamped wires to rotate by a set of devices, and is suitable for being installed on a robotic arm for use as an end tool.

Description

Technical Field

[0001] The invention relates to a device capable of clamping a wire and driving the clamped wire to rotate. Background Art

[0002] Currently, the clamping and rotation of pipes, bars and other wires need to be completed by two different independent mechanisms. The two mechanisms occupy too much space and are too heavy to be installed on the robot arm as an end tool. At the same time, this method also has the disadvantage of high implementation cost. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a wire clamping and rotating device with high integration, small size and low implementation cost, which can clamp the wire and drive the clamped wire to rotate through a set of devices.

[0004] A wire clamping and rotating device according to an embodiment of the present invention comprises a base, a clamping execution gear, a rotating execution gear, a pair of sliding shafts, a pair of clamping assemblies, a clamping drive mechanism and a rotating drive mechanism; the clamping drive mechanism and the rotating drive mechanism are respectively installed on the base, the clamping drive mechanism is used to drive the clamping execution gear to rotate, and the rotating drive mechanism is used to drive the rotating execution gear to rotate; the clamping execution gear and the rotating execution gear are rotatably arranged on the base; the rotating execution gear is arranged in front of the clamping execution gear, the clamping execution gear is provided with a pair of guide inclined holes, the rotating execution gear is provided with a pair of guide straight holes, and a pair of sliding shafts respectively pass through the pair of guide inclined holes and the pair of guide straight holes The front ends of a pair of sliding shafts are respectively connected to a pair of clamping assemblies, and the pair of clamping assemblies can be slidably installed on the front side of the rotating execution gear; the pair of guide inclined holes are configured so that when the clamping driving mechanism drives the clamping execution gear to rotate along a first direction, the pair of guide inclined holes drive the pair of sliding shafts to move toward each other along a pair of guide straight holes respectively, so as to drive the pair of clamping assemblies to slide toward each other to achieve clamping; when the clamping driving mechanism drives the clamping execution gear to rotate along a second direction, the pair of guide inclined holes drive the pair of sliding shafts to move backwards along a pair of guide straight holes respectively, so as to drive the pair of clamping assemblies to slide backwards to achieve loosening; the second rotation direction is opposite to the first rotation direction.

[0005] The present invention has at least the following advantages:

[0006] When the clamping drive mechanism of the embodiment of the present invention drives the clamping execution gear to rotate in the first direction, a pair of guide inclined holes on the clamping execution gear will drive a pair of sliding shafts to move toward each other along a pair of guide straight holes, thereby driving a pair of clamping components to slide toward each other to achieve clamping of the wire; after clamping the wire, the clamping execution gear and the rotating execution gear are controlled to rotate at the same speed and the same angle through the clamping drive mechanism and the rotating drive mechanism, so that the wire can be rotated at any angle while always being clamped. The embodiment of the present invention can achieve the clamping of the wire and drive the rotation of the clamped wire through a set of devices. The device is small in size and low in cost, and is suitable for installation on a robotic arm as an end tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 and Figure 2 Axonometric views of a wire clamping and rotating device according to an embodiment of the present invention are shown from the front side and the back side, respectively.

[0008] Figures 3 to 5 The front view, side view and top view of the wire clamping and rotating device according to the embodiment of the present invention are respectively shown.

[0009] Figure 6 and Figure 7 Shown are front views respectively showing a clamping actuating gear and a rotation actuating gear according to an embodiment of the present invention.

[0010] Figure 8 The figure shows the effect of installing the rotation actuating gear and the clamping actuating gear according to the embodiment of the present invention.

[0011] Fig. 9 and Fig.10 A front view and a side view of a front support plate according to an embodiment of the present invention are respectively shown.

[0012] Fig.11 and Fig.12 A front view and a side view of a rear support plate according to an embodiment of the present invention are respectively shown.

[0013] Fig.13 and Fig.14 A front view and a side view of an intermediate support plate according to an embodiment of the present invention are respectively shown.

[0014] Fig.15 A schematic diagram of assembling a support plate assembly according to an embodiment of the present invention is shown.

[0015] Fig.16 A cross-sectional schematic diagram of a toggle block according to an embodiment of the present invention is shown.

[0016] Fig.17 and Fig.18The front views of the sliding shaft and the sliding block according to the embodiment of the present invention are respectively shown.

[0017] Fig.19 The figure shows an assembly diagram of a toggle block, a sliding shaft and a sliding block in an assembled state according to an embodiment of the present invention.

[0018] Fig. 20 A schematic diagram showing a rotation execution gear and a clamping execution gear when clamping a wire according to an embodiment of the present invention is shown.

[0019] Fig.21 A schematic diagram showing the synchronous rotation of the rotation execution gear and the clamping execution gear while keeping the wire material clamped according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0021] Please refer to Figures 1 to 21 The wire clamping and rotating device according to an embodiment of the present invention comprises a base 1 , a clamping execution gear 21 , a rotation execution gear 22 , a pair of sliding shafts 3 , a pair of clamping assemblies 4 , a clamping drive mechanism 5 and a rotation drive mechanism 6 .

[0022] In this embodiment, the base 1 is in a plate shape.

[0023] The clamping driving mechanism 5 and the rotating driving mechanism 6 are respectively installed on the base 1 . The clamping driving mechanism is used to drive the clamping execution gear 21 to rotate, and the rotating driving mechanism 6 is used to drive the rotating execution gear 22 to rotate.

[0024] The clamping drive mechanism 5 includes a first reduction motor 51, a first driving gear 52 and a first driven gear 53. The first reduction motor 51 is installed on the back of the base 1, and the output end of the first reduction motor 51 is connected to the first driving gear 52 to drive the first driving gear 52 to rotate. The first driving gear 52 and the first driven gear 53 are rotatably installed on the front of the base 1, respectively, the first driving gear 52 is meshed with the first driven gear 53, and the first driven gear 53 is meshed with the clamping execution gear 21. In this embodiment, the number of the first driven gears 53 is two, and the two first driven gears 53 are respectively located on both sides of the first driving gear 52.

[0025] The rotation drive mechanism 6 includes a second reduction motor 61, a second driving gear 62 and a second driven gear 63. The second reduction motor 61 is installed on the back of the base 1, and the output end of the second reduction motor 61 is connected to the second driving gear 62 to drive the second driving gear 62 to rotate. The second driving gear 62 and the second driven gear 63 are rotatably installed on the front of the base 1, respectively, the second driving gear 62 is meshed with the second driven gear 63, and the second driven gear 63 is meshed with the rotation execution gear 22. In this embodiment, there are two second driven gears 63, and the two second driven gears 63 are respectively located on both sides of the second driving gear 62.

[0026] The clamping actuating gear 21 and the rotating actuating gear 22 are rotatably disposed in front of the base 1. The rotating actuating gear 22 is disposed in front of the clamping actuating gear 21. The clamping actuating gear 21 is provided with a pair of guiding oblique holes 210, and the rotating actuating gear 22 is provided with a pair of guiding straight holes 220.

[0027] In this embodiment, the base 1 , the clamping actuating gear 21 and the rotating actuating gear 22 are all in an inverted U shape, so that the wire clamped by the pair of clamping assemblies 4 can pass through the clamping actuating gear 21 , the rotating actuating gear 22 and the base 1 .

[0028] Further, the wire clamping and rotating device of this embodiment includes a gear support mechanism 7 for rotatably holding the clamping execution gear 21 and the rotation execution gear 22 on the base 1, and the gear support mechanism 7 includes a plurality of support wheels 71 and a support plate assembly 72. The plurality of support wheels 71 are rotatably arranged on the back of the base 1, and the plurality of support wheels 71 are arranged along the circumferential direction, and the outer peripheral surface of each support wheel 71 is provided with an annular groove 711. The support plate assembly 72 includes a front support plate 72a and a rear support plate 72b, and the front support plate 72a and the rear support plate 72b are respectively located in front and rear of the base 1 and connected to each other. The shape of the front support plate 72a and the rear support plate 72b are both inverted U shape, so that the wire clamped by a pair of clamping assemblies 4 can pass through. The rear support plate 72b is anti-dropping and rotatably supported in the annular groove 711 of the plurality of support wheels 71. The front support plate 72a is located behind the clamping execution gear 21 and is connected to the clamping execution gear 21. When the clamping execution gear 21 rotates, the front supporting plate 72a and the rear supporting plate 72b are driven to rotate synchronously.

[0029] Furthermore, the support plate assembly 72 includes an intermediate support plate 72c, which is in an inverted U shape. The intermediate support plate 72c passes through the base 1 from the bottom opening of the inverted U-shaped base 1. The front end of the intermediate support plate 72c is connected to the front support plate 72a, and the rear end of the intermediate support plate 72c is connected to the rear support plate 72b. The connection methods include but are not limited to bolt connection and the like.

[0030] A pair of sliding shafts 3 respectively pass through a pair of guiding inclined holes 210 and a pair of guiding straight holes 220 . The front ends of the pair of sliding shafts 3 are respectively connected to a pair of clamping assemblies 4 . The pair of clamping assemblies 4 are slidably installed on the front side of the rotating execution gear 22 .

[0031] Specifically, each clamping assembly 4 includes a slider 41 , a clamping die 42 and a toggle block 43 .

[0032] The slider 41 is slidably mounted on the front of the rotation execution gear 22. Specifically, a pair of guide rails 221 are fixedly disposed on the front of the rotation execution gear 22, and the opposite surfaces of the pair of guide rails 221 are respectively provided with slide grooves 222; slide rail portions 412 are respectively disposed on both sides of the slider 41, and the slide rail portions 412 on both sides of the slider 41 are respectively slidably disposed in the slide grooves 222 of the pair of guide rails 221.

[0033] The clamping die 42 is fixed to the slider 41, and the clamping die 42 and the slider 41 are detachably connected. A semicircular groove 421 is provided on the side of each clamping die 42, and when a pair of clamping dies 42 are matched, a cylindrical cavity for accommodating pipes, rods and other wires is formed.

[0034] The toggle block 43 is connected to the slider 41 and the corresponding sliding shaft 3. Specifically, the slider 41 is provided with a mounting through hole 410, and the toggle block 43 passes through the through hole 410 and is detachably connected to the slider 41 through a fastener such as a bolt. The back of the toggle block 43 is provided with an axis hole 430, and the front end of the sliding shaft 3 is inserted into the axis hole 430.

[0035] A pair of guide inclined holes 210 of the clamping execution gear 21 is configured such that when the clamping drive mechanism 5 drives the clamping execution gear 21 to rotate along a first direction, the pair of guide inclined holes 210 drives a pair of sliding shafts 3 to move toward each other along a pair of guide straight holes 220 respectively, so as to drive a pair of clamping components 4 to slide toward each other, thereby clamping the wire; when the clamping drive mechanism 5 drives the clamping execution gear 21 to rotate along a second direction, the pair of guide inclined holes 210 drives a pair of sliding shafts 3 to move toward each other along a pair of guide straight holes 220 respectively, so as to drive a pair of clamping components 4 to slide toward each other, thereby releasing the clamped wire; wherein, the second rotation direction is opposite to the first rotation direction.

[0036] Preferably, each sliding shaft 3 is provided with a bearing on its outer sleeve, and the bearing is located in the corresponding guide straight hole 220 to reduce the friction when the sliding shaft 3 slides.

[0037] In this embodiment, the first rotation direction is clockwise, and the second rotation direction is counterclockwise. When the wire is to be clamped, the first reduction motor 51 drives the first driving gear 52 to rotate, the first driving gear 52 drives the first driven gear 53 to rotate, the first driven gear 53 drives the clamping execution gear 21 to rotate clockwise, and the pair of guide inclined holes 210 on the clamping execution gear 21 drives the pair of sliding shafts 3 to move toward each other along the pair of guide straight holes 220, thereby driving the pair of clamping dies 42 to slide toward each other, so as to achieve the clamping of the wire. Fig. 20 After clamping the wire, the first reduction motor 51 and the second reduction motor 61 control the clamping execution gear 21 and the rotation execution gear 22 to rotate at the same speed and the same angle, so that the wire can be rotated at any angle while always being clamped. Fig.21 shown.

[0038] The embodiment of the present invention can clamp a wire and drive the clamped wire to rotate through a set of devices. The device is small in size and light in weight, and is suitable for being installed on a robot arm and used as an end tool.

Claims

1. A wire clamping and rotating device, characterized in that: It includes a base, a clamping execution gear, a rotation execution gear, a pair of sliding shafts, a pair of clamping assemblies, a clamping drive mechanism and a rotation drive mechanism; The clamping drive mechanism and the rotation drive mechanism are respectively installed on the base, the clamping drive mechanism is used to drive the clamping execution gear to rotate, and the rotation drive mechanism is used to drive the rotation execution gear to rotate; The clamping execution gear and the rotation execution gear are rotatably arranged on the base; the rotation execution gear is arranged in front of the clamping execution gear, the clamping execution gear is provided with a pair of guide inclined holes, the rotation execution gear is provided with a pair of guide straight holes, the pair of sliding shafts pass through the pair of guide inclined holes and the pair of guide straight holes respectively, the front ends of the pair of sliding shafts are respectively connected to the pair of clamping assemblies, and the pair of clamping assemblies are slidably installed on the front side of the rotation execution gear; The pair of guide inclined holes are configured such that when the clamping drive mechanism drives the clamping execution gear to rotate along a first direction, the pair of guide inclined holes drive the pair of sliding shafts to move toward each other along a pair of guide straight holes respectively, so as to drive the pair of clamping components to slide toward each other to achieve clamping; when the clamping drive mechanism drives the clamping execution gear to rotate along a second direction, the pair of guide inclined holes drive the pair of sliding shafts to move backwards along a pair of guide straight holes respectively, so as to drive the pair of clamping components to slide backwards to achieve loosening; the second direction is opposite to the first direction.

2. The wire clamping and rotating device according to claim 1, characterized in that: The clamping drive mechanism includes a first reduction motor, a first driving gear and a first driven gear; The first reduction motor is installed on the back side of the base, and the output end of the first reduction motor is connected to the first driving gear to drive the first driving gear to rotate; the first driving gear and the first driven gear are respectively rotatably installed on the front side of the base, the first driving gear is meshed with the first driven gear, and the first driven gear is meshed with the clamping execution gear.

3. The wire clamping and rotating device according to claim 1 or 2, characterized in that: The rotary drive mechanism includes a second reduction motor, a second driving gear and a second driven gear; The second reduction motor is installed on the back side of the base, and the output end of the second reduction motor is connected to the second driving gear to drive the second driving gear to rotate; the second driving gear and the second driven gear are respectively rotatably installed on the front side of the base, the second driving gear is meshed with the second driven gear, and the second driven gear is meshed with the rotation execution gear.

4. The wire clamping and rotating device according to claim 1, characterized in that: The base, the clamping actuating gear and the rotation actuating gear are all in an inverted U shape, so that the wire clamped by the pair of clamping assemblies can pass through the clamping actuating gear, the rotation actuating gear and the base.

5. The wire clamping and rotating device according to claim 4, characterized in that: The wire clamping and rotating device comprises a gear support mechanism, and the gear support mechanism comprises a plurality of support wheels and a support plate assembly; A plurality of supporting wheels are rotatably arranged on the back of the base, and the plurality of supporting wheels are arranged along the circumferential direction, and an annular groove is arranged on the outer circumferential surface of each supporting wheel; The pallet assembly includes a front pallet and a rear pallet, both of which are in an inverted U shape. The front pallet and the rear pallet are respectively located in front of and behind the base and are connected to each other; the rear pallet is anti-falling and rotatably supported in the annular grooves of multiple supporting wheels, and the front pallet is located behind the clamping actuating gear and is connected to the clamping actuating gear.

6. The wire clamping and rotating device according to claim 5, characterized in that: The support plate assembly includes a middle support plate, which is in an inverted U shape. The middle support plate passes through the base from the bottom opening of the inverted U-shaped base. The front end of the middle support plate is connected to the front support plate, and the rear end of the middle support plate is connected to the rear support plate.

7. The wire rod clamping and rotating device according to claim 1, characterized in that: Each of the clamping assemblies comprises a slider, a clamping die and a toggle block; The slider is slidably mounted on the front side of the rotation execution gear, the clamping die is fixed to the slider, and the toggle block is respectively connected to the slider and the corresponding sliding shaft.

8. The wire clamping and rotating device according to claim 7, characterized in that: The slider is provided with a mounting through hole, the toggle block passes through the through hole, and is detachably connected to the slider via a fastener; The back side of the toggle block is provided with an axial hole, and the front end of the sliding shaft is inserted into the axial hole.

9. The wire clamping and rotating device according to claim 7 or 8, characterized in that: A pair of guide rails are fixedly provided on the front side of the rotation execution gear, and sliding grooves are respectively provided on the opposite sides of the pair of guide rails; Slide rails are respectively arranged on both sides of the slide block, and the slide rails on both sides of the slide block are respectively slidably arranged in the slide grooves of the pair of guide rails.

10. The wire rod clamping and rotating device according to claim 1, characterized in that: Each sliding shaft outer sleeve is provided with a bearing, and the bearing is located in the corresponding guide straight hole.

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