CN219043882U - Pose adjusting mechanism suitable for electric clamping jaw - Google Patents
Pose adjusting mechanism suitable for electric clamping jaw Download PDFInfo
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- CN219043882U CN219043882U CN202223518128.6U CN202223518128U CN219043882U CN 219043882 U CN219043882 U CN 219043882U CN 202223518128 U CN202223518128 U CN 202223518128U CN 219043882 U CN219043882 U CN 219043882U
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Abstract
The utility model provides a pose adjusting mechanism suitable for an electric clamping jaw, which comprises the following components: the device comprises a support frame, an x-direction movement module, a y-direction movement module, a z-direction multistage electric cylinder and an end execution structure; the x-direction movement module is fixed on the supporting frame; the y-direction movement module is connected to the x-direction movement module; the z-direction multistage electric cylinder is connected with the y-direction movement module; the end effector is located at an end of the z-stage cylinder. The utility model endows the electric clamping jaw with freedom degrees in multiple directions, and each degree of freedom can be arbitrarily combined, so that the diversity of the movement of the electric clamping jaw is realized; meanwhile, the linear module is adopted to drive the electric clamping jaw to move, so that the accuracy of positioning the transported object can be realized during operation.
Description
Technical Field
The utility model belongs to the technical field of electric clamping jaws, and particularly relates to a pose adjusting mechanism suitable for an electric clamping jaw.
Background
In recent years, the electric clamping jaw is applied in the field of industrial production, and in the industries of mechanical manufacturing, electronics, logistics, metallurgy and the like, the electric clamping jaw is often used for completing the grabbing operation. The electric clamping jaw with multiple degrees of freedom means that the working range of the clamping jaw is wider, the application is wider, the position of the clamped object can be adjusted, the pose of the object can be adjusted, and the electric clamping jaw has important significance in practical production and application. However, the currently used electric clamping jaw has few degrees of freedom, generally has only degrees of freedom of up-and-down movement and rotation, and cannot meet the requirements of pose adjustment; or the degree of freedom is too much, but the price is high, the time consumption of programming and computer imitation process before delivery is long, and the control is complicated.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides a pose adjusting mechanism suitable for an electric clamping jaw, which can effectively solve the problems.
The technical scheme adopted by the utility model is as follows:
the utility model provides a pose adjusting mechanism suitable for an electric clamping jaw, which comprises the following components: the device comprises a supporting frame (1), an x-direction movement module (2), a y-direction movement module (3), a z-direction multistage electric cylinder (4) and an end execution structure (5);
the x-direction movement module (2) is fixed on the supporting frame (1); the y-direction movement module (3) is connected to the x-direction movement module (2); the z-direction multistage electric cylinder (4) is connected with the y-direction movement module (3); the end effector (5) is located at the end of the z-direction multi-stage cylinder (4).
Preferably, the support frame (1) comprises a roof cross beam (1.1), a roof rail (1.2) and a column (1.3);
the top cross beam (1.1) and the top longitudinal beam (1.2) are connected end to form a rectangular structure; the upright post (1.3) is connected to the intersection point of the top cross beam (1.1) and the top longitudinal beam (1.2).
Preferably, the x-direction movement module (2) comprises an x-direction module seat (2.1), a first linear module (2.2), a servo motor A (2.3), a second linear module (2.4), a servo motor B (2.5) and an x-direction drag chain structure (2.6);
the first linear module (2.2) and the second linear module (2.4) have the same structure and are respectively fixed on the two top longitudinal beams (1.2) through the x-direction module seat (2.1); the servo motor A (2.3) and the servo motor B (2.5) are respectively positioned at the ends of the first linear module (2.2) and the second linear module (2.4); the x-direction drag chain structure (2.6) is connected to the left side of the second linear module (2.4);
preferably, the x-direction drag chain structure (2.6) comprises an x-direction chain groove supporting plate (2.6.1), an x-direction chain groove (2.6.2), an x-direction drag chain (2.6.3) and an x-direction drag chain bracket (2.6.4);
the x-direction chain groove supporting plate (2.6.1) is used for fixing the x-direction chain groove (2.6.2) on the left side of the top longitudinal beam (1.2) through screws and bolts; the x-direction drag chain (2.6.3) is arranged in the x-direction chain groove (2.6.2); the x-direction drag chain bracket (2.6.4) is connected to the second linear module (2.4) and is simultaneously connected with one end of the x-direction drag chain (2.6.3) so as to drive the x-direction drag chain (2.6.3) to move.
Preferably, the y-direction movement module (3) comprises a y-direction module seat (3.1), a y-direction linear module (3.2), a speed reducer (3.3), a servo motor C (3.4) and a y-direction drag chain structure (3.5);
the y-direction module seat (3.1) is respectively connected to the first linear module (2.2) and the second linear module (2.4) and is used for fixing and driving the y-direction linear module (3.2) to move; the y-direction linear module (3.2) is fixed on the y-direction module seat (3.1) and moves perpendicular to the first linear module (2.2) and the second linear module (2.4); the speed reducer (3.3) is fixed at the end part of the y-direction linear module (3.2), and is connected with the servo motor C (3.4) so that the direction of the servo motor C (3.4) is parallel to the y-direction linear module (3.2); the y-direction drag chain structure (3.5) is fixed on the front side of the y-direction linear module (3.2);
preferably, the y-direction drag chain structure (3.5) comprises a y-direction chain groove fixing frame (3.5.1), a y-direction chain groove (3.5.2), a y-direction drag chain (3.5.3) and a y-direction drag chain mounting plate (3.5.4);
the y-direction chain groove fixing frames (3.5.1) are respectively connected to the two ends of the y-direction linear modules (3.2) through screws; the y-direction chain groove (3.5.2) is fixed on the y-direction chain groove fixing frame (3.5.1) through bolts; the y-direction drag chain (3.5.3) is arranged in the y-direction chain groove (3.5.2); the y-direction drag chain mounting plate (3.5.4) is connected to the front part of the hoisting structure (4.1) through screws, and one end of the y-direction chain groove (3.5.2) is fixed on the y-direction drag chain mounting plate through screws.
Preferably, the z-direction multistage electric cylinder (4) comprises a hoisting structure (4.1), a multistage cylinder box cover plate (4.2), a multistage cylinder (4.3) and a servo motor D (4.4);
the hoisting structure (4.1) is fixed on the sliding block of the y-direction linear module (3.2); the multi-stage cylinder box cover plate (4.2) is connected with the bottom surface of the hoisting structure (4.1), and the multi-stage cylinder (4.3) is connected with the bottom surface of the multi-stage cylinder box cover plate (4.2); the servo motor D (4.4) is connected with the bottom surface of the multi-stage cylinder box cover plate (4.2) and is connected to the rear side of the multi-stage cylinder (4.3).
Preferably, the end execution structure (5) comprises a mounting frame (5.1), a worm gear reducer (5.2), a stepping motor (5.3), a clamping jaw mounting seat (5.4), an electric clamping jaw (5.5), a limit switch (5.6) and a photoelectric limit switch (5.7);
the mounting frame (5.1) is of an L-shaped structure, one side of the mounting frame is horizontal and connected to the end part of the multistage cylinder (4.3), the other side of the mounting frame is vertical, and the mounting frame is connected with the worm gear reducer (5.2) through screws; the stepping motor (5.3) is fixed on the worm gear reducer (5.2) and used for driving the worm gear reducer to move; the clamping jaw mounting seat (5.4) is of an L-shaped structure, the vertical edge of the clamping jaw mounting seat is connected with a worm wheel shaft of the worm and gear speed reducer (5.2) through a bolt, and the electric clamping jaw (5.5) is fixed on the horizontal edge through the bolt, so that the movement of the worm wheel and the worm drives the electric clamping jaw (5.5) to wind around the central axis a of the worm wheel 1 Rotating; limit switches (5.6) are connected to the electric clamping jaw (5.5) and are uniformly distributed around the periphery of the electric clamping jaw (5.5) to control the electric clamping jaw (5.5) to self around the central axis a of the electric clamping jaw 2 A rotated safety position; the photoelectric limit switch (5.7) is fixed on the vertical edge of the mounting frame (5.1) and is used for controlling the electric clamping jaw (5.5) to rotate around the central axis a of the electric clamping jaw 1 A rotated safety position;
preferably, the worm gear reducer (5.2) comprises a shell (5.2.1), a coupler (5.2.2), a worm wheel (5.2.3) and a worm (5.2.4);
the shell (5.2.1) is connected to the vertical edge of the mounting frame (5.1) through bolts, and the coupler (5.2.2), the worm wheel (5.2.3) and the worm (5.2.4) are arranged in the shell; the coupler (5.2.2) is connected with the stepping motor (5.3) and the worm (5.2.4) to drive the worm wheel (5.2.4) to move; the central line of the worm (5.2.4) is vertically arranged and is coaxially connected with the shaft coupling (5.2.2); the worm wheel (5.2.3) is meshed with the worm (5.2.4); when the motion is transmitted to the electric clamping jaw (5.5) by the stepping motor (5.3), the electric clamping jaw (5.5) realizes a circle of the central axis a of the worm wheel 1 Is provided for the rotation movement of the rotor.
Preferably, limit switches are connected to the servo motors and the stepping motors (5.3) for controlling the safe positions of the electric clamping jaws (5.5) in the moving process.
The pose adjusting mechanism suitable for the electric clamping jaw has the following technical effects:
(1) Under the drive of the x-direction movement module, the y-direction movement module and the z-direction multi-stage electric cylinder, the electric clamping jaw obtains translational degrees of freedom along the x-axis, the y-axis and the z-axis; driven by the worm gear reducer, the electric clamping jaw is driven to wind the central axis a of the worm gear 1 Degrees of freedom in rotation in the axial direction; at the same time, the motorized jaw itself has a central axis a about itself 2 The degree of freedom of the shaft rotation; through the combination of the degrees of freedom, the electric clamping jaw can be suitable for clamping, carrying and pose adjustment of articles in the whole space.
(2) The multiple degrees of freedom of the utility model are mutually independent, can be controlled independently, can be opened independently and can be combined arbitrarily, so that the movement of the electric clamping jaw is various.
(3) The translation of the utility model is driven by the linear module, so that the electric clamping jaw can realize accurate positioning during operation.
Drawings
FIG. 1 is an isometric view of a position adjustment structure for motorized clasps provided in example 1;
FIG. 2 is a schematic view of an x-direction and y-direction movement module of the pose adjustment structure for an electric jaw provided in embodiment 1;
FIG. 3 is a bottom view of the x-direction and y-direction movement module for the pose adjustment structure of the electric jaw provided in embodiment 1;
FIG. 4 is a schematic view of a z-direction multi-stage cylinder and end effector configuration for a pose adjustment structure for motorized clasps provided in example 1;
fig. 5 is a schematic view of a worm gear reducer suitable for the pose adjustment structure of the electric gripper provided in embodiment 1;
fig. 6 is a schematic cross-sectional view of a worm gear reducer suitable for the pose adjustment structure of the electric jaw provided in embodiment 1.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Example 1
The embodiment provides a pose adjusting mechanism suitable for an electric clamping jaw, so that the electric clamping jaw has multiple degrees of freedom in directions, and pose adjustment of a grabbed object is realized.
The pose adjusting mechanism suitable for an electric clamping jaw provided in the embodiment, as shown in fig. 1, includes: a support frame 1, an x-direction movement module 2, a y-direction movement module 3, a z-direction multi-stage electric cylinder 4 and an end effector 5.
The x-direction movement module 2 is fixed on the support frame 1; the y-direction movement module 3 is connected to the x-direction movement module 2; the z-direction multi-stage electric cylinder 4 is connected with the y-direction movement module 3; the end effector 5 is located at the end of the z-direction multi-stage cylinder 4.
The following describes the support frame 1, the x-direction movement module 2, the y-direction movement module 3, the z-direction multi-stage cylinder 4 and the end effector 5 in detail:
support frame (one)
Referring to fig. 1, a support frame 1 includes a roof rail 1.1, a roof rail 1.2, and a pillar 1.3;
the top cross beam 1.1 and the top longitudinal beam 1.2 are connected end to form a rectangular structure; the upright column 1.3 is connected to the intersection point of the top cross beam 1.1 and the top longitudinal beam 1.2; and meanwhile, a triangular connecting block is arranged at the contact position of the upright post 1.3 and other beams so as to maintain the stability of the supporting frame 1.
(II) x-direction movement module
Referring to fig. 2 and 3, the x-direction movement module 2 includes an x-direction module seat 2.1, a first linear module 2.2, a servo motor a2.3, a second linear module 2.4, a servo motor B2.5 and an x-direction drag chain structure 2.6;
the first linear module 2.2 and the second linear module 2.4 have the same structure and are respectively fixed on the two top longitudinal beams 1.2 through the x-direction module seat 2.1; the servo motor A2.3 and the servo motor B2.5 are respectively positioned at the end parts of the first linear module 2.2 and the second linear module 2.4; the x-direction drag chain structure 2.6 is connected to the left side of the second linear module 2.4;
the x-direction drag chain structure 2.6 comprises an x-direction chain groove support plate 2.6.1, an x-direction chain groove 2.6.2, an x-direction drag chain 2.6.3 and an x-direction drag chain bracket 2.6.4;
the x-direction chain groove supporting plate 2.6.1 is used for fixing the x-direction chain groove 2.6.2 on the left side of the top longitudinal beam 1.2 through screws and bolts; the x-direction drag chain 2.6.3 is arranged in the x-direction chain groove 2.6.2; the x-direction drag chain bracket 2.6.4 is connected to the second linear module 2.4 and is connected to one end of the x-direction drag chain 2.6.3, so as to drive the x-direction drag chain 2.6.3 to move.
(III) Y-direction movement module
Referring to fig. 2 and 3, the y-direction movement module 3 includes a y-direction module seat 3.1, a y-direction linear module 3.2, a speed reducer 3.3, a servo motor C3.4 and a y-direction drag chain structure 3.5;
the y-direction module seat 3.1 is respectively connected to the first linear module 2.2 and the second linear module 2.4 and is used for fixing and driving the y-direction linear module 3.2 to move; the y-direction linear module 3.2 is fixed on the y-direction module seat 3.1 and moves perpendicular to the first linear module 2.2 and the second linear module 2.4; the speed reducer 3.3 is fixed at the end part of the y-direction linear module 3.2, and is connected with the servo motor C3.4, so that the direction of the servo motor C3.4 is parallel to the y-direction linear module 3.2; the y-direction drag chain structure 3.5 is fixed on the front side of the y-direction linear module 3.2;
the y-direction drag chain structure 3.5 comprises a y-direction chain groove fixing frame 3.5.1, a y-direction chain groove 3.5.2, a y-direction drag chain 3.5.3 and a y-direction drag chain mounting plate 3.5.4;
the y-direction chain groove fixing frames 3.5.1 are respectively connected with two ends of the y-direction linear module 3.2 through screws; the y-direction chain groove 3.5.2 is fixed on the y-direction chain groove fixing frame 3.5.1 through bolts; the y-direction drag chain 3.5.3 is arranged in the y-direction chain groove 3.5.2; the y-direction drag chain mounting plate 3.5.4 is connected to the front of the lifting structure 4.1 by screws, and one end of the y-direction chain groove 3.5.2 is fixed on the y-direction drag chain mounting plate by screws.
(IV) z-direction multistage electric cylinder
Referring to fig. 4, the z-direction multi-stage electric cylinder 4 comprises a hoisting structure 4.1, a multi-stage cylinder box cover plate 4.2, a multi-stage cylinder 4.3 and a servo motor D4.4;
the hoisting structure 4.1 is fixed on a sliding block of the y-direction linear module 3.2; the multi-stage cylinder box cover plate 4.2 is connected with the bottom surface of the hoisting structure 4.1, and the multi-stage cylinder 4.3 is connected with the bottom surface of the multi-stage cylinder box cover plate 4.2; the servo motor D4.4 is connected with the bottom surface of the multi-stage cylinder box cover plate 4.2 and is connected with the rear side of the multi-stage cylinder 4.3.
(V) end effector structure
Referring to fig. 4, the end effector 5 includes a mounting frame 5.1, a worm gear reducer 5.2, a stepping motor 5.3, a jaw mount 5.4, an electric jaw 5.5, a limit switch 5.6, and a photoelectric limit switch 5.7;
the mounting frame 5.1 is of an L-shaped structure, one side of the mounting frame is horizontal and connected to the end part of the multistage cylinder 4.3, the other side of the mounting frame is vertical, and the mounting frame is connected with the worm gear reducer 5.2 through screws; the stepping motor 5.3 is fixed on the worm gear reducer 5.2 and is used for driving the worm gear reducer to move; the clamping jaw mounting seat 5.4 is of an L-shaped structure, the vertical side of the clamping jaw mounting seat is connected with a worm wheel shaft of the worm and gear speed reducer 5.2 through a bolt, and the electric clamping jaw 5.5 is fixed on the horizontal side through the bolt, so that the movement of the worm wheel and the worm drives the electric clamping jaw 5.5 to wind around the central axis a of the worm wheel 1 Rotating; limit switches 5.6 are connected with the electric clamping jaw 5.5 and are uniformly distributed around the shell of the electric clamping jaw 5.5 for controlling the electric clamping jaw 5.5 to wind a 2 A safety position of rotation of the shaft; the photoelectric limit switch 5.7 is fixed on the vertical edge of the mounting frame 5.1 and used for controlling the electric clamping jaw 5.5 to wind around the shaft a 1 A rotated safety position.
The worm gear reducer 5.2 comprises a shell 5.2.1, a coupler 5.2.2, a worm wheel 5.2.3 and a worm 5.2.4;
the shell 5.2.1 is connected to the vertical edge of the mounting frame 5.1 through bolts, and a coupler 5.2.2, a worm wheel 5.2.3 and a worm 5.2.4 are arranged in the shell; the coupler 5.2.2 is connected with the stepping motor 5.3 and the worm 5.2.4 to drive the worm wheel 5.2.4 to move; the central line of the worm 5.2.4 is vertically arranged and is coaxially connected with the coupler 5.2.2; the worm wheel 5.2.3 is meshed with the worm 5.2.4; when the motion is transmitted to the electric clamping jaw 5.5 by the stepping motor 5.3, the electric clamping jaw 5.5 realizes a rotation around the central axis a of the worm wheel 1 Is provided for the rotation movement of the rotor.
In addition, limit switches are connected to the servo motors and the stepping motors 5.3 for controlling the safe positions of the electric clamping jaws 5.5 in the moving process.
The working process of the pose adjusting mechanism for the electric clamping jaw provided in the embodiment is as follows:
when the servo motor A2.3 and the servo motor B2.5 are electrified, the y-direction movement module 3 is driven to move along the x-axis direction, so that the electric clamping jaw 5.5 indirectly connected with the y-direction movement module 3 moves horizontally along the x-axis direction, and the electric clamping jaw 5.5 is electrified to open and close the clamping fingers, thereby realizing the adjustment of the position of the clamped article in the x-axis direction.
After the servo motor C3.4 is electrified, the z-direction multi-stage electric cylinder 4 is driven to move along the y-axis direction, the indirect connection of the servo motor C4 and the electric clamping jaw 5.5 is translated along the y-axis direction, and the electric clamping jaw 5.5 is electrified to open and close the clamping fingers, so that the position of a clamped article in the y-axis direction is adjusted.
After the servo motor D4.4 is electrified, the multistage cylinder 4.3 moves through the multistage piston to realize the translation of the electric clamping jaw 5.5 connected with the end part of the multistage piston in the z-axis direction, and the electric clamping jaw 5.5 is electrified to open and close the clamping fingers, so that the position of the clamped article in the z-axis direction is adjusted.
After the stepping motor 5.3 is electrified, the worm gear reducer 5.2 starts to move, and the worm wheel shaftThe wire is connected to a jaw mount 5.4 which secures the motorized jaw 5.5 such that the motorized jaw is about the worm gear central axis a 1 Rotating; the motorized jaw 5.5 itself has a central axis a around it 2 The rotation freedom degree is combined with the two rotation freedom degrees, so that the posture of the clamped article can be adjusted.
Taking the beaker back-off operation as an example, the adjusting process of the pose adjusting mechanism described in the embodiment to the pose of the clamped article is described:
the electric clamping jaw 5.5 is driven by the worm gear reducer 5.2 to wind the central axis a of the worm gear 1 Rotating to a horizontal state of the electric clamping jaw 5.5, and clamping the beaker placed in the forward direction; the z-direction multistage electric cylinder 4 drives the tail end executing structure 5 to translate upwards for a proper distance; the motorized jaw 5.5 is then wound around its central axis a 2 Rotating 180 degrees, and rotating the beaker along with the direction of the beaker to be in an inverted state; finally, the z-direction multistage electric cylinder 4 drives the tail end executing structure 5 to translate downwards until the mouth of the beaker contacts a plane, and after the beaker is placed stably, the clamping fingers of the electric clamping jaw 5.5 loosen the beaker, so that the beaker inversion operation is completed.
The pose adjusting mechanism suitable for the electric clamping jaw provided in the embodiment has at least the following advantages:
(1) Under the drive of the x-direction movement module, the y-direction movement module and the z-direction multi-stage electric cylinder, the electric clamping jaw obtains translational degrees of freedom along the x-axis, the y-axis and the z-axis; driven by the worm gear reducer, the electric clamping jaw is driven to wind the central axis a of the worm gear 1 Degrees of freedom in rotation in the axial direction; at the same time, the motorized jaw itself possesses a central axis a about its center 2 The degree of freedom of the shaft rotation; through the combination of the degrees of freedom, the electric clamping jaw can be suitable for clamping, carrying and pose adjustment of articles in the whole space.
(2) The pose adjusting mechanism provided by the utility model has the advantages that the degrees of freedom are mutually independent, the independent control can be realized, the independent opening can be realized, and the independent opening can be also combined at will, so that the movement of the electric clamping jaw is various.
(3) The translation of the pose adjusting mechanism provided by the utility model is driven by the linear module, so that the electric clamping jaw can be accurately positioned during operation.
The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model, which is also intended to be covered by the present utility model.
Claims (10)
1. Pose adjusting mechanism suitable for electronic clamping jaw, characterized by comprising: the device comprises a supporting frame (1), an x-direction movement module (2), a y-direction movement module (3), a z-direction multistage electric cylinder (4) and an end execution structure (5);
the x-direction movement module (2) is fixed on the supporting frame (1); the y-direction movement module (3) is connected to the x-direction movement module (2); the z-direction multistage electric cylinder (4) is connected with the y-direction movement module (3); the end effector (5) is located at the end of the z-direction multi-stage cylinder (4).
2. The pose adjustment mechanism for motorized clamping jaw according to claim 1, characterized in that the support frame (1) comprises a top cross beam (1.1), a top longitudinal beam (1.2) and a vertical column (1.3);
the top cross beam (1.1) and the top longitudinal beam (1.2) are connected end to form a rectangular structure; the upright post (1.3) is connected to the intersection point of the top cross beam (1.1) and the top longitudinal beam (1.2).
3. The pose adjustment mechanism applicable to an electric clamping jaw according to claim 2, characterized in that the x-direction movement module (2) comprises an x-direction module seat (2.1), a first linear module (2.2), a servo motor a (2.3), a second linear module (2.4), a servo motor B (2.5) and an x-direction drag chain structure (2.6);
the first linear module (2.2) and the second linear module (2.4) have the same structure and are respectively fixed on the two top longitudinal beams (1.2) through the x-direction module seat (2.1); the servo motor A (2.3) and the servo motor B (2.5) are respectively positioned at the ends of the first linear module (2.2) and the second linear module (2.4); the x-direction drag chain structure (2.6) is connected to the left side of the second linear module (2.4).
4. A pose adjustment mechanism for an electric jaw according to claim 3 characterized in that the x-direction drag chain structure (2.6) comprises an x-direction chain channel stay (2.6.1), an x-direction chain channel (2.6.2), an x-direction drag chain (2.6.3) and an x-direction drag chain bracket (2.6.4);
the x-direction chain groove supporting plate (2.6.1) is used for fixing the x-direction chain groove (2.6.2) on the left side of the top longitudinal beam (1.2) through screws and bolts; the x-direction drag chain (2.6.3) is arranged in the x-direction chain groove (2.6.2); the x-direction drag chain bracket (2.6.4) is connected to the second linear module (2.4) and is simultaneously connected with one end of the x-direction drag chain (2.6.3) so as to drive the x-direction drag chain (2.6.3) to move.
5. The pose adjustment mechanism suitable for an electric clamping jaw according to claim 4, characterized in that the y-direction movement module (3) comprises a y-direction module seat (3.1), a y-direction linear module (3.2), a speed reducer (3.3), a servo motor C (3.4) and a y-direction drag chain structure (3.5);
the y-direction module seat (3.1) is respectively connected to the first linear module (2.2) and the second linear module (2.4) and is used for fixing and driving the y-direction linear module (3.2) to move; the y-direction linear module (3.2) is fixed on the y-direction module seat (3.1) and moves perpendicular to the first linear module (2.2) and the second linear module (2.4); the speed reducer (3.3) is fixed at the end part of the y-direction linear module (3.2), and is connected with the servo motor C (3.4) so that the direction of the servo motor C (3.4) is parallel to the y-direction linear module (3.2); the y-direction drag chain structure (3.5) is fixed on the front side of the y-direction linear module (3.2).
6. The pose adjustment mechanism for an electric jaw as claimed in claim 5, characterized in that the y-direction drag chain structure (3.5) comprises a y-direction chain slot fixing frame (3.5.1), a y-direction chain slot (3.5.2), a y-direction drag chain (3.5.3) and a y-direction drag chain mounting plate (3.5.4);
the y-direction chain groove fixing frames (3.5.1) are respectively connected to the two ends of the y-direction linear modules (3.2) through screws; the y-direction chain groove (3.5.2) is fixed on the y-direction chain groove fixing frame (3.5.1) through bolts; the y-direction drag chain (3.5.3) is arranged in the y-direction chain groove (3.5.2); the y-direction drag chain mounting plate (3.5.4) is connected to the front part of the hoisting structure (4.1) through screws, and one end of the y-direction chain groove (3.5.2) is fixed on the y-direction drag chain mounting plate through screws.
7. The pose adjusting mechanism suitable for an electric clamping jaw according to claim 5, wherein the z-direction multi-stage electric cylinder (4) comprises a hoisting structure (4.1), a multi-stage cylinder box cover plate (4.2), a multi-stage cylinder (4.3) and a servo motor D (4.4);
the hoisting structure (4.1) is fixed on the sliding block of the y-direction linear module (3.2); the multi-stage cylinder box cover plate (4.2) is connected with the bottom surface of the hoisting structure (4.1), and the multi-stage cylinder (4.3) is connected with the bottom surface of the multi-stage cylinder box cover plate (4.2); the servo motor D (4.4) is connected with the bottom surface of the multi-stage cylinder box cover plate (4.2) and is connected to the rear side of the multi-stage cylinder (4.3).
8. The pose adjustment mechanism for an electric jaw according to claim 7, characterized in that the end effector (5) comprises a mounting frame (5.1), a worm gear reducer (5.2), a stepping motor (5.3), a jaw mount (5.4), an electric jaw (5.5), a limit switch (5.6) and a photoelectric limit switch (5.7);
the mounting frame (5.1) is of an L-shaped structure, one side of the mounting frame is horizontal and connected to the end part of the multistage cylinder (4.3), the other side of the mounting frame is vertical, and the mounting frame is connected with the worm gear reducer (5.2) through screws; the stepping motor (5.3) is fixed on the worm gear reducer (5.2) and used for driving the worm gear reducer to move; the clamping jaw mounting seat (5.4) is of an L-shaped structure, the vertical edge of the clamping jaw mounting seat is connected with a worm wheel shaft of the worm and gear speed reducer (5.2) through a bolt, and the electric clamping jaw (5.5) is fixed on the horizontal edge through the bolt, so that the movement of the worm wheel and the worm drives the electric clamping jaw (5.5) to wind around the central axis a of the worm wheel 1 Rotating; the limit switch (5.6) is connected with the electric clamping jaw (5.5) and is uniformly distributed around the outer shell of the electric clamping jaw for controlling the electric clamping jawThe jaw (5.5) itself is about its central axis a 2 A rotated safety position; the photoelectric limit switch (5.7) is fixed on the vertical edge of the mounting frame (5.1) and is used for controlling the electric clamping jaw (5.5) to rotate around the axis a 1 A rotated safety position.
9. The pose adjustment mechanism for an electric jaw according to claim 8, characterized in that the worm gear reducer (5.2) comprises a housing (5.2.1), a coupling (5.2.2), a worm wheel (5.2.3) and a worm (5.2.4);
the shell (5.2.1) is connected to the vertical edge of the mounting frame (5.1) through bolts, and the coupler (5.2.2), the worm wheel (5.2.3) and the worm (5.2.4) are arranged in the shell; the coupler (5.2.2) is connected with the stepping motor (5.3) and the worm (5.2.4) to drive the worm wheel (5.2.3) to move; the central line of the worm (5.2.4) is vertically arranged and is coaxially connected with the shaft coupling (5.2.2); the worm wheel (5.2.3) is meshed with the worm (5.2.4); when the motion is transmitted to the electric clamping jaw (5.5) by the stepping motor (5.3), the electric clamping jaw (5.5) realizes a circle of the central axis a of the worm wheel 1 Is provided for the rotation movement of the rotor.
10. The position and orientation adjusting mechanism for an electric gripper according to any one of claims 1-9, characterized in that limit switches are connected to the plurality of servo motors and the stepper motor (5.3) for controlling the safety position of the electric gripper (5.5) during movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223518128.6U CN219043882U (en) | 2022-12-28 | 2022-12-28 | Pose adjusting mechanism suitable for electric clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223518128.6U CN219043882U (en) | 2022-12-28 | 2022-12-28 | Pose adjusting mechanism suitable for electric clamping jaw |
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| Publication Number | Publication Date |
|---|---|
| CN219043882U true CN219043882U (en) | 2023-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223518128.6U Active CN219043882U (en) | 2022-12-28 | 2022-12-28 | Pose adjusting mechanism suitable for electric clamping jaw |
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| Country | Link |
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| CN (1) | CN219043882U (en) |
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