Clamping mechanism

Abstract

The utility model relates to the field of clamping equipment, and discloses a clamping mechanism. The clamping mechanism comprises a servo motor, a rotating disc, a bearing plate, a supporting column, three connecting rod mechanisms, a first optoelectronic switch, a second optoelectronic switch and a main control system. The turntable is connected with the servo motor; the bearing plate is parallel to the turntable; a waist-shaped hole is formed in the bearing plate, and a sliding rail is arranged on the bearing plate; the supporting column is arranged on the bearing plate to separate the bearing plate from the turntable by a preset distance; and all the connecting rod mechanisms jointly clamp a workpiece. The servo motor is adopted to drive the rotating disc to rotate, the rotating disc drives the connecting rod mechanism to move in the rotating process, and the connecting rod mechanism clamps or loosens a workpiece in the moving process. Under the combined action of servo motor control and photoelectric switch detection, it can be guaranteed that the grapnel can stop at any position; a connecting rod mechanism is adopted, so that the clamping range can be enlarged, and the single grabbing range can be 0-100 mm; due to the fact that the clamping mechanism has the advantages, compatibility of multiple varieties can be achieved, and manual model changing is not needed.

Description

Technical Field

[0001] This utility model relates to the field of clamping equipment, and in particular to a clamping mechanism. Background Technology

[0002] Currently, clamping mechanisms are typically driven by cylinders, which cannot stop at any position; furthermore, the pneumatic clamping range is small. Traditional pneumatic grippers (three-gripper grippers) generally use a wedge-shaped structure, which makes it difficult to increase the clamping range. Utility Model Content

[0003] The purpose of this invention is to provide a clamping mechanism that has a wider clamping range for workpieces and can stop at any position.

[0004] To solve the above-mentioned technical problems, the present invention provides a clamping mechanism, comprising:

[0005] The servo motor is fixed on the mounting bracket;

[0006] The turntable is connected to the servo motor;

[0007] A support plate is parallel to the turntable; the support plate has an oblong hole and a slide rail; the length direction of the oblong hole is parallel to the length direction of the slide rail.

[0008] A support column is provided on the support plate to support the turntable and to separate the support plate and the turntable by a predetermined distance;

[0009] The first photoelectric switch and the second photoelectric switch are disposed on the support plate and are arranged along the track direction parallel to the slide rail;

[0010] The main control system is electrically connected to the servo motor, the first photoelectric switch, and the second photoelectric switch, respectively.

[0011] There are N linkage mechanisms, where N is a natural number greater than 1, and each linkage mechanism is used to jointly clamp a workpiece; any one of the linkage mechanisms includes:

[0012] The first link is rotatably mounted on the turntable;

[0013] The second link is rotatably connected to the first link, and the length direction of the second link is parallel to the radial direction of the turntable;

[0014] A sliding component is rotatably mounted on the second connecting rod, and the sliding component is parallel to the first connecting rod. The sliding component is used to slide back and forth along the track direction of the slide rail.

[0015] A gripper hook, disposed on the sliding component and passing through the oblong hole, is used to clamp the workpiece;

[0016] The main control system is used to control the servo motor to stop moving when the first photoelectric switch or the second photoelectric switch detects the sliding component.

[0017] Compared to existing technologies, the present invention utilizes a servo motor to drive a turntable, which in turn drives a linkage mechanism to move, clamping or releasing the workpiece during its movement. This clamping mechanism employs both a servo motor and a linkage mechanism, utilizing servo motor control and photoelectric switch detection to ensure the gripper can stop at any position. The linkage mechanism increases the clamping range, achieving a single gripping range of 0-100mm. Due to these advantages, this clamping mechanism is compatible with various product types without requiring manual model changes.

[0018] In addition, the slide rail includes a first track and a second track disposed on both sides of the waist-shaped hole; the sliding component includes: a top plate, a first side plate and a second side plate vertically disposed on the top plate, and a connecting plate; the connecting plate passes through the waist-shaped hole and is connected to the hook; the first side plate, the top plate and the connecting plate form a first groove, and the second side plate, the top plate and the connecting plate form a second groove; the first track is placed in the first groove and the second track is placed in the second groove.

[0019] In addition, the first track and the second track are protrusions provided on the support plate.

[0020] In addition, the sliding component also includes a first slider disposed in the first groove and a second slider disposed in the second groove, both of which are U-shaped blocks; the first track and the second track are provided with sliding grooves on the left and right sides; the first slider is provided with a first positioning protrusion on the left and right sides of its inner side, and the first positioning protrusion slides in cooperation with the sliding groove on the first track; the second slider is provided with a second positioning protrusion on the left and right sides of its inner side, and the second positioning protrusion slides in cooperation with the sliding groove on the second track.

[0021] In addition, the gripper includes: a fixed section fixed to the sliding component, a vertical section connected to the fixed section, and a horizontal section disposed on the side of the vertical section away from the fixed section; the vertical section and the horizontal section are used to clamp the workpiece.

[0022] In addition, the grab hook also includes a pad strip, which is disposed on the vertical section, and the side of the pad strip facing the horizontal section abuts against the horizontal section. Attached Figure Description

[0023] Figure 1This is a structural diagram of the clamping mechanism in the first embodiment of this utility model;

[0024] Figure 2 This is a structural diagram of the clamping mechanism from another perspective in the first embodiment of this utility model;

[0025] Figure 3 yes Figure 2 A magnified view of part A in the middle.

[0026] The diagram shows: 1. Servo motor; 2. Mounting bracket; 3. Turntable; 4. Linkage mechanism; 4-1-1. Waist-shaped hole; 4-1-2. Slide rail; 4-1-2-1. First track; 4-1-2-2. Second track; 4-2. First connecting rod; 4-3. Second connecting rod; 4-4. Sliding component; 4-4-1. Top plate; 4-4-2. First side plate; 4-4-3. Second side plate; 4-4-4. Connecting plate; 4-4-5. First slider; 4-4-6. Second slider; 4-4-7. Extension rod; 4-5. Hook; 4-5-1. Fixed section; 4-5-2. Vertical section; 4-5-3. Horizontal section; 4-5-4. Pad strip; 5. Bearing plate; 6. Support column; 7. First photoelectric switch; 8. Second photoelectric switch. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0028] The first embodiment of this utility model relates to a clamping mechanism, such as... Figures 1 to 3As shown, the system includes a servo motor 1, a turntable 3, a support plate 5, a support column 6, three linkage mechanisms 4, a first photoelectric switch 7, a second photoelectric switch 8, and a main control system (not shown in the figure). Specifically, the servo motor 1 is fixed on the mounting bracket 2; the turntable 3 is connected to the servo motor 1; the support plate 5 is parallel to the turntable 3; the support plate 5 has an oblong hole 4-1-1 and a slide rail 4-1-2; the length direction of the oblong hole 4-1-1 is parallel to the track length direction of the slide rail 4-1-2; the support column 6 is set on the support plate 5 to support the turntable 3 and to separate the support plate 5 and the turntable 3 by a preset distance; each linkage mechanism 4 is used to clamp the workpiece together, and any linkage mechanism 4 includes: a first link 4-2, a second link 4-3, a sliding component 4-4, and a gripper 4-5. The first connecting rod 4-2 is rotatably mounted on the turntable 3; the second connecting rod 4-3 is rotatably connected to the first connecting rod 4-2, and the length direction of the second connecting rod 4-3 is parallel to the radial direction of the turntable 3; the sliding component 4-4 is rotatably mounted on the second connecting rod 4-3, and the sliding component 4-4 is parallel to the first connecting rod 4-2, and the sliding component 4-4 is used to slide back and forth along the track direction of the slide rail 4-1-2; the gripping hook 4-5 is mounted on the sliding component 4-4 and passes through the waist-shaped hole 4-1-1 for clamping the workpiece.

[0029] In addition, the main control system is electrically connected to the servo motor 1, the first photoelectric switch 7, and the second photoelectric switch 8, respectively. The main control system is used to control the movement and stopping of the servo motor 1. The first photoelectric switch 7 and the second photoelectric switch 8 are mounted on the support plate 5, arranged along the length of the track parallel to the slide rail 4-1-2. In this embodiment, both the first photoelectric switch 7 and the second photoelectric switch 8 are located on one side of the slide rail 4-1-2. In actual use, the position of the photoelectric switches can be adjusted according to the usage situation, as long as the sliding component 4-4 can be detected. The servo motor, the first photoelectric switch 7, and the second photoelectric switch 8 are electrically connected to the main control system. When the sliding component 4-4 moves to the position of the first photoelectric switch 7, it means that the sliding component 4-4 has moved to the first limit position; when the sliding component 4-4 moves to the position of the second photoelectric switch 8, it means that the sliding component 4-4 has moved to the second limit position. Therefore, when the first photoelectric switch 7 or the second photoelectric switch 8 detects the sliding component 4-4, the main control system controls the servo motor 1 to stop working. In practical use, the number of linkage mechanisms 4 can be determined according to specific circumstances, but at least two should be set to ensure stable clamping of the workpiece; the servo motor 1 can be directly connected to the turntable 3 or driven by a reducer, gears, or other transmission devices. The main control system can be a PLC, and the first photoelectric switch 7 and the second photoelectric switch 8 can be replaced by other sensors capable of monitoring position, such as displacement sensors.

[0030] Compared to existing technologies, this invention employs a servo motor to drive a turntable, which in turn drives a linkage mechanism to clamp or release the workpiece during its movement. This clamping mechanism, through the combined action of servo motor control and photoelectric switch detection, ensures that the gripper can stop at any position. The linkage mechanism increases the clamping range, achieving a single gripping range of 0-100mm. Due to these advantages, this clamping mechanism is compatible with various product types without requiring manual model changes.

[0031] Additionally, the slide rail 4-1-2 includes a first track 4-1-2-1 and a second track 4-1-2-2 disposed on both sides of the oblong hole 4-1-1; the sliding component 4-4 includes: a top plate 4-4-1, a first side plate 4-4-2 and a second side plate 4-4-3 vertically disposed on the top plate 4-4-1, and a connecting plate 4-4-4; the connecting plate 4-4-4 passes through the oblong hole 4-1-1 and is connected to the hook 4-5; the first side plate 4-4-2, the top plate 4-4-1, and the connecting plate 4-4-4 form a first groove, and the second side plate 4-4-3, the top plate 4-4-1, and the connecting plate 4-4-4 form a second groove; the first track 4-1-2-1 is placed in the first groove, and the second track 4-1-2-2 is placed in the second groove. Furthermore, in this embodiment, the first track 4-1-2-1 and the second track 4-1-2-2 are protrusions disposed on the support plate 5.

[0032] Furthermore, in this embodiment, the sliding component 4-4 further includes a first slider 4-4-5 disposed in the first groove and a second slider 4-4-6 disposed in the second groove. Both the first slider 4-4-5 and the second slider 4-4-6 are U-shaped blocks. Slide grooves are provided on the left and right sides of the first track 4-1-2-1 and the second track 4-1-2-2. First positioning protrusions are provided on the left and right sides of the inner side of the pad of the first slider 4-4-5, and the first positioning protrusions slide in cooperation with the slide grooves on the first track 4-1-2-1. Second positioning protrusions are provided on the left and right sides of the inner side of the bearing plate 5 of the second slider 4-4-6, and the second positioning protrusions slide in cooperation with the slide grooves on the second track 4-1-2-2. In addition, in this embodiment, the sliding component 4-4 further includes an extension rod 4-4-7 disposed on the top plate 4-4-1. The end of the extension rod 4-4-7 is located at the photoelectric switch. When the sliding component 4-4 moves along the slide rail 4-1-2, the extension rod 4-4-7 is detected by the first photoelectric switch 7 or the second photoelectric switch 8. In actual use, the extension rod 4-4-7 can also be installed on the first side plate 4-4-2 or the second side plate 4-4-3, or the sliding part 4-4 can be directly set into a shape that can be detected by the photoelectric switch.

[0033] In addition, such as Figure 2 , Figure 3As shown, in this embodiment, the gripper hook 4-5 includes: a fixed section 4-5-1 fixed to the sliding component 4-4, a vertical section 4-5-2 connected to the fixed section 4-5-1, and a horizontal section 4-5-3 disposed on the side of the vertical section 4-5-2 away from the fixed section 4-5-1; the vertical section 4-5-2 and the horizontal section 4-5-3 are used to clamp the workpiece. It should be noted that in this embodiment, the gripper hook 4-5 also includes a pad 4-5-4, disposed on the vertical section 4-5-2, with the side of the pad 4-5-4 facing the horizontal section 4-5-3 abutting against the horizontal section 4-5-3. In actual use, the pad 4-5-4 can be made of silicone or rubber to increase the friction between it and the workpiece, facilitating better clamping.

[0034] Those skilled in the art will understand that the above embodiments are specific examples of implementing this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A clamping mechanism, characterized in that, include: The servo motor is fixed on the mounting bracket; The turntable is connected to the servo motor; A support plate is parallel to the turntable; the support plate has an oblong hole and a slide rail; the length direction of the oblong hole is parallel to the length direction of the slide rail. A support column is provided on the support plate to support the turntable and to separate the support plate and the turntable by a predetermined distance; The first photoelectric switch and the second photoelectric switch are disposed on the support plate and are arranged along the track direction parallel to the slide rail; The main control system is electrically connected to the servo motor, the first photoelectric switch, and the second photoelectric switch, respectively. There are N linkage mechanisms, where N is a natural number greater than 1, and each of the linkage mechanisms is used to jointly clamp the workpiece; Any one of the linkage mechanisms includes: The first link is rotatably mounted on the turntable; The second link is rotatably connected to the first link, and the length direction of the second link is parallel to the radial direction of the turntable; A sliding component is rotatably mounted on the second connecting rod, and the sliding component is parallel to the first connecting rod. The sliding component is used to slide back and forth along the track direction of the slide rail. A gripper hook, disposed on the sliding component and passing through the oblong hole, is used to clamp the workpiece; The main control system is used to control the servo motor to stop moving when the first photoelectric switch or the second photoelectric switch detects the sliding component.

2. The clamping mechanism according to claim 1, characterized in that, The slide rail includes a first rail and a second rail disposed on both sides of the waist-shaped hole; The sliding component includes: a top plate, a first side plate and a second side plate vertically disposed on the top plate, and a connecting plate; the connecting plate passes through the waist-shaped hole and is connected to the hook; the first side plate, the top plate and the connecting plate form a first groove, and the second side plate, the top plate and the connecting plate form a second groove; The first track is placed in the first groove, and the second track is placed in the second groove.

3. The clamping mechanism according to claim 2, characterized in that, The first track and the second track are protrusions provided on the support plate.

4. The clamping mechanism according to claim 2, characterized in that, The sliding component further includes a first slider disposed in the first groove and a second slider disposed in the second groove, both of which are U-shaped blocks; the first track and the second track are provided with sliding grooves on their left and right sides; The first slider has a first positioning protrusion on its inner left and right sides, and the first positioning protrusion slides in conjunction with the groove on the first track. The second slider has second positioning protrusions on its inner left and right sides, and the second positioning protrusions slide in cooperation with the grooves on the second track.

5. The clamping mechanism according to claim 1, characterized in that, The gripper includes: a fixed section fixed to the sliding component, a vertical section connected to the fixed section, and a horizontal section disposed on the side of the vertical section away from the fixed section; the vertical section and the horizontal section are used to clamp the workpiece.

6. The clamping mechanism according to claim 5, characterized in that, The grab hook also includes a pad strip disposed on the vertical section, with the side of the pad strip facing the horizontal section abutting against the horizontal section.

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