A servo combined positioning device

Abstract

The utility model relates to the technical field of automobile assembly, and more specifically, to a servo combination positioning device, including a longitudinal moving mechanism, a rotating mechanism, and a positioning clamping mechanism, wherein one side of the rotating mechanism is connected to the longitudinal moving mechanism, and the other side is connected to the positioning clamping mechanism. The purpose of the utility model is to overcome the shortcomings of the prior art and provide a servo combination positioning device, which can switch the positioning coordinates in the horizontal direction by rotating the rotating mechanism at different angles, and switch the positioning coordinates in the vertical direction by cooperating with the longitudinal moving mechanism to slide up and down; the longitudinal moving mechanism and the rotating mechanism are combined together to adjust the position of the positioning clamping mechanism, so that the utility model can switch the positioning coordinates in three dimensions, thereby meeting the positioning requirements of multiple models.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile assembly, and more specifically to a servo combination positioning device Background Art

[0002] Automobile assembly production is a large-scale, high-intensity production process. The previous production mode based on manual labor has gradually been replaced by fully automated robot arm operations. However, how to improve the efficiency of the robot arm and obtain a faster production cycle is currently the focus of consideration. In the process of existing automobile assembly, three-axis robots are often used to achieve all-round movement and flexible positioning. However, three-axis robots need to be equipped with three different direction drives to achieve this, which is not streamlined enough in terms of cost. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a servo combination positioning device, which can switch the positioning coordinates in the horizontal direction by rotating a rotating mechanism at different angles, and switch the positioning coordinates in the vertical direction by cooperating with the longitudinal moving mechanism to slide up and down; the longitudinal moving mechanism and the rotating mechanism are combined together to adjust the position of the positioning clamping mechanism, so that the utility model can perform three-dimensional switching of positioning coordinates, thereby meeting the positioning needs of multiple vehicle models.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] A servo combined positioning device is provided, comprising a longitudinal moving mechanism, a rotating mechanism, and a positioning clamping mechanism. One side of the rotating mechanism is connected to the longitudinal moving mechanism, and the other side is connected to the positioning clamping mechanism.

[0006] The positioning and clamping mechanism of the utility model is used to position and clamp the workpiece, and the rotating mechanism is used to drive the positioning and clamping mechanism to rotate in the horizontal plane, which is used to replace the X-axis and Y-axis movement of the conventional three-axis mobile robot, so that the horizontal position movement can be realized with one drive, which can save the drive and save the cost while meeting the functional requirements; the longitudinal movement mechanism is used to drive the rotating mechanism to move the position in the vertical direction, which is similar to the movement in the Z-axis direction of the conventional three-axis mobile robot. The servo combination positioning device of the utility model can switch the positioning coordinates in the horizontal direction by rotating the rotating mechanism at different angles, and switch the positioning coordinates in the vertical direction by cooperating with the longitudinal movement mechanism to slide up and down; the longitudinal movement mechanism and the rotating mechanism are combined together to adjust the position of the positioning and clamping mechanism, so that the utility model can switch the positioning coordinates in three dimensions, thereby meeting the positioning requirements of multiple models.

[0007] Preferably, it further comprises a first connecting block and a second connecting block, wherein one side of the first connecting block is connected to the longitudinal moving mechanism, and the other side is connected to one side of the rotating mechanism, one side of the second connecting block is connected to the other side of the rotating mechanism, and the other side of the second connecting block is connected to the positioning clamping mechanism. The first connecting block is used to connect the longitudinal moving mechanism with the rotating mechanism so that the longitudinal moving mechanism drives the rotating mechanism to move in the vertical direction; the second connecting block is used to connect the rotating mechanism with the positioning clamping mechanism so that the rotating mechanism drives the positioning clamping mechanism to move in the horizontal direction.

[0008] Preferably, the longitudinal movement mechanism comprises a first motor, a coupling, a lead screw, a nut, and a housing. The first motor, the lead screw, and the nut are all installed in the housing. The lead screw is connected to the housing. The first motor is connected to the lead screw through the coupling. The rotating mechanism is connected to the nut. The nut and the lead screw form a lead screw-nut transmission pair. The coupling is used to connect the first motor to the lead screw, and then output the rotational motion of the first motor to the lead screw, so that the lead screw is driven by the first motor to rotate; the housing is used to install the first motor, the lead screw and the nut; the lead screw and the nut form a lead screw transmission pair, so that the rotational motion of the lead screw is converted into the linear motion of the nut; thereby driving the rotating mechanism to move up and down.

[0009] Preferably, it also includes a guide rail and a slider, the guide rail is also passed through the housing and arranged parallel to the lead screw, the slider is installed at the bottom of the nut, and the slider is slidably connected to the guide rail. The guide rail and the slider are slidably connected, and as a guide mechanism, they play a guiding role when the nut moves linearly relative to the lead screw; it is convenient for the nut to drive the second connecting block to move, so that the positioning clamping mechanism follows and moves up and down in the vertical direction.

[0010] Preferably, there are two sliders and two guide rails, the two guide rails are respectively located on both sides of the lead screw and are symmetrically arranged, and the two sliders are also respectively located on both sides of the lead screw and are symmetrically arranged. Each slider is slidably matched with a guide rail, and the two sliders are symmetrically arranged on both sides of the bottom of the nut. The two guide rails are arranged accordingly, so that when the guide rails and the sliders are guided, the force on the nut can be balanced, which can improve the stability of the nut's movement relative to the lead screw, and is also conducive to extending the service life of the lead screw and the nut.

[0011] Preferably, the housing includes an upper cover and a main body, the first motor, the lead screw and the nut are all mounted on the main body, and the upper cover is detachably connected to the main body. The upper cover covers the main body, the lead screw and the nut are mounted in the main body, the end of the lead screw protrudes out of the main body, and the upper cover can be connected to the main body by screws or by buckles, so as to protect the lead screw and the nut on the one hand, and improve the aesthetics and safety on the other hand.

[0012] Preferably, the rotating mechanism includes a second motor and a reducer, the second motor is connected to the reducer, and the end of the second motor output shaft is connected to the positioning clamping mechanism through the second connecting block. The second motor rotates to drive the positioning clamping mechanism to rotate, and the reducer is used to adjust the output speed of the second motor so that the positioning clamping mechanism rotates more smoothly.

[0013] Preferably, the positioning and clamping mechanism comprises a first clamping block, a second clamping block, and a driving unit, one end of the driving unit and the first clamping block are both mounted on the second connecting block, the second clamping block is connected to the other end of the driving unit, and the first clamping block and the second clamping block are arranged facing each other. In this embodiment, the first clamping block and the second clamping block work together to position and clamp the workpiece, specifically, the first clamping block is fixed, and the driving unit drives the second clamping block to approach or move away from the first clamping block to achieve clamping or loosening of the workpiece.

[0014] Preferably, the positioning clamping mechanism further comprises a swing arm, one end of which is hinged to the driving unit, and the other end is connected to the second clamping block. The swing arm is hinged to the driving unit, and the swing arm can swing around the end of the driving unit under the drive of the driving unit, thereby driving the second clamping block to swing along, and during the swinging process, the second clamping block and the first clamping block move closer to or farther from each other, thereby achieving clamping or loosening of the workpiece. Preferably, the driving unit can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc.

[0015] Preferably, a first ball head is rotatably provided at the end of the first clamping block, and a first limiting plane is provided at the end of the first ball head; a second ball head is rotatably provided at the end of the second clamping block, and a second limiting plane is provided at the end of the second ball head, and the first ball head and the second ball head are arranged opposite to each other. The first ball head can rotate relative to the first clamping block, and the second ball head can rotate relative to the second clamping block, so as to adjust the relative direction of the first limiting plane and the second limiting plane according to the shape of the workpiece, so that the first clamping block and the second clamping block can fit the workpiece more closely, and improve the reliability and stability of the clamping; the first limiting plane and the second limiting plane are used to directly contact with the workpiece to increase the contact area, increase the friction force, and make the clamping more secure.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] (1) The positioning and clamping mechanism is used to clamp the workpiece to achieve the positioning and clamping function of the workpiece;

[0018] (2) By using the first ball head and the second ball head that can rotate relatively, the first clamping block and the second clamping block can adjust the clamping direction according to the shape of the workpiece when clamping the workpiece, which is beneficial to improve the fit during clamping, increase the clamping area, and improve the clamping reliability;

[0019] (3) The rotating mechanism can drive the positioning and clamping mechanism to rotate, thereby realizing the position adjustment of the positioning and clamping mechanism in the horizontal direction;

[0020] (4) The longitudinal moving mechanism drives the rotating mechanism and then drives the positioning clamping mechanism to move in the vertical direction, coordinating the rotational movement of the rotating mechanism to achieve the position adjustment of the positioning clamping mechanism in the three-dimensional coordinate plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model from the first perspective;

[0022] Figure 2 It is a structural schematic diagram of the utility model from a second viewing angle;

[0023] Figure 3 It is a structural schematic diagram of the longitudinal moving mechanism of the utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the wire housing of the utility model;

[0025] Figure 5 It is a schematic diagram of the structure inside the shell of the utility model;

[0026] Figure 6 It is a schematic diagram of the relative position structure of the first clamping block and the second clamping block of the utility model.

[0027] The illustrations are as follows:

[0028] 1. Longitudinal moving mechanism; 11. First motor; 12. Coupling; 13. Lead screw; 14. Nut; 15. Housing; 151. Upper cover; 152. Main body; 16. Guide rail; 17. Slider; 2. Rotating mechanism; 21. Second motor; 22. Reducer; 3. Positioning and clamping mechanism; 31. First clamping block; 311. First ball head; 312. First limiting plane; 32. Second clamping block; 321. Second ball head; 322. Second limiting plane; 33. Driving unit; 34. Swing arm; 4. First connecting block; 5. Second connecting block. DETAILED DESCRIPTION

[0029] The utility model is further described below in conjunction with specific implementation methods. The drawings are only used for exemplary descriptions, and are only schematic diagrams, not actual pictures, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the utility model, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0030] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] Example 1

[0032] like Figures 1 to 6 The figure shows a first embodiment of a servo combined positioning device of the utility model, which comprises a longitudinal moving mechanism 1, a rotating mechanism 2, and a positioning clamping mechanism 3. One side of the rotating mechanism 2 is connected to the longitudinal moving mechanism 1, and the other side is connected to the positioning clamping mechanism 3.

[0033] As an embodiment of the utility model, it also includes a first connecting block 4 and a second connecting block 5. One side of the first connecting block 4 is connected to the longitudinal moving mechanism 1, and the other side is connected to one side of the rotating mechanism 2. One side of the second connecting block 5 is connected to the other side of the rotating mechanism 2, and the other side of the second connecting block 5 is connected to the positioning clamping mechanism 3.

[0034] The first connecting block 4 is used to connect the longitudinal moving mechanism 1 with the rotating mechanism 2, so that the longitudinal moving mechanism 1 drives the rotating mechanism 2 to move in the vertical direction; the second connecting block 5 is used to connect the rotating mechanism 2 with the positioning clamping mechanism 3, so that the rotating mechanism 2 drives the positioning clamping mechanism 3 to move in the horizontal direction.

[0035] As an embodiment of the utility model, the longitudinal moving mechanism 1 includes a first motor 11, a coupling 12, a screw 13, a nut 14, and a housing 15. The first motor 11, the screw 13, and the nut 14 are all installed in the housing 15. The screw 13 is connected to the housing 15. The first motor 11 is connected to the screw 13 through the coupling 12. The rotating mechanism 2 is connected to the nut 14. The nut 14 and the screw 13 form a screw-nut transmission pair.

[0036] The coupling 12 is used to connect the first motor 11 with the lead screw 13, and then output the rotational motion of the first motor 11 to the lead screw 13, so that the lead screw 13 is driven by the first motor 11 to rotate; the housing 15 is used to install the first motor 11, the lead screw 13 and the nut 14; the lead screw 13 and the nut 14 form a lead screw transmission pair, so that the rotational motion of the lead screw 13 is converted into the linear motion of the nut 14; thereby driving the rotating mechanism 2 to move up and down. Preferably, all scales are provided on the housing 15, and an indicator needle is provided on the nut 14, and the longitudinal movement distance can be known by aligning the indicator needle with the scale.

[0037] As an embodiment of the present invention, it also includes a guide rail 16 and a slider 17 . The guide rail 16 is also penetrated through the housing 15 and arranged parallel to the lead screw 13 . The slider 17 is installed at the bottom of the nut 14 , and the slider 17 is slidably connected to the guide rail 16 .

[0038] The guide rail 16 is slidably connected to the slider 17 and serves as a guide mechanism to guide the nut 14 when it moves linearly relative to the lead screw 13, so that the nut 14 can drive the second connecting block 5 to move, thereby allowing the positioning clamping mechanism 3 to move up and down in the vertical direction.

[0039] As an embodiment of the present invention, there are two sliders 17 and two guide rails 16 . The two guide rails 16 are respectively located on both sides of the lead screw 13 and are symmetrically arranged. The two sliders 17 are also respectively located on both sides of the lead screw 13 and are symmetrically arranged.

[0040] Each slider 17 is slidably matched with a guide rail 16, and the two sliders 17 are symmetrically arranged on both sides of the bottom of the nut 14. The two guide rails 16 are arranged accordingly, so that when the guide rails 16 and the sliders 17 are guided, the nut 14 can be subjected to balanced force, which can improve the stability of the movement of the nut 14 relative to the screw 13, and is also beneficial to extending the service life of the screw 13 and the nut 14.

[0041] As an embodiment of the present utility model, the housing 15 includes an upper cover 151 and a main body 152 . The first motor 11 , the lead screw 13 , and the nut 14 are all mounted on the main body 152 . The upper cover 151 and the main body 152 are detachably connected.

[0042] The upper cover 151 covers the main body 152, the lead screw 13 and the nut 14 are installed in the main body 152, and the end of the lead screw 13 protrudes from the main body 152. The upper cover 151 can be connected to the main body 152 by screws, and can also be snapped to the main body 152 by buckles, thereby protecting the lead screw 13 and the nut 14 on the one hand, and improving the aesthetics and safety on the other hand.

[0043] As an embodiment of the present utility model, the rotating mechanism 2 includes a second motor 21 and a reducer 22 . The second motor 21 is connected to the reducer 22 . The output shaft end of the second motor 21 is connected to the positioning clamping mechanism 3 via a second connecting block 5 .

[0044] The second motor 21 rotates to drive the positioning and clamping mechanism 3 to rotate. The reducer 22 is used to adjust the output speed of the second motor 21 so that the positioning and clamping mechanism 3 rotates more smoothly.

[0045] As an embodiment of the utility model, the positioning and clamping mechanism 3 includes a first clamp block 31, a second clamp block 32, and a driving unit 33. One end of the driving unit 33 and the first clamp block 31 are both mounted on the second connecting block 5. The second clamp block 32 is connected to the other end of the driving unit 33. The first clamp block 31 and the second clamp block 32 are arranged facing each other.

[0046] In this embodiment, the first clamp block 31 and the second clamp block 32 work together to position and clamp the workpiece. Specifically, the first clamp block 31 is fixed, and the driving unit 33 drives the second clamp block 32 to move closer to or away from the first clamp block 31 to achieve clamping or loosening of the workpiece.

[0047] Example 2

[0048] The following is a second embodiment of a servo combination positioning device of the utility model. This embodiment is similar to embodiment 1, except that the positioning clamping mechanism 3 also includes a swing arm 34, one end of the swing arm 34 is hinged to the drive unit 33, and the other end is connected to the second clamping block 32.

[0049] The swing arm 34 is hinged to the driving unit 33. The swing arm 34 can swing around the end of the driving unit 33 under the drive of the driving unit 33, thereby driving the second clamping block 32 to swing along. During the swinging process, the second clamping block 32 and the first clamping block 31 move closer to or farther from each other, thereby achieving clamping or loosening of the workpiece. Preferably, the driving unit 33 can be a cylinder, an electric cylinder, a hydraulic cylinder, etc.

[0050] Example 3

[0051] The following is a third embodiment of a servo combination positioning device of the utility model. This embodiment is similar to the first embodiment, except that a first ball head 311 is rotatably provided at the end of the first clamping block 31, and a first limiting plane 312 is provided at the end of the first ball head 311; a second ball head 321 is rotatably provided at the end of the second clamping block 32, and a second limiting plane 322 is provided at the end of the second ball head 321, and the first ball head 311 and the second ball head 321 are arranged facing each other.

[0052] The first ball head 311 can rotate relative to the first clamping block 31, and the second ball head 321 can rotate relative to the second clamping block 32, so as to adjust the relative directions of the first limiting plane 312 and the second limiting plane 322 according to the shape of the workpiece, so that the first clamping block 31 and the second clamping block 32 can fit the workpiece more closely, thereby improving the reliability and stability of clamping; the first limiting plane 312 and the second limiting plane 322 are used to directly contact with the workpiece to increase the contact area, increase the friction force, and make the clamping more secure.

[0053] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A servo combination positioning device, characterized in that: The invention comprises a longitudinal moving mechanism (1), a rotating mechanism (2), and a positioning and clamping mechanism (3); one side of the rotating mechanism (2) is connected to the longitudinal moving mechanism (1), and the other side is connected to the positioning and clamping mechanism (3); the longitudinal moving mechanism (1) comprises a first motor (11), a coupling (12), a lead screw (13), a nut (14), and a housing (15); the first motor (11), the lead screw (13), and the nut (14) are all mounted on the housing (15); the lead screw (13) and the housing (15) are connected; the first motor (11) is connected to the lead screw (13) through the coupling (12); the rotating mechanism (2) is connected to the nut (14); and the nut (14) and the lead screw (13) form a lead screw and nut transmission pair.

2. The servo combination positioning device according to claim 1, characterized in that: It also comprises a first connecting block (4) and a second connecting block (5), wherein one side of the first connecting block (4) is connected to the longitudinal moving mechanism (1), and the other side is connected to one side of the rotating mechanism (2), one side of the second connecting block (5) is connected to the other side of the rotating mechanism (2), and the other side of the second connecting block (5) is connected to the positioning clamping mechanism (3).

3. The servo combination positioning device according to claim 1, characterized in that: It also includes a guide rail (16) and a slider (17). The guide rail (16) is also passed through the housing (15) and is arranged parallel to the lead screw (13). The slider (17) is installed at the bottom of the nut (14). The slider (17) is slidably connected to the guide rail (16).

4. The servo combination positioning device according to claim 3, characterized in that: There are two sliders (17), and there are two guide rails (16). The two guide rails (16) are respectively located on both sides of the lead screw (13) and are symmetrically arranged. The two sliders (17) are also respectively located on both sides of the lead screw (13) and are symmetrically arranged.

5. The servo combination positioning device according to claim 1, characterized in that: The housing (15) comprises an upper cover (151) and a main body (152); the first motor (11), the lead screw (13) and the nut (14) are all mounted on the main body (152); and the upper cover (151) and the main body (152) are detachably connected.

6. The servo combination positioning device according to claim 2, characterized in that: The rotating mechanism (2) comprises a second motor (21) and a reducer (22); the second motor (21) is connected to the reducer (22); and the end of the output shaft of the second motor (21) is connected to the positioning clamping mechanism (3) via the second connecting block (5).

7. The servo combination positioning device according to claim 2, characterized in that: The positioning clamping mechanism (3) comprises a first clamping block (31), a second clamping block (32), and a driving unit (33); one end of the driving unit (33) and the first clamping block (31) are both mounted on the second connecting block (5); the second clamping block (32) is connected to the other end of the driving unit (33); and the first clamping block (31) and the second clamping block (32) are arranged facing each other.

8. The servo combination positioning device according to claim 7, characterized in that: The positioning and clamping mechanism (3) further comprises a swing arm (34), one end of which is hinged to the driving unit (33) and the other end of which is connected to the second clamping block (32).

9. The servo combination positioning device according to claim 8, characterized in that: A first ball head (311) is rotatably provided at the end of the first clamping block (31), and a first limiting plane (312) is provided at the end of the first ball head (311); a second ball head (321) is rotatably provided at the end of the second clamping block (32), and a second limiting plane (322) is provided at the end of the second ball head (321), and the first ball head (311) and the second ball head (321) are arranged facing each other.

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