CN114043515B - Single motor control's switching-over clamp gets device - Google Patents
Single motor control's switching-over clamp gets device Download PDFInfo
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- CN114043515B CN114043515B CN202111422429.6A CN202111422429A CN114043515B CN 114043515 B CN114043515 B CN 114043515B CN 202111422429 A CN202111422429 A CN 202111422429A CN 114043515 B CN114043515 B CN 114043515B
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- clamping jaw
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- clamping
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- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a reversing clamping device controlled by a single motor, which comprises a driving mechanism, a reversing mechanism and a clamping mechanism; the reversing mechanism is respectively connected with the driving mechanism and the clamping mechanism, and the driving mechanism drives the clamping mechanism to rotate through the reversing mechanism; a first incomplete gear used for controlling the reversing mechanism to rotate and a second incomplete gear used for controlling the clamping mechanism to clamp objects are arranged in the driving mechanism; the first incomplete gear and the second incomplete gear are coaxially arranged, and the continuously toothed part of the first incomplete gear and the continuously toothed part of the second incomplete gear are always not overlapped along the axial direction. Compared with the traditional clamping manipulator for detection, the invention can realize three actions of reversing, clamping and placing of the manipulator through a single motor, saves one driving motor, reduces occupied space, greatly reduces complexity of control circuits and programming, and reduces the probability of failure of the whole device caused by motor failure.
Description
Technical Field
The invention belongs to automatic equipment, and particularly relates to a single-motor multi-control reversing clamping device based on an incomplete gear.
Background
After unmanned mill automated production part, all need detect the part. The common methods of nondestructive inspection include ultrasonic inspection, eddy current inspection, X-ray inspection, etc., and these inspection devices cannot be directly installed on a production line to inspect a part, but are required to be removed from the production line to inspect the part, and the part is returned to the production line after the inspection is completed to perform the next process. At present, the detection of parts is mostly manually operated, and a few parts are clamped by a mechanical clamping device for detection, and a plurality of motors or pneumatic and hydraulic systems are used for controlling the mechanical clamping device to change direction, clamp and the like. However, the operation control is performed by using a plurality of motors, the cost of the device is high, the occupied space is large, the control circuit and the programming are complex, and the construction and use cost of the unmanned factory is increased. Therefore, how to solve the complexity problem caused by controlling and driving a plurality of motors and simplify the whole driving process becomes a new direction for urgent research.
Disclosure of Invention
The invention aims to: the invention aims to provide a reversing clamping device which is controlled by a single motor and is based on an incomplete gear mechanism.
The technical scheme is as follows: the invention relates to a reversing clamping device controlled by a single motor, which comprises a driving mechanism, a reversing mechanism and a clamping mechanism; the reversing mechanism is respectively connected with the driving mechanism and the clamping mechanism, and the driving mechanism drives the clamping mechanism to rotate through the reversing mechanism; a first incomplete gear used for controlling the reversing mechanism to rotate and a second incomplete gear used for controlling the clamping mechanism to clamp objects are arranged in the driving mechanism; the first incomplete gear and the second incomplete gear are coaxially arranged, and the continuously toothed part of the first incomplete gear and the continuously toothed part of the second incomplete gear are always not overlapped along the axial direction.
Further, the driving mechanism further comprises a motor, a motor seat fixing plate, a support fixing plate, a driving shaft and a T-shaped bearing seat; the motor is connected with the motor seat fixing plate through the motor seat; the motor seat fixing plate is connected with the support fixing plate, and an output shaft of the motor is connected with the driving shaft through a coupler; the driving shaft penetrates through the first incomplete gear and the second incomplete gear respectively, the first incomplete gear and the second incomplete gear are connected with the driving shaft through keys, and the driving shaft is connected with the support fixing plate through the T-shaped bearing seat.
Further, a support component for axial fixation is further arranged at the bottom of the second incomplete gear, and the support component comprises a first sleeve, a driving shaft end gasket and a driving shaft end screw; the driving shaft passes through the first sleeve and the driving shaft end gasket to be in threaded connection with the driving shaft end screw.
Further, the reversing mechanism comprises an upper connecting frame, a lower connecting frame and a bearing assembly arranged between the upper connecting frame and the lower connecting frame; the upper connecting frame is fixedly connected with the motor base fixing plate, an upper end cover is arranged in the upper connecting frame, and a reversing gear meshed with the first incomplete gear is arranged on the upper end cover; the bottom of the upper end cover is provided with a rotating shaft, the rotating shaft penetrates through the bearing assembly, the lower connecting frame and the clamping mechanism, and the rotating shaft and the upper end cover are always positioned on the same axis through the bearing assembly; the rotating shaft is provided with a first gear and a second gear, and the first gear is positioned in the lower connecting frame and meshed with the second incomplete gear; the second gear is positioned below the clamping mechanism.
Further, the bearing assembly comprises a bearing fixing outer sleeve, a bearing fixing inner sleeve, a lower end cover, an outer bearing and an inner bearing; the bearing fixing outer sleeve and the bearing fixing inner sleeve are sleeved with each other; the inner ring of the inner bearing is contacted with the rotating shaft, and the outer ring of the inner bearing is contacted with the bearing fixing inner sleeve; the inner ring of the outer bearing is contacted with the bearing fixing inner sleeve, and the outer ring of the outer bearing is contacted with the bearing fixing outer sleeve; the bearing fixing sleeve is fixedly arranged at the lower end of the upper connecting frame; the bearing fixing inner sleeve is fixedly connected with the upper end cover; the upper part of the lower end cover is connected with the bearing fixing inner sleeve, and the lower part of the lower end cover is fixedly connected with the lower connecting frame.
Further, the two sides of the upper end cover are provided with a first pair of spring plungers for preventing the reversing gear from rotating, the first pair of spring plungers are arranged in the upper connecting frame through a first pair of spring plunger fixing seats, and the side wall of the upper end cover is provided with a first groove for positioning the first pair of spring plungers.
Further, the clamping mechanism comprises a clamping jaw fixing plate, the clamping jaw fixing plate is fixedly connected with the lower connecting frame, clamping jaw assemblies are symmetrically arranged on two sides of the clamping jaw fixing plate, and a moving assembly for controlling the clamping jaws to open or close is arranged between the clamping jaw assemblies.
Further, the moving assembly comprises a guide rail fixing plate, a rack, a sliding block, a rack fixing plate and a linear guide rail; the clamping jaw fixing plate is provided with a through hole, the guide rail fixing plate is arranged above the clamping jaw fixing plate, the linear guide rail is fixedly arranged below the guide rail fixing plate, the sliding block is connected with the linear guide rail and located in the through hole, the rack fixing plate is fixed below the sliding block, and the rack is fixedly arranged below the rack fixing plate and meshed with the second gear.
Further, a second pair of spring plungers for preventing the first gear from rotating are further arranged below the clamping jaw fixing plate, the second pair of spring plungers are connected with the clamping jaw fixing plate through a second pair of spring plunger fixing seats, and a second groove for positioning the second pair of spring plungers is formed in the side wall of the portion, below the first gear, of the rotating shaft.
Further, the clamping jaw assembly comprises clamping jaws, a clamping jaw rotating shaft and clamping jaw gears; the clamping jaw rotating shaft penetrates through the clamping jaw, the clamping jaw gear and the clamping jaw fixing plate from bottom to top; the clamping jaw gear is fixedly connected with the clamping jaw and meshed with the rack to drive the clamping jaw to open or close; a fourth sleeve and a third sleeve for fixing are respectively arranged between the clamping jaw and the clamping jaw gear and between the clamping jaw and the clamping jaw fixing plate; the end part of the clamping jaw rotating shaft is locked through a clamping jaw rotating shaft nut.
The principle of the invention is as follows: by arranging two groups of incomplete gears, a single motor can control the mechanical clamping jaw to finish steering and grabbing a plurality of different actions, and when the toothed part of the incomplete gears is meshed with the gear teeth of the driven wheel, the driven wheel is pushed to rotate; the driven wheel is stationary when the non-toothed portion of the incomplete gear is disengaged from the driven wheel. In the invention, as the two groups of incomplete gears are positioned on the same shaft, the driving mechanism can be ensured to act on the reversing mechanism and the clamping mechanism simultaneously; meanwhile, the projections of the toothed parts of the two groups of incomplete gears in the axial direction are completely misaligned, so that the mutual interference of the reversing mechanism and the clamping mechanism during the respective movement can be further ensured.
In the invention, the incomplete gear is a driving wheelThe reversing gear and the first gear are driven wheels, so that the actual rotation angle of the clamping mechanism is the rotation angle of the driven wheels, and the toothed area and the number of teeth of the incomplete gear and the number of teeth of the driven gear can be calculated according to the angle occupied by the toothed part on the incomplete gear and the angle of rotation of the reversing mechanism actually required. The specific formula is as follows: z is Z 1 /Z 2 =α/β; wherein Z is 1 For the number of teeth of the incomplete gear, Z 2 Is the number of teeth of the slave gear; alpha is the angle occupied by the continuously toothed portion of the incomplete gear and beta is the angle of rotation actually required by the reversing mechanism.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages: (1) Compared with the traditional clamping manipulator for detection, the invention can realize three actions of manipulator reversing, clamping and placing through a single motor, saves one driving motor, reduces occupied space, greatly reduces complexity of control circuits and program design, and reduces the probability of failure of the whole device caused by motor failure; (2) The spring plunger is used for positioning and braking the incomplete gear transmission mechanism, so that the incomplete gear transmission mechanism can be braked stably, and the positioning deviation of the clamping jaw, caused by external influence or inertial rotation, of the driven wheel after the driven wheel is disengaged from the incomplete gear is avoided; when the device moves again, the device can be pressed back by the external force of the driving wheel, so that the device continues to rotate; (3) The bearing assembly is designed by the inner sleeve, the outer sleeve and the double bearings, so that the short shaft of the control reversing mechanism and the rotating shaft of the control clamping jaw are on the same axis, the occupied space of the whole equipment is reduced, and the space utilization rate is improved; (4) The invention can calculate and design the toothed area and the number of teeth of the incomplete gear, the number of teeth of the driven gear and the like, and realize the rotation of the clamping jaw at any angle.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a schematic diagram of a driving mechanism according to the present invention;
FIG. 3 is a schematic diagram of a reversing mechanism according to the present invention;
FIG. 4 is a cross-sectional view of the internal structure of the reversing mechanism of FIG. 3;
FIG. 5 is a three-dimensional view of the parts of the upper end cap;
FIG. 6 is a three-dimensional schematic of a gripping mechanism;
FIG. 7 is a schematic view of the structure of the moving assembly in the gripping mechanism;
FIG. 8 is a partial cross-sectional view of the clamping mechanism of the present invention;
FIG. 9 is a bottom view of the clamping mechanism of the present invention;
FIG. 10 is a schematic diagram of a gear drive according to the present invention;
FIG. 11 is a second gear drive schematic of the present invention;
fig. 12 is a schematic view of the movement process of the device of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The reversing clamping device controlled by a single motor as shown in fig. 1 comprises a driving mechanism 1, a reversing mechanism 2 and a clamping mechanism 3. Wherein, the driving mechanism 1 drives the reversing mechanism 2 to drive the clamping mechanism 3 to integrally reversing and rotate 180 degrees; the driving mechanism 1 drives the jaws 39 of the gripping mechanism 3 to open and close for gripping and placing articles.
As shown in fig. 2, the driving mechanism 1 comprises a motor 4, a motor base 5, a motor base fixing plate 6, a coupler 7, a support fixing plate 8, a first incomplete gear 9, a driving shaft 10, a second incomplete gear 11, a first sleeve 12, a driving shaft end gasket 13, a driving shaft end screw 14 and a T-shaped bearing base 15; the motor 4 is a stepping motor with an encoder, the motor is fixedly arranged on the motor seat 5, the motor seat 5 is fixedly arranged on the motor seat fixing plate 6, the support fixing plate 8 and the motor seat fixing plate 6 are fixedly arranged by screw connection, one end of the coupler 7 is connected with a motor output shaft, the other end of the coupler is connected with the driving shaft 10, the driving shaft 10 penetrates through the first incomplete gear 9, the second incomplete gear 11 and the first sleeve 12 and is supported by two T-shaped bearing seats 15, the lower end of the driving shaft 10 is provided with an internal threaded hole, so that the driving shaft end screw 14, the driving shaft end gasket 13 and the first sleeve 12 are matched to axially fix the lower incomplete gear 11, the first incomplete gear 9 and the second incomplete gear 11 are connected with the driving shaft 10 by keys, and the T-shaped bearing seats 15 are fixedly arranged on the support fixing plate 8 and are used for supporting the driving shaft 10.
The controllable rotation output by the motor 4 drives the first incomplete gear 9 and the second incomplete gear 11 to rotate through the coupler 7 and the driving shaft 10, the first incomplete gear 9 transmits the rotation to the reversing mechanism 2 to carry out the overall reversing of the clamping mechanism 3, and the second incomplete gear 11 transmits the rotation to the clamping mechanism 3 to control the clamping jaw 39 to open and close.
As shown in fig. 3-5, the reversing mechanism 2 includes an upper connecting frame 16, an upper end cover 17, a reversing gear 18, a first pair of spring plunger holders 19, a first pair of spring plungers 20, a lower connecting frame 22, a first gear 23, a rotating shaft 24, a second gear 25, a second sleeve 26, a rotating shaft end gasket 27, a rotating shaft end screw 28, and a bearing assembly; the upper connecting frame 16 is fixed with the motor base fixing plate 6 through screw installation, the upper end cover 17 specifically comprises a round cover body at the bottom and an upward short shaft structure, the reversing gear 18 is installed with the short shaft of the upper end cover 17 through key connection, a first groove 171 is arranged on the short shaft of the upper end cover 17 at intervals of 90 degrees, the upper end cover 17 is fixed on the bearing fixing inner sleeve 29 through screw installation, a first pair of spring plunger fixing seats 19 are arranged in the upper connecting frame 16, a first pair of spring plungers 20 are arranged in the first pair of spring plunger fixing seats 19 and used for positioning and braking the reversing gear so as to prevent the reversing gear from rotating, the upper end of the rotating shaft 24 is propped against the upper end cover 17, the reversing gear passes through two inner bearings 31, a lower end cover 30, a first gear 23, a lower connecting frame 22, a second gear 25 and a second sleeve 26, an inner threaded hole is formed in the lower end of the rotating shaft 24, a supporting component used for axial fixing is also arranged, and the supporting component structure is consistent with a driving mechanism, and specifically comprises a rotating shaft end screw 28, a rotating shaft end gasket 27 and a second sleeve 26, and a rotating shaft 24 passes through the second sleeve 26 and the end gasket 27 and is connected with the rotating shaft end 28;
the bearing assembly is located between the upper connection frame 16 and the lower connection frame 22, and comprises a bearing fixing outer sleeve 21, a bearing fixing inner sleeve 29, a lower end cover 30, an inner bearing 31 and an outer bearing 32, wherein the bearing assembly enables the short shaft of the upper end cover 17 and the rotating shaft 24 to be on the same axis, the inner ring of the inner bearing 31 is contacted with the rotating shaft 24, the outer ring is contacted with the bearing fixing inner sleeve 29, the inner ring of the outer bearing 32 is contacted with the bearing fixing inner sleeve 29, the outer ring is contacted with the bearing fixing outer sleeve 21, the bearing fixing outer sleeve 21 is fixedly arranged at the lower end of the upper connection frame 16, the upper surface of the lower end cover 30 is fixedly connected with the bearing fixing inner sleeve 29, the lower surface of the lower end cover is fixedly connected with the lower connection frame 22, and the first gear 23 and the second gear 25 are connected with the rotating shaft 24 through keys.
The reversing gear 18 is driven by the first incomplete gear 9 to realize intermittent rotation, and the reversing gear 18 drives the upper end cover 17, the bearing fixing inner sleeve 29, the lower end cover 30 and the lower connecting frame 22 to integrally rotate together to realize the integral reversing function of the clamping mechanism 3. When the upper end cover 17 rotates to the position, the first pair of spring plungers 20 are ejected out due to the grooves 171 on the short shaft extending outwards from the upper end cover 17, so that the upper end cover 17 is positioned and braked to prevent the upper end cover 17 from rotating; when the reversing gear 18 is driven again by the first incomplete gear 9, the driving force causes the reversing gear 18 to drive the upper end cover 17 to rotate, the first pair of spring plungers 20 are pressed back, and when the short shaft of the upper end cover 17 rotates to the next groove 171, the first pair of spring plungers 20 are ejected under the action of the springs and braked.
As shown in fig. 6 to 9, the gripping mechanism 3 includes a second pair of spring plunger holders 33, a second pair of spring plungers 34, a rail fixing plate 35, a jaw rotation shaft nut 36, a jaw fixing plate 37, a third sleeve 38, a jaw 39, a fourth sleeve 40, a jaw rotation shaft 41, a jaw gear 42, a rack 43, a slider 44, a rack fixing plate 45, and a linear rail 46; the clamping jaw fixing plate 37 is installed and fixed below the lower connecting frame 22, square through holes 371 are formed in the clamping jaw fixing plate 37, components such as a linear guide rail 46 are convenient to install, the guide rail fixing plate 35 is installed and fixed on the clamping jaw fixing plate 37, the linear guide rail 46 is installed and fixed below the guide rail fixing plate 35, a sliding block 44 is installed and fixed in the linear guide rail 46 and located in the through holes 371, a rack fixing plate 45 is installed and fixed below the sliding block 44, the rack 43 and the rack fixing plate 45 are installed and fixed through screws and meshed with the second gear 25, a second pair of spring plungers 34 are installed in the second pair of spring plunger fixing seats 33, the second pair of spring plunger fixing seats 33 are installed and fixed below the clamping jaw fixing plate 37, one end of a clamping jaw rotating shaft 41 is provided with external threads, finally, the clamping jaw 39, a fourth sleeve 40, a clamping jaw gear 42, a third sleeve 38 and the clamping jaw fixing plate 37 are sequentially penetrated from bottom to top, the clamping jaw rotating shaft nut 36 is locked, the clamping jaw gear 42 is fixedly connected with the clamping jaw 39 through screws and meshed with the rack 43, the specific shape of the clamping jaw 39 can be designed according to the appearance of a taken object, and a rubber pad and the like can be added to protect the taken object.
The rotation of the second incomplete gear 11 is transmitted to the position of the rack 43 through the first gear 23, the rotating shaft 24 and the second gear 25, and the rack 43 converts the rotation feeding of the second gear 25 into linear feeding and drives the clamping jaw gear 42 to rotate; because the jaw gear 42 is fixedly connected with the jaw 39, the feeding motion of the rack 43 drives one side of the jaw to open and the other side of the jaw to close, so that the clamping and releasing actions are realized. The second pair of spring plungers 34 has a positioning and braking action on the rotating shaft 24, and a second groove 241 for positioning the second pair of spring plungers 34 is formed in the rotating shaft 24, and the positioning and braking process is the same as the positioning and braking process of the reversing process.
The movement process of the present invention will be described in further detail with reference to fig. 10-12, wherein fig. 10-12 are top views of the present device, and wherein fig. 12 adds small black dots at the ends of the first jaw and no small black dots at the ends of the second jaw for distinguishing between two symmetrical jaws. Wherein the specific arrangement of the first partial gear and the second partial gear is shown in fig. 10, the toothed portion occupies an angle of 90 DEG on the whole, and the toothed portions of the first partial gear and the second partial gear are completely misaligned
As shown in fig. 10-12, state 1 is an initial state in which the motor is not activated, and the first jaw is open and the second jaw is closed.
State 2: the motor starts to rotate forward (anticlockwise), the first incomplete gear 9 drives the reversing gear 18 to rotate, and the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees clockwise; at this time, the lower incomplete gear 11 does not mesh with the first gear 23, so that the clamping jaw remains unchanged.
State 3: the motor continues to rotate positively, the first incomplete gear 9 does not mesh with the reversing gear 18 to rotate, and the clamping mechanism 3 does not reverse; at this time, the lower incomplete gear 11 is meshed with the first gear 23, the first gear 23 and the second gear 25 coaxially rotate clockwise to drive the rack 43 to move leftwards, the first clamping jaw is closed to clamp the article, and the second clamping jaw is opened to release the article.
State 4: the motor continues to rotate positively, the first incomplete gear 9 drives the reversing gear 18 to rotate, and the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees clockwise; at this time, the state of the clamping jaw is unchanged, and the clamped object is scanned or detected.
State 5: the motor rotates reversely (rotates clockwise), the first incomplete gear 9 drives the reversing gear 18 to rotate, the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees anticlockwise, the clamping jaw state is unchanged at the moment, the first clamping jaw is still closed, and the second clamping jaw is opened.
State 6: the motor continues to rotate reversely, the first incomplete gear 9 does not mesh with the reversing gear 18 to rotate, and the clamping mechanism 3 does not reverse; at this time, the second incomplete gear 11 is meshed with the first gear 23, the first gear 23 and the second gear 25 coaxially rotate anticlockwise, the rack 43 is driven to move rightwards, the first clamping jaw is opened, and the second clamping jaw is closed.
State 7: the motor continues to rotate reversely, the first incomplete gear 9 drives the reversing gear 18 to rotate, the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees anticlockwise, and the state 1 is reset; at this time, the state of the clamping jaw is unchanged, the first clamping jaw is still opened, and the second clamping jaw is closed.
The embodiment is not limited to the mechanical clamping jaw rotating 180 degrees, and the rotating angle can be designed according to actual needs. According to formula Z 1 /Z 2 The value of =α/β; wherein Z is 1 For the number of teeth of the incomplete gear, Z 2 Is the number of teeth of the slave gear; alpha is the angle occupied by the continuously toothed portion of the incomplete gear and beta is the angle of rotation actually required by the reversing mechanism.
Taking the present embodiment as an example, when a rotation of 90 ° is required, Z is because α=90°, β=90° 1 /Z 2 The device is in a mode of turning the driving wheel into an incomplete gear in the device, namely the number of teeth of the driving wheel is equal to that of the driven wheel, the clamping device can rotate by 90 degrees, the two clamping jaws can be fully utilized in a 90-degree design, the object to be detected can be clamped from two different production lines, and the object to be detected is rotated by 90 degreesAnd (5) detecting, and then putting the product back to the original production line after the detection is finished.
The device can be used in parts and product detection, and can be used in all aspects needing actions similar to the device, such as product packaging, off-line welding, product image recognition and the like.
Claims (6)
1. The utility model provides a device is got to switching-over clamp of single motor control which characterized in that: comprises a driving mechanism (1), a reversing mechanism (2) and a clamping mechanism (3); the reversing mechanism (2) is respectively connected with the driving mechanism (1) and the clamping mechanism (3), and the driving mechanism (1) drives the clamping mechanism (3) to rotate through the reversing mechanism (2); a first incomplete gear (9) for controlling the reversing mechanism (2) to rotate and a second incomplete gear (11) for controlling the clamping mechanism (3) to clamp objects are arranged in the driving mechanism (1); the first incomplete gear (9) and the second incomplete gear (11) are coaxially arranged, and a part with continuous teeth on the first incomplete gear (9) is always not overlapped with a part with continuous teeth on the second incomplete gear (11) along the axial direction;
the reversing mechanism (2) comprises an upper connecting frame (16), a lower connecting frame (22) and a bearing assembly arranged between the upper connecting frame and the lower connecting frame; the upper connecting frame (16) is fixedly connected with the motor base fixing plate (6), an upper end cover (17) is arranged in the upper connecting frame (16), and a reversing gear (18) meshed with the first incomplete gear (9) is arranged on the upper end cover (17); a rotating shaft (24) is arranged at the bottom of the upper end cover (17), the rotating shaft (24) penetrates through the bearing assembly, the lower connecting frame (22) and the clamping mechanism (3), and the rotating shaft (24) and the upper end cover (17) are always positioned on the same axis through the bearing assembly; the rotating shaft (24) is provided with a first gear (23) and a second gear (25), and the first gear (23) is positioned in the lower connecting frame (22) and meshed with the second incomplete gear (11); the second gear (25) is positioned below the clamping mechanism (3);
the bearing assembly comprises a bearing fixing outer sleeve (21), a bearing fixing inner sleeve (29), a lower end cover (30), an outer bearing (32) and an inner bearing (31); the bearing fixing outer sleeve (21) is sleeved with the bearing fixing inner sleeve (29); the inner ring of the inner bearing (31) is contacted with the rotating shaft (24), and the outer ring of the inner bearing (31) is contacted with the bearing fixing inner sleeve (29); the inner ring of the outer bearing (32) is contacted with the bearing fixing inner sleeve (29), and the outer ring of the outer bearing (32) is contacted with the bearing fixing outer sleeve (21); the bearing fixing sleeve (21) is fixedly arranged at the lower end of the upper connecting frame (16); the bearing fixing inner sleeve (29) is fixedly connected with the upper end cover (17); the upper part of the lower end cover (30) is connected with the bearing fixing inner sleeve (29), and the lower part is fixedly connected with the lower connecting frame (22);
the clamping mechanism (3) comprises clamping jaw fixing plates (37), the clamping jaw fixing plates (37) are fixedly connected with the lower connecting frame (22), clamping jaw assemblies are symmetrically arranged on two sides of the clamping jaw fixing plates (37), and a moving assembly for controlling clamping jaws (39) to open or close is arranged between the clamping jaw assemblies;
the moving assembly comprises a guide rail fixing plate (35), a rack (43), a sliding block (44), a rack fixing plate (45) and a linear guide rail (46); the clamping jaw fixing plate (37) is provided with a through hole (371), the guide rail fixing plate (35) is arranged above the clamping jaw fixing plate (37), the linear guide rail (46) is fixedly arranged below the guide rail fixing plate (35), the sliding block (44) is connected with the linear guide rail (46) and is positioned in the through hole (371), the rack fixing plate (45) is fixed below the sliding block (44), and the rack (43) is fixedly arranged below the rack fixing plate (45) and meshed with the second gear (25).
2. The single motor controlled commutation gripping device of claim 1, wherein: the driving mechanism (1) further comprises a motor (4), a motor seat (5), a motor seat fixing plate (6), a support fixing plate (8), a driving shaft (10) and a T-shaped bearing seat (15); the motor (4) is connected with a motor seat fixing plate (6) through a motor seat (5); the motor seat fixing plate (6) is connected with the support fixing plate (8), and an output shaft of the motor (4) is connected with the driving shaft (10) through the coupler (7); the driving shaft (10) respectively penetrates through the first incomplete gear (9) and the second incomplete gear (11), the first incomplete gear (9) and the second incomplete gear (11) are connected with the driving shaft (10) through keys, and the driving shaft (10) is connected with the support fixing plate (8) through the T-shaped bearing seat (15).
3. The single motor controlled commutation gripping device of claim 2, wherein: the bottom of the second incomplete gear (11) is also provided with a support component for axial fixation, and the support component comprises a first sleeve (12), a driving shaft end gasket (13) and a driving shaft end screw (14); the driving shaft (10) passes through the first sleeve (12) and the driving shaft end gasket (13) respectively to be in threaded connection with the driving shaft end screw (14).
4. The single motor controlled commutation gripping device of claim 1, wherein: the two sides of the upper end cover (17) are provided with a first pair of spring plungers (20) for preventing the reversing gear from rotating, the first pair of spring plungers (20) are arranged in the upper connecting frame (16) through a first pair of spring plunger fixing seats (19), and the side wall of the upper end cover (17) is provided with a first groove (171) for positioning the first pair of spring plungers (20).
5. The single motor controlled commutation gripping device of claim 1, wherein: the clamping jaw fixing plate (37) is characterized in that a second pair of spring plungers (34) for preventing the first gear (23) from rotating are further arranged below the clamping jaw fixing plate (37), the second pair of spring plungers (34) are connected with the clamping jaw fixing plate (37) through the second pair of spring plunger fixing seats (33), and a second groove (241) for positioning the second pair of spring plungers (34) is formed in the side wall of the portion, below the first gear (23), of the rotating shaft (24).
6. The single motor controlled commutation gripping device of claim 1, wherein: the clamping jaw assembly comprises clamping jaws (39), clamping jaw rotating shafts (41) and clamping jaw gears (42); the clamping jaw rotating shaft (41) penetrates through the clamping jaw (39), the clamping jaw gear (42) and the clamping jaw fixing plate (37) from bottom to top; the clamping jaw gear (42) is fixedly connected with the clamping jaw (39) and meshed with the rack (43) to drive the clamping jaw (39) to open or close; a fourth sleeve (40) and a third sleeve (38) for fixing are respectively arranged between the clamping jaw (39) and the clamping jaw gear (42) and between the clamping jaw and the clamping jaw fixing plate (37); the end of the clamping jaw rotating shaft (41) is locked by a clamping jaw rotating shaft nut (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111422429.6A CN114043515B (en) | 2021-11-26 | 2021-11-26 | Single motor control's switching-over clamp gets device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111422429.6A CN114043515B (en) | 2021-11-26 | 2021-11-26 | Single motor control's switching-over clamp gets device |
Publications (2)
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| CN114043515A (en) | 2022-02-15 |
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