Automatic lifting, rotating and clamping mechanism

Abstract

The invention relates to the technical field of production machinery, in particular to an automatic lifting, rotating and clamping mechanism which comprises a mechanism fixing seat, a servo lifting mechanism, a servo rotating mechanism and a clamping mechanism, and the mechanism fixing seat is used for installing the servo lifting mechanism, the servo rotating mechanism and the clamping mechanism. The servo lifting mechanism is used for driving the servo rotating mechanism and the clamping mechanism to move in the Z-axis direction, the servo rotating mechanism is used for driving the clamping mechanism to rotate, the clamping mechanism is used for clamping a target object, and the clamping device is simple in structure, high in automation degree and high in working efficiency and stability.

Description

Technical Field

[0001] The invention relates to the technical field of production machinery, and specifically to an automatic lifting and rotating clamping mechanism. Background Art

[0002] In the airbag production process, the unfolded airbag is folded into a smaller package according to the folding step diagram provided by the customer. The traditional method is to manually hold a simple knife plate jig and strictly follow the folding process. Figure 1 The defects of folding the unfolded airbag step by step are as follows: 1. The stability of manual error prevention is poor and the defect rate is high. 2. The quality of the operating workers is high, the product production cost is high and the work efficiency is extremely low. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention aims to provide an automatic lifting and rotating clamping mechanism.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic lifting and rotating clamping mechanism, comprising a mechanism fixing seat, a servo lifting mechanism, a servo rotating mechanism and a clamping mechanism, wherein the mechanism fixing seat is used to install the servo lifting mechanism, the servo rotating mechanism and the clamping mechanism, the servo lifting mechanism is used to drive the servo rotating mechanism and the clamping mechanism to move in the Z-axis direction, the servo rotating mechanism is used to drive the clamping mechanism to rotate, and the clamping mechanism is used to clamp the target object.

[0005] In some embodiments, the servo lifting mechanism includes a mounting base, a linear guide, a coupling, a lifting mechanism servo motor, a lifting mechanism movable mounting plate, a ball screw and a screw support seat. The linear guide and the lifting mechanism servo motor are respectively mounted on the mounting base, and a screw support seat is respectively arranged on the mounting base and the mechanism fixed seat. The ball screw is vertically rotated and installed between the two screw support seats. The lifting mechanism servo motor is connected to one end of the ball screw through a coupling, the lifting mechanism movable mounting plate is connected to the slider of the linear guide, and the lifting mechanism movable mounting plate is connected to the screw nut driving connecting block of the ball screw.

[0006] In some of the embodiments, an upward limit position sensor is provided at the upper end of the mounting base, and a downward limit position sensor is provided at the lower end of the mounting base. The upward limit position sensor and the downward limit position sensor are respectively installed to detect and position the upper limit position and the lower limit position of the movable mounting plate of the lifting mechanism, and the signal ends of the upward limit position sensor and the downward limit position sensor are connected to the control end of the servo motor of the lifting mechanism.

[0007] In some of the embodiments, the servo rotating mechanism includes a fixed plate, a servo motor, a reducer, a synchronous pulley, a synchronous belt, a hollow rotating shaft and a pneumatic slip ring. The fixed plate is connected to the movable mounting plate of the lifting mechanism. The servo motor is fixed on the fixed plate after being installed and connected with the reducer. The hollow rotating shaft is rotatably mounted on the fixed plate. Synchronous pulleys are installed on the output shaft of the reducer and the hollow rotating shaft. The synchronous belt is arranged between the two synchronous pulleys. One end of the pneumatic slip ring is connected to one end of the hollow rotating shaft. The other end of the pneumatic slip ring is fixedly connected through the pneumatic slip ring mounting plate. The other end of the hollow rotating shaft is provided with a clamping mechanism mounting base. The fixed end of the clamping mechanism is connected to the clamping mechanism mounting base.

[0008] In some embodiments, a belt tensioning adjustment plate is provided on the fixed plate at a position corresponding to the synchronous belt, and the synchronous belt is tensioned and adjusted by the belt tensioning adjustment plate.

[0009] In some of the embodiments, a servo zero position pointer is provided on the fixed plate corresponding to the hollow rotating shaft.

[0010] In some of the embodiments, a hollow rotating shaft position sensing sensor for detecting the rotation position of the hollow rotating shaft is provided on the fixed plate at a position corresponding to the hollow rotating shaft.

[0011] In some embodiments, a protective cover is provided on the fixed plate corresponding to the synchronous belt.

[0012] In some of the embodiments, the clamping mechanism is composed of a fixed seat, a parallel air gripper, a folding knife, and a ball head plunger. The fixed seat is installed on the clamping mechanism mounting base, the cylinder body of the parallel air gripper is installed on the fixed seat, the quick-change mounting seat of the folding knife is installed on the moving end of the parallel air gripper through the ball head plunger, and the two moving ends of the parallel air gripper are both equipped with folding knives. The air source end of the parallel air gripper is electrically connected to the outside through an air-electric slip ring.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The clamping mechanism can be rotated at any angle, and the claw, gas, electricity and other energy pipelines will not be entangled.

[0014] 2. The clamping mechanism can rotate on the rotating axis to any precise angle and stop for positioning.

[0015] 3. The clamping mechanism can be positioned at any precise position within the Z-axis travel range.

[0016] 4. Practical structure, high degree of automation, high working efficiency and stability.

[0017] Details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand. The present application is fully described and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the servo lifting mechanism and the fixing seat of the present invention.

[0019] Figure 2 Schematic diagram of the servo rotating mechanism and the fixed seat of the present invention Figure 3 It is a schematic diagram of the clamping mechanism and the folding knife of the present invention.

[0020] In the figure: 101, lifting mechanism servo motor; 102, linear guide; 103, mounting base; 104, coupling; 105, rising limit position sensor; 106, screw support seat; 107, ball screw; 108, falling limit position sensor; 109, lifting mechanism movable mounting plate; 110, screw nut drive connecting block; 111, screw support seat; 112, mechanism fixing seat; 113, slider; 201, synchronous belt; 202, belt tensioning adjustment plate; 203, reducer; 204, servo motor; 205, protective cover; 206, rotating mechanism fixing seat; 207, servo zero position pointer; 208, hollow shaft position sensing sensor; 209, gas-electric slip ring mounting plate; 210, clamping mechanism mounting base; 211, hollow shaft; 212, seat bearing; 213, synchronous pulley; 214, gas-electric slip ring; 301. Parallel air claw; 302. Folding scraper quick-change mounting seat; 303. Folding scraper; 304. Ball plunger. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0022] See also Figure 1-3The present invention provides a technical solution: an automatic lifting and rotating clamping mechanism, comprising a mechanism fixing seat 112, a servo lifting mechanism, a servo rotating mechanism and a clamping mechanism, wherein the mechanism fixing seat 112 is used to install the servo lifting mechanism, the servo rotating mechanism and the clamping mechanism, the servo lifting mechanism is used to drive the servo rotating mechanism and the clamping mechanism to move in the Z-axis direction, the servo rotating mechanism is used to drive the clamping mechanism to rotate, and the clamping mechanism is used to clamp the target object.

[0023] The servo lifting mechanism includes a mounting base 103, a linear guide 102, a coupling 104, a lifting mechanism servo motor 204101, a lifting mechanism movable mounting plate 109, a ball screw 107 and a screw support seat 111106. The linear guide 102 and the lifting mechanism servo motor 204101 are respectively mounted on the mounting base 103, and a screw support seat 111106 is respectively arranged on the mounting base 103 and the mechanism fixed seat 112. The ball screw 107 is vertically rotatably mounted between the two screw support seats 111106. The lifting mechanism servo motor 204101 is connected to one end of the ball screw 107 through the coupling 104, the lifting mechanism movable mounting plate 109 is connected to the slider 113 of the linear guide 102, and the lifting mechanism movable mounting plate 109 is connected to the screw nut driving connecting block 110 of the ball screw 107.

[0024] An upward limit position sensor 105 is arranged at the upper end of the mounting base 103, and a downward limit position sensor 108 is arranged at the lower end of the mounting base 103. The upward limit position sensor 105 and the downward limit position sensor 108 respectively correspond to the upper limit position and the lower limit position of the movable mounting plate 109 of the lifting mechanism for detecting and positioning installation, and the signal ends of the upward limit position sensor 105 and the downward limit position sensor 108 are connected to the control end of the lifting mechanism servo motor 204101.

[0025] The lifting and lowering is performed through the structure of a servo motor 204 and a ball screw 107. The servo motor 204 adopts an automatic brake type servo motor 204. When the equipment is powered off, the servo motor 204 brakes, and the lifting mechanism can remain in the current position and will not fall due to the mechanism's own gravity, thereby reducing safety hazards during manual maintenance. The mechanism adopts a ball screw 107 to convert the servo knob force into a linear motion thrust, and a linear guide rail 102 is used to precisely guide and constrain the movement direction of the mechanism.

[0026] The servo rotating mechanism includes a fixed plate, a servo motor 204, a reducer 203, a synchronous pulley 213, a synchronous belt 201, a hollow rotating shaft and a pneumatic electric slip ring 214. The fixed plate is connected to the movable mounting plate 109 of the lifting mechanism. The servo motor 204 is fixed on the fixed plate after being installed and connected with the reducer 203. The hollow rotating shaft is rotatably mounted on the fixed plate. The synchronous pulley 213 is installed on the output shaft of the reducer 203 and the hollow rotating shaft. The synchronous belt 201 is arranged between the two synchronous pulleys 213. One end of the pneumatic electric slip ring 214 is connected to one end of the hollow rotating shaft. The other end of the pneumatic electric slip ring 214 is fixedly connected through the pneumatic electric slip ring 214 mounting plate 209. The other end of the hollow rotating shaft is provided with a clamping mechanism mounting base 210103. The fixed end of the clamping mechanism is connected to the clamping mechanism mounting base 210103.

[0027] The servo motor 204 is matched with the reducer 203 to output a strong torsional power, and drives the hollow rotating shaft 211 through the synchronous belt / wheel. The purpose of using the gas-electric slip ring 214 is to solve the problem of winding of the energy pipeline of the parallel air claw 301 when rotating.

[0028] A belt tensioning adjustment plate 202 is provided on the fixed plate at a position corresponding to the synchronous belt 201 , and the synchronous belt 201 is tensioned and adjusted by the belt tensioning adjustment plate 202 .

[0029] A servo zero position pointer 207 is arranged on the fixed plate at a position corresponding to the hollow rotating shaft, and the indication of the servo zero position pointer 207 can be used to visually observe whether the rotation angle of the hollow rotating shaft is in place.

[0030] A hollow rotating shaft 211 position sensing sensor 208 for detecting the rotation position of the hollow rotating shaft is arranged on the fixed plate corresponding to the hollow rotating shaft. Through the arrangement of the hollow rotating shaft 211 position sensing sensor 208, the controller can collect information on the rotation angle of the hollow rotating shaft during the automated operation, thereby improving the automation effect.

[0031] A protective cover 205 is provided on the fixing plate corresponding to the synchronous belt 201 , and a protective cover 205 is installed in the synchronous belt transmission area. The protective cover 205 is provided with some observation holes and screw installation holes.

[0032] The clamping mechanism consists of a fixed seat, a parallel air gripper 301, a folding knife 303, and a ball plunger 304. The fixed seat is installed on the clamping mechanism mounting base 210103, the cylinder of the parallel air gripper 301 is installed on the fixed seat, and the quick-change mounting seat of the folding knife 303 is installed on the moving end of the parallel air gripper 301 through the ball plunger 304. The two moving ends of the parallel air gripper 301 are both equipped with folding knives 303. The air source end of the parallel air gripper 301 is electrically connected to the outside through an air-electric slip ring 214. The above components are fastened together using a number of screws and positioning pins. Its function is to clamp / release the target object. The knife is replaced by manually pulling out the ball plunger 304 to pull out the folding knife 303.

[0033] Through this technical solution, the lifting and lowering of the servo lifting mechanism drives the servo rotating mechanism and the clamping mechanism to move up and down. At the same time, the object is clamped by the clamping mechanism, and the rotation of the servo rotating mechanism drives the clamping mechanism to rotate in an orderly manner, thereby rotating and folding the object.

[0034] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic lifting and rotating clamping mechanism, characterized in that: It includes a mechanism fixing seat, a servo lifting mechanism, a servo rotating mechanism and a clamping mechanism. The mechanism fixing seat is used to install the servo lifting mechanism, the servo rotating mechanism and the clamping mechanism. The servo lifting mechanism is used to drive the servo rotating mechanism and the clamping mechanism to move in the Z-axis direction. The servo rotating mechanism is used to drive the clamping mechanism to rotate, and the clamping mechanism is used to clamp the target object.

2. The automatic lifting and rotating clamping mechanism according to claim 1 is characterized in that: The servo lifting mechanism includes a mounting base, a linear guide, a coupling, a lifting mechanism servo motor, a lifting mechanism movable mounting plate, a ball screw and a screw support seat. The linear guide and the lifting mechanism servo motor are respectively mounted on the mounting base, and a screw support seat is respectively arranged on the mounting base and the mechanism fixed seat. The ball screw is vertically rotated and mounted between the two screw support seats. The lifting mechanism servo motor is connected to one end of the ball screw through a coupling, the lifting mechanism movable mounting plate is connected to the slider of the linear guide, and the lifting mechanism movable mounting plate is connected to the screw nut driving connecting block of the ball screw.

3. The automatic lifting and rotating clamping mechanism according to claim 2 is characterized in that: An ascending limit position sensor is arranged at the upper end of the mounting base, and a descending limit position sensor is arranged at the lower end of the mounting base. The ascending limit position sensor and the descending limit position sensor are respectively installed to detect and locate at the upper limit position and the lower limit position of the movable mounting plate of the lifting mechanism, and the signal ends of the ascending limit position sensor and the descending limit position sensor are connected to the control end of the servo motor of the lifting mechanism.

4. An automatic lifting and rotating clamping mechanism according to claim 2 or 3, characterized in that: The servo rotating mechanism includes a fixed plate, a servo motor, a reducer, a synchronous pulley, a synchronous belt, a hollow rotating shaft and a pneumatic slip ring. The fixed plate is connected to the movable mounting plate of the lifting mechanism. The servo motor is fixed on the fixed plate after being installed and connected with the reducer. The hollow rotating shaft is rotatably mounted on the fixed plate. Synchronous pulleys are installed on the output shaft of the reducer and the hollow rotating shaft. The synchronous belt is arranged between the two synchronous pulleys. One end of the pneumatic slip ring is connected to one end of the hollow rotating shaft. The other end of the pneumatic slip ring is fixedly connected through the pneumatic slip ring mounting plate. The other end of the hollow rotating shaft is provided with a clamping mechanism mounting base. The fixed end of the clamping mechanism is connected to the clamping mechanism mounting base.

5. The automatic lifting and rotating clamping mechanism according to claim 4 is characterized in that: A belt tensioning adjustment plate is arranged on the fixed plate at a position corresponding to the synchronous belt, and the synchronous belt is tensioned and adjusted by the belt tensioning adjustment plate.

6. The automatic lifting and rotating clamping mechanism according to claim 4, characterized in that: A servo zero position pointer is arranged on the fixed plate at a position corresponding to the hollow rotating shaft.

7. The automatic lifting and rotating clamping mechanism according to claim 4, characterized in that: A hollow rotating shaft position sensing sensor for detecting the rotation position of the hollow rotating shaft is arranged on the fixing plate at a position corresponding to the hollow rotating shaft.

8. The automatic lifting and rotating clamping mechanism according to claim 4, characterized in that: A protective cover is provided on the fixing plate corresponding to the synchronous belt.

9. The automatic lifting and rotating clamping mechanism according to claim 4, characterized in that: The clamping mechanism consists of a fixed seat, a parallel air claw, a folding knife, and a ball plunger. The fixed seat is installed on the clamping mechanism mounting base, the cylinder body of the parallel air claw is installed on the fixed seat, the quick-change mounting seat of the folding knife is installed on the moving end of the parallel air claw through the ball plunger, the two moving ends of the parallel air claw are both equipped with folding knives, and the air source end of the parallel air claw is electrically connected to the outside through an air-electric slip ring.

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