CN210719679U - High-precision automatic clamping jaw mechanism - Google Patents
High-precision automatic clamping jaw mechanism Download PDFInfo
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- CN210719679U CN210719679U CN201921940775.1U CN201921940775U CN210719679U CN 210719679 U CN210719679 U CN 210719679U CN 201921940775 U CN201921940775 U CN 201921940775U CN 210719679 U CN210719679 U CN 210719679U
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Abstract
The utility model discloses an automatic gripper mechanism of high accuracy aims at providing the automatic gripper mechanism of high accuracy that efficiency of software testing is high and the testing result is accurate. The utility model discloses a bottom plate, be provided with X axle motion module and a plurality of test module on the bottom plate, the test module is including setting up Y axle motion module in X axle motion module the place ahead and setting up the Z axle motion module on X axle motion module, the cooperation is provided with the product microscope carrier on the Y axle motion module, the cooperation is provided with knob test module on the Z axle motion module, knob test module includes the test bottom plate, be provided with camera location module on the test bottom plate, force cell sensor, the clamping jaw module, rotating electrical machines and pivot subassembly, the pivot subassembly sets up on force cell sensor, and one end cooperatees with rotating electrical machines, the other end cooperatees with the clamping jaw module. The utility model discloses be applied to clamping jaw mechanism's technical field.
Description
Technical Field
The utility model relates to a clamping jaw mechanism, in particular to automatic clamping jaw mechanism of high accuracy.
Background
Many electronic products use the knob type key similar to the watch crown at present, and the use function generally has two interactive actions of rotating and pressing, so when the knob performance of the products needs to be detected, the detection equipment needs to have the function of checking the stress condition of the knob in two test states of rotating and pressing at the same time, and because of the stress characteristic of the detection, the manual detection cannot be carried out or the manual detection efficiency is low, and the problems of inaccurate detection result and the like exist; in addition, current knob test equipment mainly by the location, snatchs, tests three main part and constitutes, and the inductor component structure that its location was used is complicated, and the cost is higher and occupy equipment space big, leads to shortcoming such as unit efficiency of software testing low, to the problem that prior art exists, the utility model aims at providing a high accuracy automatic clamping jaw mechanism can be in the same place the location, snatch, test three step combination to improve efficiency of software testing.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that overcome prior art not enough, provide an automatic gripper mechanism of high accuracy that efficiency of software testing is high and testing result is accurate.
The utility model adopts the technical proposal that: the utility model discloses a bottom plate, be provided with X axle motion module and a plurality of test module on the bottom plate, the test module is including setting up Y axle motion module in X axle motion module the place ahead and setting are in Z axle motion module on the X axle motion module, the cooperation is provided with the product microscope carrier on the Y axle motion module, the cooperation is provided with knob test module on the Z axle motion module, knob test module includes the test bottom plate, be provided with camera location module, force cell sensor, clamping jaw module, rotating electrical machines and pivot subassembly on the test bottom plate, the pivot subassembly sets up on the force cell sensor, and one end with the rotating electrical machines cooperatees, the other end with the clamping jaw module cooperatees.
Further, the clamping jaw module includes clamping jaw supporting seat, sleeve, die clamping cylinder, clamp splice and spring, the clamping jaw supporting seat sets up on the test bottom plate, die clamping cylinder sets up on the clamping jaw supporting seat, the one end cooperation of clamp splice sets up on the die clamping cylinder, the other end cooperation sets up on the sleeve, the cooperation is provided with the clamping jaw in the sleeve, the other end of pivot subassembly with the sleeve cooperatees, the spring cooperation sets up the pivot subassembly with between the sleeve.
Further, the number of the test modules is two.
Further, camera location module includes the camera support, the cooperation is provided with the camera on the camera support.
Further, the force sensor is a triaxial force sensor.
Further, the clamping jaw module still includes buffering subassembly, buffering subassembly sets up on the clamping jaw supporting seat, buffering subassembly with clamping cylinder cooperation.
Further, the pivot subassembly includes first bearing frame, second bearing frame, pivot and shaft coupling, first bearing frame sets up on the test bottom plate, and is located the rotating electrical machines reaches between the force cell sensor, the second bearing frame sets up on the force cell sensor, first bearing frame reaches the cooperation is provided with the slider between the test bottom plate, the one end of pivot with the rotating electrical machines cooperatees, and the other end with the clamping jaw module cooperatees, the shaft coupling cooperation sets up the pivot with between the rotating electrical machines, the pivot with the cooperation is provided with first bearing between the first bearing frame, the pivot with the cooperation is provided with the second bearing between the second bearing frame.
Further, the first bearing and the second bearing are both self-aligning bearings.
The utility model has the advantages that: compared with the prior art with high cost, low testing efficiency and inaccurate testing result, in the utility model, the camera positioning module is arranged at the position for positioning the clamping jaw module, the clamping jaw module is arranged on the grabbing knob, the utility model can have the function of checking the stress condition of the knob in two test states of rotation and pressing through the arrangement of the knob test module, the load cells monitor the force experienced by the spindle assembly in the three directions X, Y and Z, the X-axis motion module and the Z-axis motion module can carry out small-amplitude motion according to the data fed back by the force transducer so as to adjust and compensate the positioning error of the camera positioning module, thereby obtain the testing result of high accuracy, so, the utility model has the advantages of the efficiency of software testing is high and the testing result is accurate.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a first view angle of the knob test module;
FIG. 3 is a schematic perspective view of a second view angle of the knob test module;
FIG. 4 is a schematic perspective view of a third view angle of the knob test module;
FIG. 5 is a schematic perspective view of a fourth view angle of the knob test module;
FIG. 6 is a perspective view of the rotary shaft assembly and the rotary motor;
fig. 7 is a schematic perspective view of the clamping jaw module.
Detailed Description
As shown in fig. 1 to 7, in the present embodiment, the present invention includes a base plate 1, an X-axis motion module 2 and a plurality of test modules are disposed on the base plate 1, the test module comprises a Y-axis motion module 3 arranged in front of the X-axis motion module 2 and a Z-axis motion module 5 arranged on the X-axis motion module 2, the Y-axis motion module 3 is provided with a product carrying platform 4 in a matching way, the Z-axis motion module 5 is provided with a knob test module 7 in a matching way, the knob test module 7 comprises a test base plate 8, a camera positioning module 6, a force sensor 9, a clamping jaw module 10, a rotating motor 11 and a rotating shaft assembly 12 are arranged on the test base plate 8, the rotating shaft assembly 12 is arranged on the force sensor 9, and one end is matched with the rotating motor 11, and the other end is matched with the clamping jaw module 10. When the device is used, a product is placed on the product carrying platform 4, and the position of the testing bottom plate 8 is further adjusted through the X-axis motion module 2 and the Z-axis motion module 5, so that the camera positioning module 6 moves and is positioned at a correct position, and a picture is taken; after the positioning is completed, the X-axis motion module 2 drives the clamping jaw module 10 to reach a positioning position, so that the clamping jaw module 10 is located at a position of an extension line of a product axis, the Y-axis motion module 3 drives a product of the product carrier 4 to move towards the clamping jaw module 10, before the product reaches the clamping jaw module 10, the clamping jaw module 10 is in an open state, after the product reaches the position of the clamping jaw module 10, the clamping jaw module 10 is closed to grasp a product knob, further, the rotating motor 11 drives the rotating shaft assembly 12 and the clamping jaw module 10 to simultaneously rotate the product knob, while the product rotates, the force sensor 9 monitors forces from X, Y and Z directions received by the rotating shaft assembly 12, the rotating motor 11 stops rotating, and simultaneously, the Y-axis motion module 3 drives the product carrier 4 and the product to move towards the clamping jaw module 10, further, the product knob is pressed by the clamping jaw module 10, the rotating motor 11 drives the rotating shaft assembly 12 and the clamping jaw module 10 to rotate the product knob at the same time, and the force sensor 9 monitors X, Y and forces in the Z direction received by the rotating shaft assembly 12 while rotating. In the process of grabbing a product knob, the Y-axis motion module 3 and the product carrier 4 slowly push the product knob into the clamping jaw module 10, in this process, the load cell 9 monitors X, Y and Z forces acting on the rotating shaft assembly 12, the X-axis motion module 2 and the Z-axis motion module 5 perform small-amplitude motion according to data fed back by the load cell 9 to adjust and compensate a positioning error of the camera positioning module 6, the clamping jaw module 10 confirms whether the product knob is completely pushed into the clamping jaw module 10 according to data fed back by the load cell 9, and then the clamping jaw module 10 is clamped, so that the clamping jaw module 10 is closed to tightly grasp the product knob. Compared with the prior art with high cost, low testing efficiency and inaccurate testing result, in the utility model, the camera positioning module 6 is configured at a position for positioning the clamping jaw module 10, the clamping jaw module 10 is configured at a grabbing knob, the utility model has the function of checking the stress condition of the knob in two test states of rotation and pressing through the arrangement of the knob test module 7, the load cell 9 monitors X, Y and Z forces experienced by the spindle assembly 12, the X-axis motion module 2 and the Z-axis motion module 5 perform small-amplitude motion according to the data fed back by the load cell 9 to adjust and compensate the positioning error of the camera positioning module 6, thereby obtain the testing result of high accuracy, make the utility model has the advantages of efficiency of software testing is high and the testing result is accurate.
In this embodiment, the clamping jaw module 10 includes a clamping jaw support seat 101, a sleeve 102, a clamping cylinder 103, a clamping block 104 and a spring 108, the clamping jaw support seat 101 is disposed on the testing bottom plate 8, the clamping cylinder 103 is disposed on the clamping jaw support seat 101, one end of the clamping block 104 is disposed on the clamping cylinder 103, the other end is disposed on the sleeve 102 in a matching manner, a clamping jaw 105 is disposed in the sleeve 102 in a matching manner, the other end of the rotating shaft assembly 12 is engaged with the sleeve 102, and the spring 108 is disposed between the rotating shaft assembly 12 and the sleeve 102 in a matching manner. The clamping cylinder 103 drives the clamping block 104 to move back and forth, and when the clamping block 104 pushes the sleeve 102 backwards, the clamping jaw 105 can be opened; when the clamping block 104 moves forward, the spring 108 pushes the sleeve 102 forward, and the clamping jaws 105 are contracted.
In this embodiment, the number of the test modules is two.
In this embodiment, the camera positioning module 6 includes a camera support 601, and a camera 602 is disposed on the camera support 601 in a matching manner.
In this embodiment, the load cell 9 is a triaxial force sensor. The load cell 9 monitors X, Y and Z forces on the spindle assembly 12 and converts the measured forces into X, Y and Z forces on the product knob by calibration.
In this embodiment, the clamping jaw module 10 further includes a buffer assembly 150, the buffer assembly 150 is disposed on the clamping jaw supporting seat 101, and the buffer assembly is matched with the clamping cylinder 103. The damping assembly 150 will transmit the excess rearward force of the clamp block 104 to the jaw support 101 to minimize the force applied by the kinematic mechanism to the load cell 9.
In this embodiment, the rotating shaft assembly 12 includes a first bearing seat 901, a second bearing seat 902, a rotating shaft 903 and a coupling 904, the first bearing seat 901 is disposed on the test base plate 8 and located between the rotating electrical machine 11 and the load cell 9, the second bearing seat 902 is disposed on the load cell 9, a slider 905 is disposed between the first bearing seat 901 and the test base plate 8 in a matching manner, one end of the rotating shaft 903 is matched with the rotating electrical machine 11, the other end of the rotating shaft 903 is matched with the clamping jaw module 10, the coupling 904 is disposed between the rotating shaft 903 and the rotating electrical machine 11 in a matching manner, a first bearing 908 is disposed between the rotating shaft 903 and the first bearing seat 901 in a matching manner, and a second bearing 909 is disposed between the rotating shaft 903 and the second bearing seat 902 in a matching manner. The rotating shaft 903 is arranged on the load cell 9 through the second bearing seat 902 and the second bearing 909, the load cell 9 is equivalent to a fixed fulcrum of the second bearing 909, the first bearing 908 and the first bearing seat 901 are used as supports in the second half of the rotating shaft 903, and thus the bearing is used as a support as a whole to enable the rotating shaft 903 to float in the radial direction to a small extent; because slider 905's setting, simultaneously the afterbody of pivot 903 shaft coupling 904 is the disconnect-type, makes pivot 903 can float to a small extent in the axial, pivot 903 can be through the fixed structure of so installation, can conduct the reaction force of product arrive under less mechanism's effort on force cell 9, this is force cell 9 can obtain the reason of the power that receives when being close true product test more, so the utility model discloses can avoid the unsafe condition of testing result.
In the present embodiment, the first bearing 908 and the second bearing 909 are both self-aligning bearings.
While the embodiments of the present invention have been described in terms of practical embodiments, they are not intended to limit the scope of the invention, and modifications of the embodiments and combinations with other embodiments will be apparent to those skilled in the art in light of the present description.
Claims (8)
1. The utility model provides an automatic gripper mechanism of high accuracy which characterized in that: the device comprises a bottom plate (1), wherein an X-axis motion module (2) and a plurality of test modules are arranged on the bottom plate (1), each test module comprises a Y-axis motion module (3) arranged in front of the X-axis motion module (2) and a Z-axis motion module (5) arranged on the X-axis motion module (2), a product carrying platform (4) is arranged on the Y-axis motion module (3) in a matching manner, a knob test module (7) is arranged on the Z-axis motion module (5) in a matching manner, the knob test module (7) comprises a test bottom plate (8), a camera positioning module (6), a force measuring sensor (9), a clamping jaw module (10), a rotating motor (11) and a rotating shaft assembly (12) are arranged on the force measuring sensor (9), and one end of the rotating shaft assembly (12) is matched with the rotating motor (11), the other end of the clamping jaw is matched with the clamping jaw module (10).
2. The high precision automatic gripper mechanism of claim 1, wherein: clamping jaw module (10) are including clamping jaw supporting seat (101), sleeve (102), die clamping cylinder (103), clamp splice (104) and spring (108), clamping jaw supporting seat (101) set up on test bottom plate (8), die clamping cylinder (103) set up on clamping jaw supporting seat (101), the one end cooperation of clamp splice (104) sets up on die clamping cylinder (103), and the other end cooperation sets up on sleeve (102), the cooperation is provided with clamping jaw (105) in sleeve (102), the other end of pivot subassembly (12) with sleeve (102) cooperate, the spring cooperation sets up pivot subassembly (12) with between sleeve (102).
3. The high precision automatic gripper mechanism of claim 1, wherein: the number of the test modules is two.
4. The high precision automatic gripper mechanism of claim 1, wherein: the camera positioning module (6) comprises a camera support (601), and a camera (602) is arranged on the camera support (601) in a matched mode.
5. The high precision automatic gripper mechanism of claim 1, wherein: the force measuring sensor (9) is a triaxial force sensor.
6. The high precision automatic gripper mechanism of claim 2, wherein: the clamping jaw module (10) further comprises a buffer assembly (150), the buffer assembly (150) is arranged on the clamping jaw supporting seat (101), and the buffer assembly is matched with the clamping cylinder (103).
7. The high precision automatic gripper mechanism of claim 1, wherein: the rotating shaft assembly (12) comprises a first bearing seat (901), a second bearing seat (902), a rotating shaft (903) and a coupler (904), the first bearing seat (901) is arranged on the test base plate (8) and is positioned between the rotating motor (11) and the force measuring sensor (9), the second bearing seat (902) is arranged on the force measuring sensor (9), a sliding block (905) is arranged between the first bearing seat (901) and the test base plate (8) in a matching manner, one end of the rotating shaft (903) is matched with the rotating motor (11), the other end of the rotating shaft (903) is matched with the clamping jaw module (10), the coupler (904) is arranged between the rotating shaft (903) and the rotating motor (11) in a matching manner, and a first bearing (908) is arranged between the rotating shaft (903) and the first bearing seat (901), and a second bearing (909) is arranged between the rotating shaft (903) and the second bearing seat (902) in a matching way.
8. The high precision automatic gripper mechanism of claim 7, wherein: the first bearing (908) and the second bearing (909) are both self-aligning bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921940775.1U CN210719679U (en) | 2019-11-12 | 2019-11-12 | High-precision automatic clamping jaw mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921940775.1U CN210719679U (en) | 2019-11-12 | 2019-11-12 | High-precision automatic clamping jaw mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210719679U true CN210719679U (en) | 2020-06-09 |
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ID=70963855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921940775.1U Active CN210719679U (en) | 2019-11-12 | 2019-11-12 | High-precision automatic clamping jaw mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210719679U (en) |
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2019
- 2019-11-12 CN CN201921940775.1U patent/CN210719679U/en active Active
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