Short-range multi-axis parallel rotating clamping mechanism

Abstract

The utility model discloses a short-range multi-shaft parallel rotating clamping mechanism, and relates to the technical field of automation equipment. Comprising a fixed base, the fixed base is rotationally connected with a Z-axis platform through a first rotating assembly, the Z-axis platform is provided with a lifting assembly, the lifting assembly is rotationally connected with an X-axis support through a second rotating assembly, and the X-axis support is provided with a clamping assembly used for clamping objects and horizontally rotating. The first rotating assembly drives the Z-axis platform to rotate on the fixed base, the Z-axis platform drives the lifting assembly to rotate, the lifting assembly drives the second rotating assembly to ascend and descend, the second rotating assembly drives the X-axis support to rotate, and the clamping assembly moves on the X-axis support. And an object clamped by the clamping assembly can be subjected to multi-axis parallel rotation and turnover operation. The clamping and overturning device can provide efficient, flexible and accurate clamping and overturning operation in the processing process of small workpieces, and can also be suitable for scenes such as automatic production and assembly lines.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field, in particular to a short range multi -shaft parallel rotary clamping mechanism. BACKGROUND

[0002] In modern industrial production, the rapid clamping and multi-directional overturning operation of articles or workpieces are very important in the manufacturing process, especially in the automatic assembly line or complex assembly process. The traditional clamping mechanism is mostly single-axis or double-axis structure, which can realize the basic grabbing and overturning function, but when facing multi-angle and multi-directional operation, there are often problems of insufficient flexibility and low precision. In addition, the traditional clamping mechanism is usually large in size and complex in structure, which is difficult to adapt to efficient and accurate processing of small articles.

[0003] In view of the above problems, in the existing technical solutions, part of the equipment realizes the omnibearing operation of the articles through multi-axis linkage. However, such equipment generally has the defects of complex structure, high cost and large space occupation, and is inconvenient to operate when quickly changing and adjusting.

[0004] Therefore, there is an urgent need for a short-range multi-axis parallel rotary clamping mechanism, which not only has a simple structure and small size, but also can realize multi-axis parallel rotary and overturning operation clamping, effectively improving the production efficiency and automation level. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a short-range multi-axis parallel rotary clamping mechanism to solve the problems existing in the prior art.

[0006] In order to achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model provides a short-range multi-axis parallel rotary clamping mechanism, which comprises a fixed base, the fixed base is rotationally connected with a Z-axis platform through a first rotating assembly, a lifting assembly is arranged on the Z-axis platform, the lifting assembly is rotationally connected with an X-axis support through a second rotating assembly, and a clamping assembly for clamping and horizontally rotating articles is arranged on the X-axis support.

[0007] Preferably, the first rotating assembly comprises a first stepper motor mounted on the Z-axis platform, the output shaft of the first stepper motor penetrates the Z-axis platform and is drivingly connected with a first belt pulley, and the first belt pulley is drivingly connected with a fifth belt pulley through a first belt.

[0008] Preferably, the fifth belt pulley is sleeved on the Z-axis platform and fixedly connected with the Z-axis platform.

[0009] Preferably, the bottom surface of the Z-axis platform is fixedly connected with an inner shaft seat, the inner shaft seat extends into the fixed base and is rotationally connected with the fixed base.

[0010] Preferably, the lifting assembly comprises a lead screw motor fixedly connected with the Z-axis platform, an output shaft of the lead screw motor is drivingly connected with a lead screw, and the lead screw is threadedly connected with an X-axis bottom plate.

[0011] Preferably, the X-axis bottom plate is symmetrically and fixedly connected with first sliding blocks, the two first sliding blocks are slidingly connected with first wire rails on sides away from each other, one end of the first wire rail is fixedly connected with the Z-axis platform, and the other end of the first wire rail is fixedly connected with a top plate.

[0012] Preferably, one end of the lead screw, away from the lead screw motor, is rotatably connected with the top plate.

[0013] Preferably, the second rotating assembly comprises a second stepping motor installed at the bottom of the X-axis bottom plate, an output shaft of the second stepping motor is drivingly connected with a second belt pulley, the second belt pulley is drivingly connected with a third belt pulley through a second belt, and the third belt pulley is drivingly connected with the X-axis support through a transmission shaft.

[0014] Preferably, the X-axis support is rotatably connected with a fourth belt pulley on the side of one end close to the X-axis bottom plate, the fourth belt pulley is drivingly connected with an idler wheel through a third belt, the idler wheel is rotatably connected with the side of the X-axis support away from the fourth belt pulley, a belt pressing plate is installed on the third belt, the side of the belt pressing plate away from the third belt is fixedly connected with a second sliding block, and the second sliding block is slidingly connected with the X-axis support.

[0015] Preferably, the clamping assembly comprises a support frame fixedly connected with the second sliding block, a double-layer coaxial stepping motor is installed on the top surface of the support frame, an outer shaft of the double-layer coaxial stepping motor is drivingly connected with a rotating seat, a top cover is installed on one end of the rotating seat away from the double-layer coaxial stepping motor, a gear is rotatably connected in the rotating seat, the gear is drivingly connected with an inner shaft of the double-layer coaxial stepping motor, the gear is engaged with two racks, the racks are fixedly connected with movable blocks at one end away from the gear, the movable blocks are slidingly connected with sliding grooves, the sliding grooves are formed in the top cover, and one end of the movable blocks, which extends out of the sliding grooves, is detachably connected with clamping jaws.

[0016] The utility model discloses the following technical effects:

[0017] The utility model discloses a first rotating assembly drives Z-axis platform to rotate on fixed base, Z-axis platform drives lifting assembly to rotate, lifting assembly drives second rotating assembly to lift, second rotating assembly drives X-axis support to rotate, and clamping assembly moves on X-axis support, can make the article that clamping assembly holds to rotate and overturn operation in multiple axis parallel.

[0018] The utility model discloses simple structure, small space occupation can provide efficient, flexible and accurate clamping and overturning operation in the processing of small -size workpiece, can also be applicable to the scene such as automatic production and assembly assembly line, realize not only accurate clamping and multi -direction carrying under the condition of multi -shaft parallel rotation of article, also effectively improve the production efficiency of automatic operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the drawings needed in the embodiments will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creating labor.

[0020] Figure 1 It is the whole structure schematic diagram of the utility model;

[0021] Figure 2 It is the lifting assembly structure schematic diagram of the utility model;

[0022] Figure 3 It is the second rotating assembly and X -axis support structure schematic diagram of the utility model;

[0023] Figure 4 It is the clamping assembly structure schematic diagram of the utility model;

[0024] Figure 5 It is the structure schematic diagram of the utility model when not installing top cover;

[0025] Wherein, 1, fixed base;2, Z axis platform;3, X axis bottom plate;4, X axis support;5, clamping jaw;11, first step motor;12, first belt pulley;13, first belt;21, first wire rail;22, first sliding block;23, screw motor;24, screw;25, top plate;31, second step motor;32, second belt pulley;33, second belt;34, third belt pulley;35, bearing seat;41, third step motor;42, fourth belt pulley;43, third belt;44, idler wheel;45, belt pressing plate;46, second sliding block;51, double -layer coaxial step motor;52, support frame;53, hall sensor;54, rotating seat;55, gear;56, rack;57, movable block;58, top cover;59, sliding slot. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0027] In order to make the above-mentioned purposes, characteristics and advantages of the present application more apparent, clear and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0028] With reference to Figures 1-5 The utility model discloses a kind of short-range multi-axis parallel rotary clamping mechanisms, including fixed base 1, fixed base 1 is rotatably connected with Z-axis platform 2 by first rotating component, Z-axis platform 2 is provided with lifting assembly, lifting assembly is rotatably connected with X-axis support 4 by second rotating component, X-axis support 4 is provided with clamping assembly for clamping and horizontal rotation of article.

[0029] The utility model drives Z-axis platform 2 to rotate on fixed base 1 by first rotating component, Z-axis platform 2 drives lifting assembly to rotate, lifting assembly drives second rotating component to lift, second rotating component drives X-axis support 4 to rotate, clamping assembly moves on X-axis support 4, can make the article held by clamping assembly multi-axis parallel rotation and overturning operation.

[0030] The utility model structure is simple, and it occupies small space, can provide efficient, flexible and accurate clamping and overturning operation in the processing process of small-sized workpiece, also can be applicable to automation production and assembly assembly line scene etc.;Not only realize accurate clamping and multidirectional carrying of article under the condition of multi-axis parallel rotation, also effectively improve the production efficiency of automation operation

[0031] Further optimization scheme, first rotating component includes first stepper motor 11 installed on Z-axis platform 2, the output shaft of first stepper motor 11 is transmission connection with first belt pulley 12 through Z-axis platform 2, and first belt pulley 12 is transmission connection with fifth belt pulley by first belt 13.

[0032] Further optimization scheme, fifth belt pulley is sleeved on Z-axis platform 2 and is fixedly connected with Z-axis platform 2.

[0033] First stepper motor 11 drives first belt pulley 12 to rotate, and first belt pulley 12 drives fifth belt pulley to rotate by first belt 13, and fifth belt pulley drives Z-axis platform 2 to rotate.

[0034] Further optimization scheme, the bottom surface of the Z-axis platform 2 is fixedly connected with an inner shaft seat, the inner shaft seat extends into the fixed base 1 and is rotationally connected with the fixed base 1.

[0035] The fixed base 1 is symmetrically provided with bearings in the upper and lower directions, the two bearings are provided with a heightening ring, the bottom surface of the lower bearing is provided with a bearing pressing plate, and the bearing pressing plate is installed on the bottom surface of the fixed base 1; the heightening ring can increase the distance between the two bearings, effectively improving the stability and load resistance of the inner shaft seat.

[0036] Further optimization scheme, the lifting assembly includes a lead screw motor 23 fixedly connected with the Z-axis platform 2, an output shaft of the lead screw motor 23 is transmissionally connected with a lead screw 24, and the lead screw 24 is threadedly connected with an X-axis bottom plate 3. The lead screw motor 23 drives the lead screw 24 to rotate, and the lead screw 24 drives the X-axis bottom plate 3 to move.

[0037] Further optimization scheme, the X-axis bottom plate 3 is symmetrically and fixedly provided with first sliding blocks 22, and the sides, away from each other, of the two first sliding blocks 22 are respectively slidably connected with first linear rails 21, one end of the first linear rail 21 is fixedly connected with the Z-axis platform 2, and the other end of the first linear rail 21 is fixedly connected with a top plate 25.

[0038] The X-axis bottom plate 3 drives the first sliding blocks 22 to move along the first linear rails 21, so that the X-axis bottom plate 3 can stably ascend and descend between the two first linear rails 21.

[0039] Further optimization scheme, one end of the lead screw 24, away from the lead screw motor 23, is rotationally connected with the top plate 25. Through the Z-axis platform 2 and the top plate 25, the lead screw 24 can stably rotate between the Z-axis platform 2 and the top plate 25.

[0040] Further optimization scheme, the second rotating assembly includes a second stepping motor 31 installed at the bottom of the X-axis bottom plate 3, an output shaft of the second stepping motor 31 is transmissionally connected with a second belt pulley 32, the second belt pulley 32 is transmissionally connected with a third belt pulley 34 through a second belt 33, and the third belt pulley 34 is transmissionally connected with the X-axis support 4 through a transmission shaft.

[0041] The second stepping motor 31 drives the second belt pulley 32 to rotate, the second belt pulley 32 drives the third belt pulley 34 to rotate through the second belt 33, and the third belt pulley 34 drives the X-axis support 4 to rotate through the transmission shaft.

[0042] In order to enable the transmission shaft to stably drive the X-axis support 4 to rotate, the transmission shaft is rotationally connected with a bearing seat 35, and the bearing seat 35 is fixedly installed on the X-axis bottom plate 3.

[0043] In order to enable the X-axis support 4 to stably ascend and descend, the two sides of the bearing seat 35 are respectively fixedly connected with the first sliding blocks 22.

[0044] Further optimization scheme, the side of the end of the X-axis support 4 close to the X-axis bottom plate 3 is rotatably connected with a fourth pulley 42, the fourth pulley 42 is drivingly connected with an idler pulley 44 through a third belt 43, the idler pulley 44 is rotatably connected with the side of the X-axis support 4 away from the fourth pulley 42, the third belt 43 is provided with a belt pressing plate 45, the side of the belt pressing plate 45 away from the third belt 43 is fixedly connected with a second sliding block 46, and the second sliding block 46 is slidingly connected with the X-axis support 4.

[0045] The fourth pulley 42 is drivingly connected with a third stepper motor 41; the third stepper motor 41 drives the fourth pulley 42 to rotate, and the fourth pulley 42 drives the idler pulley 44 to rotate through the third belt 43, so that the third belt 43 can stably drive the belt pressing plate 45 to move horizontally between the fourth pulley 42 and the idler pulley 44.

[0046] Further optimization scheme, the clamping assembly comprises a support frame 52 fixedly connected with the second sliding block 46, a double-layer coaxial stepper motor 51 is installed on the top surface of the support frame 52, the outer shaft of the double-layer coaxial stepper motor 51 is drivingly connected with a rotating seat 54, a top cover 58 is installed on the end of the rotating seat 54 away from the double-layer coaxial stepper motor 51, the rotating seat 54 is rotatably connected with a gear 55, the gear 55 is drivingly connected with the inner shaft of the double-layer coaxial stepper motor 51, the gear 55 is engaged with two racks 56, the end of the rack 56 away from the gear 55 is fixedly connected with a movable block 57, the movable block 57 is slidingly connected with a sliding groove 59, the sliding groove 59 is formed in the top cover 58, and the end of the movable block 57 extending out of the sliding groove 59 is detachably connected with a clamping jaw 5.

[0047] A Hall sensor 53 is installed on the support frame 52, and the leveling zero setting is performed through the Hall sensor 53.

[0048] The inner shaft of the double-layer coaxial stepper motor 51 drives the gear 55 to rotate, the gear 55 drives the two racks 56 to move, the bottom surface of the rack 56 is fixedly connected with a third sliding block, the third sliding block is slidingly connected with a limiting groove, the two racks 56 can stably drive the two movable blocks 57 to approach or move away from each other by moving along the limiting groove, the two clamping jaws 5 can clamp the object by approaching each other through the two movable blocks 57, and the two clamping jaws 5 are not clamping the object by moving away from each other through the two movable blocks 57.

[0049] The outer shaft of the double-layer coaxial stepper motor 51 can adjust the rotation angle of the rotating seat 54.

[0050] Stepper motors are open-loop control elements that convert electrical pulse signals into angular or linear displacement. By controlling the sequence, frequency, and number of electrical pulses applied to the motor coils, the direction, speed, and rotation angle of the stepper motor can be controlled. In the case of non-overloading, the speed of the motor and the position of the stop depend only on the frequency and the number of pulses of the pulse signal, and are not affected by changes in load.

[0051] The stepper motor driver controls the winding of the stepper motor through its internal logic circuit according to external control pulses and direction signals, and controls the winding to be energized in a certain time sequence in the forward or reverse direction, so that the motor rotates forward / reverse or locks. For example, when both phase windings are energized, the motor output shaft will be stationary and the position will be locked. If the current of one phase winding is reversed, the motor will rotate one step in a predetermined direction. Similarly, if the current of the other phase winding is reversed, the motor will rotate one step in the opposite direction. When the current through the coil winding is sequentially reversed in sequence, the motor will continuously rotate in a predetermined direction.

[0052] The double-layer coaxial stepper motor 51 is a specially designed stepper motor that integrates two independent stepper motors on the same shaft. This design is commonly used in applications that require higher torque or more complex motion control.

[0053] The working principle of the double-layer coaxial stepper motor 51 is similar to that of a conventional stepper motor, which controls the rotation of the motor through input pulse signals. Each stepper motor has its own stator and rotor, which can be independently controlled or cooperatively work to achieve more complex motion patterns.

[0054] Working process:

[0055] When it is necessary to clamp the article, the inner shaft of the double-layer coaxial stepper motor 51 drives the gear 55 to rotate, the gear 55 drives the two racks 56 to move, the bottom surface of the rack 56 is fixedly connected with the third sliding block, the third sliding block is slidably connected with the limiting groove, and the two racks 56 can stably drive the two movable blocks 57 to approach or move away from each other by moving the third sliding block along the limiting groove. By moving the two movable blocks 57 closer to each other, the two clamping jaws 5 can clamp the article.

[0056] When it is necessary to rotate the clamped article horizontally, the outer shaft of the double-layer coaxial stepper motor 51 drives the rotating seat 54 to rotate, so that the rotating seat 54 can rotate the article horizontally.

[0057] When the third stepper motor 41 drives the fourth pulley 42 to rotate, the fourth pulley 42 drives the idler pulley 44 to rotate through the third belt 43, so that the third belt 43 can stably drive the belt pressing plate 45 to move horizontally between the fourth pulley 42 and the idler pulley 44, and the belt pressing plate 45 drives the support frame 52 to move horizontally through the second sliding block 46, so that the clamped object can move horizontally.

[0058] The second stepper motor 31 drives the second pulley 32 to rotate, the second pulley 32 drives the third pulley 34 to rotate through the second belt 33, the third pulley 34 drives the X-axis support 4 to rotate through the transmission shaft, and the X-axis support 4 can drive the clamped object to rotate.

[0059] The lead screw motor 23 drives the lead screw 24 to rotate, the lead screw 24 drives the X-axis bottom plate 3 to ascend and descend, the X-axis bottom plate 3 drives the second rotating assembly to ascend and descend, the second rotating assembly drives the X-axis support 4 to ascend and descend, and the X-axis support 4 can drive the clamped object to ascend and descend.

[0060] The first stepper motor 11 drives the first pulley 12 to rotate, the first pulley 12 drives the fifth pulley to rotate through the first belt 13, the fifth pulley drives the Z-axis platform 2 to rotate, and the Z-axis platform 2 drives the clamped object to rotate.

[0061] In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0062] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A short-stroke multi-axis parallel rotary clamping mechanism, characterized by: The utility model provides a kind of multi-axis linkage automatic packaging machine, including fixed base (1), the Z-axis platform (2) is rotatably connected by first rotating component to the fixed base (1), lifting assembly is provided on the Z-axis platform (2), X-axis support (4) is rotatably connected by second rotating component to the lifting assembly, clamping assembly for clamping and horizontal rotation of article is provided on the X-axis support (4).

2. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 1, characterized by: The first rotating component includes a first stepper motor (11) mounted on the Z-axis platform (2), the output shaft of the first stepper motor (11) is drivingly connected with a first pulley (12) penetrating through the Z-axis platform (2), the first pulley (12) is drivingly connected with a fifth pulley through a first belt (13).

3. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 2, characterized by: The fifth pulley is sleeved on the Z-axis platform (2) and fixedly connected with the Z-axis platform (2).

4. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 2, characterized by: The bottom surface of the Z-axis platform (2) is fixedly connected with an inner shaft seat, the inner shaft seat extends into the fixed base (1) and is rotatably connected with the fixed base (1).

5. The short-stroke, multi-axis, parallel rotary gripper mechanism of claim 1, wherein: The lifting assembly includes a lead screw motor (23) fixedly connected with the Z-axis platform (2), the output shaft of the lead screw motor (23) is drivingly connected with a lead screw (24), the lead screw (24) is threadedly connected with an X-axis bottom plate (3).

6. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 5, characterized by: The X-axis bottom plate (3) is symmetrically and fixedly connected with a first sliding block (22) on the top surface, two first sliding blocks (22) are slidingly connected with a first linear rail (21) on the side away from each other, one end of the first linear rail (21) is fixedly connected with the Z-axis platform (2), the other end of the first linear rail (21) is fixedly connected with a top plate (25).

7. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 6, characterized by: The other end of the lead screw (24) away from the lead screw motor (23) is rotatably connected with the top plate (25).

8. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 5, characterized by: The second rotating component includes a second stepper motor (31) mounted on the bottom of the X-axis bottom plate (3), the output shaft of the second stepper motor (31) is drivingly connected with a second pulley (32), the second pulley (32) is drivingly connected with a third pulley (34) through a second belt (33), the third pulley (34) is drivingly connected with the X-axis support (4) through a transmission shaft.

9. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 8, characterized in that: The side surface of one end of the X-axis support (4) close to the X-axis bottom plate (3) is rotatably connected with a fourth pulley (42), the fourth pulley (42) is drivingly connected with an idler (44) through a third belt (43), the idler (44) is rotatably connected with the side of the X-axis support (4) away from the fourth pulley (42), the third belt (43) is provided with a belt pressing plate (45), the side of the belt pressing plate (45) away from the third belt (43) is fixedly connected with a second sliding block (46), the second sliding block (46) is slidingly connected with the X-axis support (4).

10. The short-stroke, multi-axis parallel rotary chucking mechanism according to claim 9, characterized by: The clamping assembly comprises a support frame (52) fixedly connected with the second sliding block (46), a double-layer coaxial stepping motor (51) is installed on the top surface of the support frame (52), the outer shaft of the double-layer coaxial stepping motor (51) is in transmission connection with a rotating seat (54), one end of the rotating seat (54) away from the double-layer coaxial stepping motor (51) is provided with a top cover (58), the rotating seat (54) is in rotation connection with a gear (55) inside, the gear (55) is in transmission connection with the inner shaft of the double-layer coaxial stepping motor (51), the gear (55) is engaged with two racks (56), one end of the rack (56) away from the gear (55) is fixedly connected with a movable block (57), the movable block (57) is in sliding connection with a sliding groove (59), the sliding groove (59) is arranged on the top cover (58), and one end of the movable block (57) extending out of the sliding groove (59) is detachably connected with a clamping jaw (5).

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