Three-degree-of-freedom rotary clamping equipment

Abstract

The utility model relates to the technical field of clamp devices, in particular to three-degree-of-freedom rotary clamping equipment. The three-degree-of-freedom rotary clamping equipment comprises a first shaft rotating device, a second shaft rotating device, a third shaft rotating device and a clamp device. The second shaft rotating device is connected with the first shaft rotating device, the third shaft rotating device is connected with the second shaft rotating device, and the clamp device is connected with the first shaft rotating device and is driven by the first shaft rotating device to rotate around a first shaft. The clamp device comprises two clamping assemblies which can stretch out and draw back in the opposite directions. The three-degree-of-freedom rotary clamping equipment has the advantages that a stable clamping function is realized, so that the posture of tested equipment is not easy to change in the testing process, the tested equipment is prevented from falling off, the testing result is accurate, the tested equipment is not easy to damage or even scrap, and the testing efficiency is improved. Meanwhile, the clamping mechanism can meet the requirement for clamping the tested equipment in various shapes, and the utilization rate of the clamping device is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of clamp devices, in particular to a three-degree-of-freedom rotating clamping device. Background Art

[0002] Nowadays, smart electronic devices, such as smart phones and smart watches, in addition to their inherent communication and timing functions, also have many other functions, such as multimedia, photography, positioning, etc. Among them, using accelerometers and GPS navigation in mobile phones and watches to record motion trajectories has brought great convenience to people's lives. For example, people can accurately record motion trajectories and positioning through smart phones and smart watches when exercising, driving, etc., which can record exercise data, avoid getting lost, identify directions, find targets, etc. However, the inertial navigation accuracy of smart phones and watches often produces errors. Therefore, the test of motion trajectory accuracy in 6 degrees of freedom is one of the important criteria for quality assessment of smart phones and smart watches.

[0003] The inertial navigation test of smartphones and watches requires fixing the product on the device, driving it to move in the three coordinate axis directions and rotate around the three coordinate axes, recording the motion trajectory of one or several points on the product, and evaluating the results. At present, there are many motion mechanisms capable of 6 degrees of freedom in the field of product processing and testing. For example, the Chinese utility model patent with publication number CN217371190U provides a connector processing bracket, including a seat body, the seat body is provided with a ring rail, the ring rail is connected to the seat body rotatably around a first axis, the ring rail is provided with a slip ring, the slip ring is connected to the ring rail rotatably around a second axis, the first axis is perpendicular to the second axis, the slip ring is provided with a locator for positioning the connector, the locator includes a locating ring, the locating ring is connected to the slip ring rotatably around a third axis, and the third axis is perpendicular to the second axis. However, this mechanism cannot fix mobile phones and watches well, especially for watches with irregular shapes. The clamping device of this mechanism cannot achieve a stable clamping function, which makes it easy for the posture of the tested device to change or even fall off during the test, resulting in inaccurate test results, damage to the tested device, or even scrapping. At the same time, the clamping mechanism of this patent cannot meet the clamping requirements of tested devices of various shapes, and its utilization rate is low. Utility Model Content

[0004] In view of this, the utility model aims to provide a three-degree-of-freedom rotation clamping device, which adopts a plurality of fixing mechanisms arranged on a cylindrical or plate-shaped clamp device, utilizes the outer side of the main body of the clamp device, and opens at least one accommodating cavity on the main body, each accommodating cavity is provided with two groups of clamping block assemblies supported along two directions, thereby solving the problem that the mechanism cannot fix mobile phones and watches well, especially for watches with irregular appearance shapes, the clamping device cannot achieve a stable clamping function, which makes it easy for the posture of the tested device to change or even fall off during the test, resulting in inaccurate test results, damage to the tested device, or even scrapping. At the same time, the clamping mechanism cannot meet the clamping requirements of tested devices of various shapes, and the utilization rate is low.

[0005] In order to solve the above problems, the utility model provides a three-degree-of-freedom rotation clamping device, comprising:

[0006] A first shaft rotating device;

[0007] A second shaft rotating device, connected to the first shaft rotating device, driving the first shaft rotating device to rotate around a second shaft through the second shaft rotating device;

[0008] A third shaft rotating device, connected to the second shaft rotating device, driving the first shaft rotating device to rotate around the second shaft through the third shaft rotating device;

[0009] A clamp device, connected to the first axis rotating device, and driven to rotate around the first axis by the first axis rotating device;

[0010] The first axis, the second axis and the third axis are perpendicular to each other;

[0011] The clamp device comprises a body, on which a fixing mechanism is arranged, and the fixing mechanism comprises at least two clamping assemblies which are retractable in opposite directions.

[0012] Further, the first shaft rotating device includes a first motor;

[0013] The second shaft rotating device comprises:

[0014] A first bracket, the first motor and the clamp device are fixed on the first bracket, and the motor shaft of the first motor passes through the first bracket and is connected to the clamp device, and the clamp device is rotatable;

[0015] a second motor, wherein the first bracket is connected to a main shaft of the second motor;

[0016] The third shaft rotation device comprises:

[0017] a second bracket, the first bracket and the second motor are fixed on the second bracket, and the first bracket is rotatable relative to the second bracket;

[0018] The third motor, the second bracket is connected to the main shaft of the third motor.

[0019] Furthermore, the clamp device is cylindrical, one end of the clamp device is fixedly connected to the first motor, and the other end is rotatably connected to the first bracket;

[0020] The tested piece is connected and fixed to the tested piece by a belt-shaped piece surrounding the outer axial surface of the clamp device.

[0021] Furthermore, the fixing mechanism includes a group of first clamping block assemblies respectively arranged on two opposite outer axial surfaces of the clamping device, and the first clamping block assembly includes two movable first clamping blocks arranged along the axial direction of the clamping device.

[0022] Furthermore, a groove is provided on the body to form a first accommodating cavity;

[0023] The clamp device further includes a cover plate for sealing the first accommodating cavity;

[0024] Two groups of second clamping block assemblies are arranged in the first accommodating cavity, the clamping directions of the two groups of second clamping block assemblies form a first preset angle, and each group of the second clamping block assemblies includes two oppositely arranged second clamping blocks, one of which is movable relative to the other second clamping block.

[0025] Furthermore, a second accommodating cavity is provided in the first accommodating cavity, and two groups of third clamping block assemblies are provided in the second accommodating cavity, the clamping directions of the two groups of the third clamping block assemblies form a second preset angle, and each group of the third clamping block assemblies includes two relatively arranged third clamping blocks, one of which is movable relative to the other third clamping block.

[0026] Furthermore, at least one retractable pin is provided on the bottom surface of the first accommodating cavity;

[0027] A recess matched with the pin is provided on the bottom surface of the cover plate.

[0028] Furthermore, a slide groove is provided on both sides of the first accommodating cavity along the axial direction;

[0029] Slide plates matched with the slide grooves are provided at two ends of the cover plate along the axial direction of the main body.

[0030] Furthermore, the clamping device is plate-shaped, and a blind hole matching the main shaft of the first motor is provided on one side of the clamping device, and the other side opposite to the blind hole is rotatably connected to the first bracket.

[0031] Furthermore, a group of fourth clamping block assemblies is respectively provided on the main body along two directions at a third preset angle, each group of the fourth clamping block assemblies includes two fourth clamping blocks, and the two fourth clamping blocks are relatively movable.

[0032] Compared with the prior art, the three-degree-of-freedom rotating clamping device described in the utility model has the following advantages:

[0033] The advantage of the technical solution is that a plurality of fixing mechanisms are arranged on a cylindrical or plate-shaped clamp device, the outer side of the main body of the clamp device is utilized, and at least one accommodating cavity is opened on the main body, each accommodating cavity is provided with two groups of clamping block assemblies supported in two directions, and the clamping device can better fix mobile phones and watches, especially for watches with irregular appearance shapes, the clamping device can achieve a stable clamping function, so that the posture of the tested device is not easily changed during the test process, and the tested device is avoided from falling off, the test results are accurate, and the tested device is not easily damaged or even scrapped. At the same time, the clamping mechanism can meet the clamping of tested devices of various shapes, thereby improving the utilization rate of the clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional diagram of a three-degree-of-freedom rotating clamping device according to an embodiment of the present utility model;

[0035] Figure 2 A three-dimensional diagram of a clamp device according to a first embodiment of the present utility model;

[0036] Figure 3 This is an exploded view of the clamp device according to the first embodiment of the utility model;

[0037] Figure 4 It is a three-dimensional diagram of a clamp device according to a second embodiment of the present utility model.

[0038] Description of reference numerals:

[0039] 100-clamping device, 110-body, 111-second clamping block assembly, 1111-first accommodating cavity, 1112-second clamping block, 112-third clamping block assembly, 1121-second accommodating cavity, 1122-third clamping block, 113-pin, 114-fourth clamping block assembly, 1141-fourth accommodating cavity, 1142-fourth clamping block, 115-fifth clamping block assembly, 1151-fifth accommodating cavity, 1152-fifth clamping block, 120-cover plate, 130-first clamping block assembly, 131-first clamping block, 132-bolt hole, 140-blind hole, 200-first shaft rotating device, 300-second shaft rotating device, 310-second motor, 320-first bracket, 400-third shaft rotating device, 410-third motor, 420-second bracket, 500-conductive slip ring. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] In the present utility model, the descriptions involving "first", "second", "upper", "lower", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "upper", "lower" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the technical solutions between the embodiments can be combined, they are all within the protection scope required by the present utility model.

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0043] like Figure 1As shown, a three-degree-of-freedom rotation clamping device includes: a first axis rotation device 200, a second axis rotation device 300, a third axis rotation device 400 and a clamp device 100. The second axis rotation device 300 is connected to the first axis rotation device 200, and the first axis rotation device 200 is driven to rotate around the second axis through the second axis rotation device 300. The third axis rotation device 400 is connected to the second axis rotation device 300, and the first axis rotation device 200 is driven to rotate around the second axis through the third axis rotation device 400. The clamp device 100 is connected to the first axis rotation device 200, and is driven to rotate around the first axis through the first axis rotation device 200. The first axis, the second axis and the third axis are perpendicular to each other. The clamp device 100 includes a body 110, and a fixing mechanism is provided on the body 110, and the fixing mechanism includes at least two clamping components that can be extended and retracted in opposite directions.

[0044] The second axis rotating device 300 is driven to rotate around the third axis by the third axis rotating device 400, the second axis rotating device 300 drives the first axis rotating device 200 to rotate around the second axis, and the first axis rotating device 200 drives the fixture device 100 to rotate around the first axis. The device under test is fixed to the fixture device 100 by two retractable clamping assemblies of the fixing mechanism, so that the rotation of the device under test in three degrees of freedom is realized. The clamping device of the above-mentioned embodiment is applied to a device moving along the first axis, the second axis and the third axis, and the trajectory test of the device under test in six degrees of freedom can be further performed. Through this test, the inertial navigation accuracy of the device under test, such as a smart phone or a smart watch, can be tested.

[0045] The clamping device of this embodiment can achieve a stable clamping function, so that the posture of the tested device is not easily changed during the test process, and the tested device is prevented from falling off. The test results are accurate, and the tested device is not easily damaged or even scrapped.

[0046] Further, the first axis rotating device 200 includes a first motor. The second axis rotating device 300 includes: a first bracket 320 and a second motor 310. The first motor and the clamp device 100 are fixed on the first bracket 320, and the motor shaft of the first motor passes through the first bracket 320 and is connected to the clamp device 100, and the clamp device 100 is rotatable. The first bracket 320 is connected to the main shaft of the second motor 310. The third axis rotating device 400 includes a second bracket 420, the first bracket 320 and the second motor 310 are fixed on the second bracket 420, and the first bracket 320 is rotatable relative to the second bracket 420, and the third motor 410, and the second bracket 420 is connected to the main shaft of the third motor 410.

[0047] Specifically, as an embodiment, the first bracket 320 is connected to each other through four plate-like members to form a square frame structure, and the clamp device 100 is rotatably fixed between two opposite plate-like members of the frame structure along the third axis direction. A connecting shaft is provided on one of the plate-like members, and a bearing is provided at one end of the clamp device 100, and the connecting shaft is connected to the bearing. The other end of the clamp device 100 is connected to the main shaft of the first motor. The first motor is fixed on the plate-like member opposite to the connecting shaft, and the main shaft passes through the plate-like member and is fixedly connected to the clamp device 100. The second bracket 420 is U-shaped, and a plate-like member extending along the first axis direction of the first bracket 320 is rotatably connected to one end of the second bracket 420, and the second motor 310 is fixed to the other end of the second bracket 420, and the main shaft passes through the second bracket 420 and is fixedly connected to the first bracket 320. The main shaft of the third motor 410 is connected to the second bracket 420, driving the second bracket 420 to rotate around the third axis. In order to save space, preferably, the third motor 410 is placed horizontally, and the main shaft and the second bracket 420 are connected after changing the rotation direction by 90 degrees through the transmission mechanism. The three rotating devices are combined and operated to realize three degrees of freedom rotation.

[0048] Further, such as Figure 2 and Figure 3 As shown, the fixture 100 is cylindrical, one end of the fixture 100 is fixedly connected to the first motor, and the other end is rotatably connected to the first bracket 320. The tested piece is connected and fixed to the tested piece by a belt-like member surrounding the outer axial surface of the fixture 100.

[0049] The tested object is firmly tied to the outer peripheral surface of the fixture device 100 by a belt-like member, such as a clamp, a cable tie, etc. Taking a watch as the tested object as an example, the watch band can be used as a belt-like member to fix the watch.

[0050] Furthermore, the fixing mechanism includes a group of first clamping block assemblies 130 respectively arranged on two opposite outer axial surfaces of the clamp device 100 , and the first clamping block assembly 130 includes two movable first clamping blocks 131 arranged along the axial direction of the clamp device 100 .

[0051] In order to prevent the watch from slipping or falling off during the test, the watch band is clamped on opposite sides of the clamp device 100 by the first clamping block assembly 130. The movement of the first clamping block 131 can be as follows: Figure 2 and Figure 3 As shown, multiple rows of bolt holes 132 are processed on the surface of the clamp device 100 to fix the first clamping block 131, and a sliding structure can also be made, which will not be repeated here.

[0052] Furthermore, a groove is provided on the body 110 to form a first accommodating cavity 1111. The clamp device 100 further includes a cover plate 120 for blocking the first accommodating cavity 1111. Two groups of second clamping block assemblies 111 are provided in the first accommodating cavity 1111, and the clamping directions of the two groups of the second clamping block assemblies 111 form a first preset angle, and each group of the second clamping block assemblies 111 includes two second clamping blocks 1112 arranged opposite to each other, wherein one of the second clamping blocks 1112 can move relative to the other second clamping block 1112.

[0053] When a mobile phone is used as the device to be tested, the mobile phone can be placed in the first accommodating cavity 1111, and the mobile phone can be clamped and fixed by the second clamping blocks 1112 around it. Preferably, the two opposite second clamping blocks 1112 can be a movable clamping block, and the other can be a fixed clamping block. It can also be made to be linked, and the linked second clamping block assembly 111 can ensure that the center position of the mobile phone remains unchanged. In the axial direction of the clamp device 100, the side wall of the first accommodating cavity 1111 can be used as a fixed second clamping block 1112. Similarly, in order to ensure that the center position of the mobile phone remains unchanged, the two second clamping blocks 1112 extending in the axial direction can also be movable. Similar to the first clamping assembly, a plurality of bolt holes 132 can be used to fix the clamping block, or it can be in a sliding manner.

[0054] As another embodiment, the second clamping block assembly 111 can be made into a structure similar to the commonly used vehicle mobile phone clamping bracket for clamping the four corners of the mobile phone.

[0055] Furthermore, a second accommodating cavity 1121 is provided in the first accommodating cavity 1111, and two groups of third clamping block assemblies 112 are provided in the second accommodating cavity 1121. The clamping directions of the two groups of third clamping block assemblies 112 form a second preset angle, and each group of the third clamping block assemblies 112 includes two relatively arranged third clamping blocks 1122, one of the third clamping blocks 1122 can move relative to the other third clamping block 1122.

[0056] When a watch is used as the device under test, it is also possible not to fix it with a watch strap. Put the watch into the second accommodating cavity 1121, and clamp the watch by the third clamping block assembly 112. Preferably, the two opposing third clamping blocks 1122 can be a movable clamping block and the other can be a fixed clamping block. They can also be made to be linked, and the linked third clamping block assembly 112 can ensure that the center position of the watch remains unchanged.

[0057] As another embodiment, the third clamping block assembly 112 can be made into a structure similar to the commonly used vehicle watch clamping bracket for clamping the four corners of the watch.

[0058] As another embodiment, each third clamping block 1122 of the third clamping block assembly 112 is a retractable structure disposed on four side walls of the second accommodating cavity 1121 .

[0059] Furthermore, at least one retractable pin 113 is provided on the bottom surface of the first accommodating chamber 1111;

[0060] A recess that cooperates with the pin 113 is provided on the bottom surface of the cover plate 120 .

[0061] The cover plate 120 is locked by the cooperation of the pin 113 and the recess. When the cover plate 120 is opened, the pin 113 retracts into the inside of the body 110 to unlock.

[0062] Furthermore, a slide groove is provided on each of the two axial sides of the first accommodating chamber 1111. Slide plates cooperating with the slide groove are provided at both ends of the cover plate 120 along the axial direction of the main body 110.

[0063] The opening and closing of the cover plate 120 and the main body 110 can be realized by sliding, or can be realized by a structure in which the cover plate 120 is buckled onto the main body 110 .

[0064] Further, such as Figure 4 As shown, the clamping device is plate-shaped, and a blind hole 140 cooperating with the main shaft of the first motor is provided on one side of the clamping device, and the other side opposite to the blind hole 140 is rotatably connected to the first bracket 320 .

[0065] The clamping device can also be made into a flat plate shape, and similarly, the opposite two ends are connected to the main shaft of the first motor and the first bracket 320.

[0066] Furthermore, a group of fourth clamping block assemblies 114 are respectively provided on the body 110 along two directions at a third preset angle, and each group of the fourth clamping block assemblies 114 includes two fourth clamping blocks 1142 , and the two fourth clamping blocks 1142 are relatively movable.

[0067] The mobile phone is clamped by the fourth clamping block assembly 114, and the structure and use method of each fourth clamping block 1142 are the same as those of the second clamping block 1112. In this embodiment, the fourth clamping block assembly 114 is arranged on the surface of the clamping device, and the fourth accommodating cavity 1141 is the surface of the clamping device. As an embodiment, a concave fourth accommodating cavity 1141 can also be provided, and a cover plate 120 can be provided on the fourth accommodating cavity 1141.

[0068] In this embodiment, a fifth accommodating cavity 1151 may also be provided, and a fifth clamping block 1152 assembly 115 may be provided similarly to the third clamping block assembly 112 .

[0069] In the embodiment of the utility model, the first bracket 320 and the second bracket 420 are respectively provided with a conductive slip ring 500 connected to the first motor and the second motor 310, and the second axis rotation device 300 and the third axis rotation device 400 are electrically connected to the external device through the conductive slip ring 500. The conductive slip ring 500 is provided to prevent the cables of the second bracket 420 and the third bracket from being entangled with each other and with the surrounding components during the rotation process, so as to prevent the cables from being tangled together or even disconnected.

[0070] Although the utility model is disclosed as above, the utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the utility model. Therefore, the protection scope of the utility model shall be subject to the scope defined by the claims.

Claims

1. A three-degree-of-freedom rotation clamping device, characterized in that: include: A first shaft rotating device (200); A second shaft rotating device (300) connected to the first shaft rotating device (200), and driving the first shaft rotating device (200) to rotate around a second shaft through the second shaft rotating device (300); A third shaft rotating device (400) connected to the second shaft rotating device (300), and driving the first shaft rotating device (200) to rotate around the second shaft through the third shaft rotating device (400); A clamp device (100) connected to the first axis rotating device (200) and driven to rotate around the first axis by the first axis rotating device (200); The first axis, the second axis and the third axis are perpendicular to each other; The clamp device (100) comprises a body (110), on which a fixing mechanism is provided, the fixing mechanism comprising at least two clamping components that are retractable in opposite directions.

2. The three-degree-of-freedom rotation clamping device according to claim 1, characterized in that: The first shaft rotating device (200) comprises a first motor; The second shaft rotating device (300) comprises: a first bracket (320), the first motor and the clamp device (100) being fixed on the first bracket (320), and a motor shaft of the first motor passing through the first bracket (320) and connected to the clamp device (100), and the clamp device (100) being rotatable; A second motor (310), wherein the first bracket (320) is connected to a main shaft of the second motor (310); The third shaft rotation device (400) comprises: a second bracket (420), the first bracket (320) and the second motor (310) being fixed on the second bracket (420), and the first bracket (320) being rotatable relative to the second bracket (420); A third motor (410), wherein the second bracket (420) is connected to a main shaft of the third motor (410).

3. The three-degree-of-freedom rotation clamping device according to claim 2, characterized in that: The clamp device (100) is cylindrical, one end of the clamp device (100) is fixedly connected to the first motor, and the other end is rotatably connected to the first bracket (320); The tested piece is connected and fixed to the tested piece by a belt-shaped piece surrounding the outer axial surface of the clamp device (100).

4. The three-degree-of-freedom rotation clamping device according to claim 3, characterized in that: The fixing mechanism comprises a group of first clamping block assemblies (130) respectively arranged on two opposite outer axial surfaces of the clamping device (100), and the first clamping block assembly (130) comprises two movable first clamping blocks (131) arranged along the axial direction of the clamping device (100).

5. The three-degree-of-freedom rotation clamping device according to claim 4, characterized in that: A groove is provided on the body (110) to form a first accommodating cavity (1111); The clamp device (100) further comprises a cover plate (120) for sealing the first accommodating cavity (1111); Two groups of second clamping block assemblies (111) are arranged in the first accommodating cavity (1111), and the clamping directions of the two groups of second clamping block assemblies (111) form a first preset angle, and each group of the second clamping block assemblies (111) includes two second clamping blocks (1112) arranged opposite to each other, wherein one of the second clamping blocks (1112) can move relative to the other second clamping block (1112).

6. The three-degree-of-freedom rotation clamping device according to claim 5, characterized in that: A second accommodating cavity (1121) is provided in the first accommodating cavity (1111), and two groups of third clamping block assemblies (112) are provided in the second accommodating cavity (1121). The clamping directions of the two groups of third clamping block assemblies (112) form a second preset angle, and each group of the third clamping block assemblies (112) includes two third clamping blocks (1122) arranged opposite to each other, and one of the third clamping blocks (1122) can move relative to the other third clamping block (1122).

7. The three-degree-of-freedom rotation clamping device according to claim 6, characterized in that: At least one retractable pin (113) is provided on the bottom surface of the first accommodating cavity (1111); A recess that matches the pin (113) is provided on the bottom surface of the cover plate (120).

8. The three-degree-of-freedom rotation clamping device according to claim 7, characterized in that: A sliding groove is respectively provided on both sides of the first accommodating cavity (1111) along the axial direction; Slide plates cooperating with the slide grooves are provided at both ends of the cover plate (120) along the axial direction of the body (110).

9. The three-degree-of-freedom rotation clamping device according to claim 2, characterized in that: The clamp device is plate-shaped, and one side of the clamp device is provided with a blind hole (140) that matches the main shaft of the first motor, and the other side opposite to the blind hole (140) is rotatably connected to the first bracket (320).

10. The three-degree-of-freedom rotation clamping device according to claim 9, characterized in that: A group of fourth clamping block assemblies (114) are respectively provided on the main body (110) along two directions at a third preset angle, each group of the fourth clamping block assemblies (114) includes two fourth clamping blocks (1142), and the two fourth clamping blocks (1142) are movable relative to each other.

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