Practical high-precision heavy rotary clamping jaw mechanism

Abstract

The utility model discloses a practical high-precision heavy rotary clamping jaw mechanism which comprises a three-axis module shifting assembly. The three-axis module shifting assembly comprises a first platform plate, an X-direction sliding rail fixed to the top face of the first platform plate, a second platform plate in sliding connection with the X-direction sliding rail, an X-direction servo motor arranged on the surface of the first platform plate and a first ball screw connected to the output end of the X-direction servo motor. The movable ring is fixed to the bottom face of the second platform plate and sleeved with the first ball screw, the Y-direction servo motor is arranged on the second platform plate, and the second ball screw is connected to the output end of the Y-direction servo motor. And a clamping jaw assembly. Through mutual cooperation of the three-axis module displacement assembly and the clamping jaw assembly, a heavy product motor can be clamped, and through cooperation of movement in the X-axis direction, the Y-axis direction and the Z-axis direction and 360-degree rotation of the rectangular plate, the use flexibility and accuracy of the clamping jaw are greatly improved, and it is ensured that the heavy product motor is placed on the product placing table.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping jaws, in particular to a practical high-precision heavy-duty rotating clamping jaw mechanism. Background Art

[0002] On fully automated production lines, small and light high-precision positioning mechanisms with grippers for flipping product directions are more common, such as SCARA robots with grippers and UR collaborative robots with grippers. In these situations, the robot arm is basically limited in its load-bearing capacity and can only grasp products of a few kilograms or dozens of kilograms. If it needs to grasp more than 100 kilograms, the robot arm must be made very sturdy and take up a lot of space. However, in some situations, it is necessary to grasp hundreds of kilograms or more in a smaller space with high positioning accuracy and the ability to flip the product. In this case, the gripper has poor flexibility. Utility Model Content

[0003] Therefore, the purpose of the present invention is to provide a practical high-precision heavy-duty rotating clamping mechanism, which can clamp heavy product motors through the mutual cooperation of the three-axis module shift assembly and the clamping assembly, and cooperate with the movement in the XYZ axis direction and the 360-degree rotation of the rectangular plate to greatly improve the flexibility and accuracy of the use of the clamping jaws, ensuring that the heavy product motors are placed on the product placement table.

[0004] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: a practical high-precision heavy-duty rotating clamping mechanism, comprising:

[0005] A three-axis module shift assembly, the three-axis module shift assembly includes a first platform plate, an X-axis slide rail fixed on the top surface of the first platform plate, a second platform plate slidably connected to the X-axis slide rail, an X-axis servo motor provided on the surface of the first platform plate, a first ball screw connected to the output end of the X-axis servo motor, a movable ring fixed on the bottom surface of the second platform plate and sleeved with the first ball screw, a Y-axis servo motor provided on the second platform plate, a second ball screw connected to the output end of the Y-axis servo motor, a Y-axis slide rail fixed on the surface of the second platform plate, a third platform plate slidably connected to the Y-axis slide rail, a mounting frame fixed on the top surface of the third platform plate, a Z-axis servo motor provided on the top of the mounting frame, a third ball screw connected to the output end of the Z-axis servo motor, a Z-axis slide rail fixed to the side wall of the mounting frame, and a movable frame sleeved with the Z-axis slide rail;

[0006] The clamping jaw assembly includes a rotating motor arranged on the side of the movable frame, a rectangular plate connected to the output end of the rotating motor, a long slide rail fixed to the surface of the rectangular plate, a first slider engaged with the long slide rail, a second slider engaged with the long slide rail, a first clamping jaw connected to the first slider, a second clamping jaw connected to the second slider, and a cylinder connecting the first clamping jaw and the second clamping jaw.

[0007] As a preferred solution of a practical high-precision heavy-duty rotating clamping mechanism described in the utility model, a movable ring with the same structure is fixed to the bottom surface of the third platform plate, and the movable ring at the corresponding position is fitted with the second ball screw.

[0008] As a preferred solution of the practical high-precision heavy-duty rotating clamping mechanism described in the utility model, a movable ring with the same structure is fixed to the side wall of the movable frame, and the movable ring at the corresponding position is fitted with the third ball screw.

[0009] As a preferred solution of the practical high-precision heavy-duty rotating jaw mechanism described in the utility model, a heavy-duty product motor is provided between the first jaw and the second jaw.

[0010] As a preferred solution of a practical high-precision heavy-duty rotating clamping mechanism described in the utility model, it also includes a product placement table, which is located on one side of the clamping assembly and is used to place heavy product motors.

[0011] As a preferred solution of a practical high-precision heavy-duty rotating clamping mechanism described in the utility model, it also includes a limiting component, which includes a threaded long rod passing through the first clamping jaw and the second clamping jaw, a threaded ring connected to the threaded long rod, a threaded column connected to both ends of the threaded long rod, and a blocking piece connected to the threaded column.

[0012] As a preferred solution of the practical high-precision heavy-duty rotating clamping jaw mechanism described in the utility model, two threaded rings are provided, and the two threaded rings are located at the inner sides of the first clamping jaw and the second clamping jaw.

[0013] Compared with the prior art, the advantages of the present invention are:

[0014] The three-axis module shift assembly and the clamp assembly work together to clamp heavy product motors. The movement in the XYZ axis and the 360-degree rotation of the rectangular plate greatly improve the flexibility and accuracy of the clamp, ensuring that heavy product motors are placed on the product placement table.

[0015] By setting a limit component, the clamping stroke of the clamping jaws is limited in the physical structure, which can ensure that the product motor is clamped and moved, and avoid the problem of large clamping force of the clamping jaws causing deformation of the clamped product motor housing.

[0016] During specific use, the X-direction servo motor drives the first ball screw to drive the movable ring to move horizontally, and the movable ring drives the second platform plate to move along the X-direction slide rail. Based on the same principle, the Y-direction servo motor drives the second ball screw and the Z-direction servo motor drives the third ball screw. In this way, the movable frame can move in three directions. In the process of movement, the rotary motor drives the rectangular plate to rotate 360 ​​degrees, thereby driving the first clamp and the second clamp to rotate and adjust the direction. The cylinder extends and retracts, and the first clamp and the second clamp move along the long slide rail through the first slider and the second slider. The first clamp and the second clamp move close to each other and directly clamp the product motor. Through movement and displacement in different directions, the product motor is placed on the product placement table. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive labor. Among them:

[0018] Figure 1 It is a structural diagram of the utility model;

[0019] Figure 2 This is a structural diagram of the three-axis module shift assembly of the utility model;

[0020] Figure 3 This is a positional structural diagram of the movable ring of the utility model;

[0021] Figure 4 This is a structural diagram of the clamping jaw assembly of the present invention;

[0022] Figure 5 This is a structural diagram of the limit assembly of the utility model.

[0023] In the figure: 11. First platform plate; 12. X-axis slide rail; 13. Second platform plate; 14. X-axis servo motor; 15. Movable ring; 16. First ball screw; 17. Y-axis servo motor; 18. Second ball screw; 19. Third platform plate; 110. Y-axis slide rail; 111. Mounting frame; 112. Z-axis servo motor; 113. Third ball screw; 114. Z-axis slide rail; 115. Moving frame; 21. Rotating motor; 22. Rectangular plate; 23. Product motor; 24. Long slide rail; 25. First slider; 26. Second slider; 27. First clamp; 28. Second clamp; 29. ​​Cylinder; 31. Threaded long rod; 32. Threaded ring; 33. Threaded column; 34. Baffle; 41. Product placement table. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. People skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0026] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0028] The utility model provides a practical high-precision heavy-duty rotating clamping jaw mechanism, which can clamp heavy product motors through the mutual cooperation of the three-axis module shift assembly and the clamping jaw assembly, and cooperate with the movement in the XYZ axis direction and the 360-degree rotation of the rectangular plate, thereby greatly improving the flexibility and accuracy of the use of the clamping jaws and ensuring that the heavy product motors are placed on the product placement table.

[0029] Figure 1-Figure 5 The figure shows the overall structure of a practical high-precision heavy-duty rotating clamping mechanism of the present invention. Figure 1-5 The main structure of this embodiment includes: a three-axis module shift assembly and a clamping claw assembly.

[0030] The three-axis module shift assembly is used for movement in three directions. Specifically, the three-axis module shift assembly includes a first platform plate 11, an X-axis slide rail 12 fixed to the top surface of the first platform plate 11, a second platform plate 13 slidingly connected to the X-axis slide rail 12, an X-axis servo motor 14 arranged on the surface of the first platform plate 11, a first ball screw 16 connected to the output end of the X-axis servo motor 14, a movable ring 15 fixed to the bottom surface of the second platform plate 13 and fitted with the first ball screw 16, a Y-axis servo motor 14 arranged on the second platform plate 13, and a Y-axis servo motor 14 arranged on the second platform plate 13. Motor 17, a second ball screw 18 connected to the output end of the Y-direction servo motor 17, a Y-direction slide rail 110 fixed to the surface of the second platform plate 13, a third platform plate 19 slidably connected to the Y-direction slide rail 110, a mounting bracket 111 fixed to the top surface of the third platform plate 19, a Z-direction servo motor 112 disposed on the top of the mounting bracket 111, a third ball screw 113 connected to the output end of the Z-direction servo motor 112, a Z-direction slide rail 114 fixed to the side wall of the mounting bracket 111, and a movable frame 115 fitted with the Z-direction slide rail 114;

[0031] During actual use, the X-direction servo motor 14 drives the first ball screw 16 to drive the movable ring 15 to move horizontally, and the movable ring 15 drives the second platform plate 13 to move along the X-direction slide rail 12. According to the same principle, the Y-direction servo motor 17 drives the second ball screw 18, and the Z-direction servo motor 112 drives the third ball screw 113, so that the movable frame 115 can move in three directions.

[0032] The clamping jaw assembly is used for clamping heavy objects. Specifically, the clamping jaw assembly includes a rotating motor 21 provided on the side of the moving frame 115, a rectangular plate 22 connected to the output end of the rotating motor 21, a long slide rail 24 fixed to the surface of the rectangular plate 22, a first slider 25 fitted with the long slide rail 24, a second slider 26 fitted with the long slide rail 24, a first clamping jaw 27 connected to the first slider 25, a second clamping jaw 28 connected to the second slider 26, and a cylinder 29 connecting the first clamping jaw 27 and the second clamping jaw 28;

[0033] During specific use, during the movement, the rotating motor 21 drives the rectangular plate 22 to rotate 360 ​​degrees, thereby driving the first clamp 27 and the second clamp 28 to rotate and adjust the direction, the cylinder 29 extends and retracts, and the first clamp 27 and the second clamp 28 move along the long slide rail 24 through the first slider 25 and the second slider 26. The first clamp 27 and the second clamp 28 move close to each other and directly clamp the product motor 23. Through movement and displacement in different directions, the product motor 23 is placed on the product placement table 41.

[0034] Furthermore, the limit assembly is provided to physically limit the clamping stroke of the clamping jaws, thereby ensuring that the product motor 23 is clamped and moved, and avoiding the problem of deformation of the housing of the clamped product motor 23 due to a large clamping force of the clamping jaws;

[0035] Specifically, the position limiting assembly includes a threaded rod 31 passing through the first clamping jaw 27 and the second clamping jaw 28, a threaded ring 32 connected to the threaded rod 31, threaded posts 33 connected to both ends of the threaded rod 31, and a blocking piece 34 connected to the threaded posts 33; two threaded rings 32 are provided, and the two threaded rings 32 are located on the inner side of the first clamping jaw 27 and the second clamping jaw 28;

[0036] During specific use, the two threaded rings 32 are located on the inner side of the first clamping jaw 27 and the second clamping jaw 28, limiting the stroke of the first clamping jaw 27 and the second clamping jaw 28 to ensure that the product motor 23 is clamped, and avoiding the first clamping jaw 27 and the second clamping jaw 28 from moving too much, which may cause the product motor 23 housing to be clamped and deformed. The threaded ring 32 has an adjustable structural design, and the limiting stroke can be freely selected to improve applicability. The structural design of the threaded column 33 and the threaded long rod 31 is threadedly connected, which is convenient for disassembly and separation. In this way, the entire threaded long rod 31 can be disassembled and it is free to choose whether to install and use it.

[0037] While the present invention has been described above with reference to specific embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as no structural conflicts exist, the various features of the embodiments disclosed herein may be combined with one another in any manner, and the omission of an exhaustive description of these combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A practical high-precision heavy-duty rotating jaw mechanism, characterized in that: include: A three-axis module shift assembly, comprising a first platform plate (11), an X-direction slide rail (12) fixed on the top surface of the first platform plate (11), a second platform plate (13) slidably connected to the X-direction slide rail (12), an X-direction servo motor (14) arranged on the surface of the first platform plate (11), a first ball screw (16) connected to the output end of the X-direction servo motor (14), a movable ring (15) fixed on the bottom surface of the second platform plate (13) and sleeved with the first ball screw (16), a Y-direction servo motor (17) arranged on the second platform plate (13), and a second ball screw (17) connected to the output end of the X-direction servo motor (14). A second ball screw (18) at the output end of the Y-direction servo motor (17), a Y-direction slide rail (110) fixed on the surface of the second platform plate (13), a third platform plate (19) slidably connected to the Y-direction slide rail (110), a mounting frame (111) fixed on the top surface of the third platform plate (19), a Z-direction servo motor (112) arranged at the top of the mounting frame (111), a third ball screw (113) connected to the output end of the Z-direction servo motor (112), a Z-direction slide rail (114) fixed on the side wall of the mounting frame (111), and a moving frame (115) fitted with the Z-direction slide rail (114); A clamping jaw assembly comprises a rotating motor (21) arranged on the side of the moving frame (115), a rectangular plate (22) connected to the output end of the rotating motor (21), a long slide rail (24) fixed on the surface of the rectangular plate (22), a first slider (25) fitted with the long slide rail (24), a second slider (26) fitted with the long slide rail (24), a first clamping jaw (27) connected to the first slider (25), a second clamping jaw (28) connected to the second slider (26), and a cylinder (29) connecting the first clamping jaw (27) and the second clamping jaw (28).

2. A practical high-precision heavy-duty rotating clamping mechanism according to claim 1, characterized in that: A movable ring (15) of the same structure is fixed to the bottom surface of the third platform plate (19), and the movable ring (15) at the corresponding position is sleeved with the second ball screw (18).

3. A practical high-precision heavy-duty rotating clamping mechanism according to claim 2, characterized in that: A movable ring (15) of the same structure is fixed to the side wall of the movable frame (115), and the movable ring (15) at the corresponding position is sleeved with the third ball screw (113).

4. A practical high-precision heavy-duty rotating clamping mechanism according to claim 3, characterized in that: A heavy product motor (23) is provided between the first clamping jaw (27) and the second clamping jaw (28).

5. A practical high-precision heavy-duty rotating clamping mechanism according to claim 4, characterized in that: It also includes a product placement table (41), which is located on one side of the clamping claw assembly and is used to place a heavy product motor (23).

6. A practical high-precision heavy-duty rotary clamping mechanism according to claim 5, characterized in that: The invention also includes a limiting assembly, which includes a threaded long rod (31) passing through the first clamping jaw (27) and the second clamping jaw (28), a threaded ring (32) connected to the threaded long rod (31), a threaded column (33) connected to both ends of the threaded long rod (31), and a blocking piece (34) connected to the threaded column (33).

7. A practical high-precision heavy-duty rotary clamping mechanism according to claim 6, characterized in that: Two threaded rings (32) are provided, and the two threaded rings (32) are located inside the first clamping jaw (27) and the second clamping jaw (28).

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