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CN-224209976-U - Low back clearance Y-shaped rotary clamping module

CN224209976UCN 224209976 UCN224209976 UCN 224209976UCN-224209976-U

Abstract

The utility model discloses a low-back-clearance Y-shaped rotary clamping module which comprises a box body, a Y-shaped clamping jaw mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a clamping driving motor and a rotary driving motor, wherein the Y-shaped clamping jaw mechanism comprises a jaw support seat, a jaw assembly and a push-pull head assembly, the jaw support seat is rotatably connected to one end of the box body, the jaw assembly is rotatably connected to the jaw support seat, one end of the push-pull head assembly is connected with the jaw assembly, the linear motion transmission assembly is connected with the push-pull head assembly, the rotary motion transmission assembly is connected with the jaw support seat, the clamping driving motor is connected with the linear motion transmission assembly, the rotary driving motor is connected with the rotary motion transmission assembly, and a first position sensor capable of being adjusted in an up-down moving manner is arranged beside the Y-shaped clamping jaw mechanism on the box body. Compared with a pneumatic rotary clamping jaw, the rotary clamping module has the advantages of being good in stability, high in positioning accuracy, wide in force control range, low in energy consumption, high in response speed, long in service life and the like.

Inventors

  • FANG LIFANG

Assignees

  • 广东斯迈特传动设备技术有限公司

Dates

Publication Date
20260508
Application Date
20250613

Claims (10)

  1. 1. The low back clearance Y-type rotary clamping module is characterized by comprising a box body, a Y-type clamping jaw mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a clamping driving motor and a rotary driving motor; The Y-shaped clamping jaw mechanism comprises a jaw block supporting seat, a jaw block assembly and a push-pull head assembly, wherein the jaw block supporting seat is rotatably connected to one end of the box body, the jaw block assembly is rotatably connected to the jaw block supporting seat, and one end of the push-pull head assembly is connected with the jaw block assembly and is used for pushing or pulling the jaw block assembly to realize opening or closing of the jaw block assembly; the linear motion transmission assembly and the rotary motion transmission assembly are arranged in the box body, the linear motion transmission assembly is connected with the push-pull head assembly, and the rotary motion transmission assembly is connected with the claw block supporting seat; the clamping driving motor and the rotating driving motor are arranged at the other end of the box body, the clamping driving motor is connected with the linear motion transmission assembly, and the rotating driving motor is connected with the rotating motion transmission assembly; And a first position sensor which can be adjusted in an up-and-down moving way is arranged on the side of the Y-shaped clamping jaw mechanism on the box body and is used for detecting whether the Y-shaped clamping jaw mechanism is positioned at a rotation reference position.
  2. 2. The low-backlash Y-shaped rotary clamping module of claim 1, wherein the first position sensor is a groove-shaped sensor, and a first detection piece matched with the first position sensor is arranged on the side wall of the claw block supporting seat.
  3. 3. The low-backlash Y-shaped rotary clamping module according to claim 2, wherein one end of the box body is fixedly connected with a sensor cover plate, at least two mounting holes are longitudinally formed in the sensor cover plate at intervals, at least two connecting lugs are arranged on the first position sensor, kidney-shaped holes matched with the mounting holes are formed in each connecting lug, and adjusting screws in threaded connection with the mounting holes are arranged in the kidney-shaped holes in a penetrating mode.
  4. 4. The low back clearance Y-type rotary clamping module of claim 1, wherein the linear motion transmission assembly comprises a screw rod and a nut, the screw rod is connected with an output shaft of the clamping driving motor, the nut is sleeved on the screw rod, and a bearing is arranged inside the nut.
  5. 5. The low back clearance Y-shaped rotary clamping module of claim 4, wherein the push-pull head assembly comprises a connector and a connecting rod, the connector is connected with the claw block assembly, one end of the connecting rod is fixedly connected with the connector, and the other end of the connecting rod is rotatably connected with the nut.
  6. 6. The low-backlash Y-shaped rotary clamping module according to claim 5, wherein the claw block assembly comprises two claw blocks, the two claw blocks are symmetrically arranged and are respectively rotatably arranged on the claw block supporting seat through a fixing pin, a first connecting plate and a second connecting plate are respectively arranged on the two claw blocks, the first connecting plate and the second connecting plate are arranged in an up-down parallel mode, a first U-shaped hole and a second U-shaped hole are respectively arranged on the first connecting plate and the second connecting plate, the first U-shaped hole and the second U-shaped hole are correspondingly arranged up and down, the connector is U-shaped, a fixing shaft is fixedly connected between the inner side walls of the connector, and the fixing shaft sequentially penetrates through the first U-shaped hole and the second U-shaped hole.
  7. 7. The low-backlash Y-shaped rotary clamping module according to claim 5, wherein the Y-shaped clamping jaw mechanism comprises three claw blocks, the three claw blocks are symmetrically distributed at 120 degrees and are rotatably arranged on the claw block supporting seat through a fixing pin, a first connecting plate, a second connecting plate and a third connecting plate are respectively arranged on the three claw blocks, the first connecting plate, the second connecting plate and the third connecting plate are symmetrically distributed at 120 degrees, a first U-shaped hole, a second U-shaped hole and a third U-shaped hole are respectively arranged on the first connecting plate, the second connecting plate and the third connecting plate, three mounting grooves are radially distributed by taking the center of the connector as a reference, the included angles of the adjacent mounting grooves are 120 degrees, a fixing shaft is fixedly connected between the inner side walls of the three mounting grooves, the first connecting plate, the second connecting plate and the third connecting plate respectively extend into the three mounting grooves in a movable mode, and the fixing shafts in the three mounting grooves respectively penetrate through the first U-shaped hole, the second U-shaped hole and the third U-shaped hole.
  8. 8. The low-backlash Y-shaped rotary clamping module according to claim 6 or 7, wherein the claw block support seat is provided with a mounting through groove and a guide groove, one end of the claw block extends into the mounting through groove and is rotationally connected with a fixing pin, the upper end face and the lower end face of the claw block are respectively in sliding contact with the side walls of the two sides of the mounting through groove, and the connector is in sliding connection with the guide groove.
  9. 9. The low-backlash Y-shaped rotary clamping module of claim 4, wherein a strip-shaped opening is arranged above the nut on the box body, a second position sensor is arranged at the top of the strip-shaped opening and is a groove-shaped sensor used for detecting whether the nut is at an axial reference position, and a second detection piece which penetrates through the strip-shaped opening and is matched with the second position sensor is arranged at the top of the nut.
  10. 10. The low back clearance Y-shaped rotary clamping module of claim 1, wherein the rotary motion transmission assembly comprises a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected with an output shaft of the rotary driving motor, the driven wheel is in transmission connection with the driving wheel through the synchronous belt, the driven wheel is sleeved outside the push-pull head assembly, two ends of the driven wheel are respectively sleeved with a first ball bearing and a second ball bearing, outer rings of the first ball bearing and the second ball bearing are mounted on the box body, and one end of the driven wheel is fixedly connected with a boss arranged at the end of the claw block supporting seat.

Description

Low back clearance Y-shaped rotary clamping module Technical Field The utility model relates to the technical field of manipulators, in particular to a low-backlash Y-shaped rotary clamping module. Background In automation equipment (such as a mechanical arm and an automation production line), in order to finish operations such as grabbing, angle adjustment and carrying of workpieces, pneumatic rotary clamping jaws are widely used as end effectors, and the pneumatic rotary clamping jaws can realize rotary motion and finish tasks of grabbing or grabbing workpieces by using compressed air as power. However, pneumatic rotary jaws also suffer from some disadvantages in use (1) limited control accuracy. The pneumatic system is dependent on pneumatic stability, the precision of the pneumatic system is influenced by pneumatic fluctuation, clamping force or rotation angle is inconsistent due to insufficient air pressure or fluctuation, high-precision positioning (such as micron level) is difficult to realize, closed loop feedback is not available, most pneumatic clamping jaws lack of position or force feedback sensors, errors cannot be corrected in real time, and the repeated precision is low (usually +/-0.1 mm to +/-1 mm). (2) insufficient flexibility. Clamping force adjustment is limited, and although the air pressure can be adjusted through a pressure reducing valve, the clamping force range is narrow, so that the clamping force adjustment is difficult to meet the flexible requirement of fragile or high-hardness workpieces. (3) energy consumption and efficiency problems. The continuous gas consumption is that the clamping state is maintained, the continuous gas supply is needed, the energy consumption is higher (especially in mass production), the response speed is limited, compared with a servo electric clamping jaw, the action speed of a pneumatic system is influenced by the length of a gas pipe and the response of a valve, and the high-speed circulation is possibly delayed. (4) short life. Under frequent actions, the cylinder piston sealing ring is easy to age and needs to be replaced regularly (especially in a high-temperature or high-humidity environment). (5) functional limitations. The rotation angle is fixed, the rotation angle of most pneumatic rotation clamping jaws is a fixed gear (such as 90 degrees and 180 degrees) and cannot be programmed as a motor, and the non-power-off protection is realized, namely, the clamping jaws can lose clamping force during air break, so that a workpiece falls off (an additional mechanical locking device is needed in certain scenes). (6) noise problem. The exhaust noise is loud, and may not meet certain silence environment requirements, especially at high speeds. Disclosure of utility model The utility model aims to provide a low-backlash Y-shaped rotary clamping module which aims to solve the problems in the background technology. In order to achieve the above purpose, the present utility model adopts the following technical scheme: The low-backlash Y-shaped rotary clamping module comprises a box body, a Y-shaped clamping jaw mechanism, a linear motion transmission assembly, a rotary motion transmission assembly, a clamping driving motor and a rotary driving motor, wherein the Y-shaped clamping jaw mechanism comprises a jaw block supporting seat, a jaw block assembly and a push-pull head assembly, the jaw block supporting seat is rotatably connected to one end of the box body, the jaw block assembly is rotatably connected to the jaw block supporting seat, one end of the push-pull head assembly is connected with the jaw block assembly and is used for pushing or pulling the jaw block assembly to realize opening or closing of the jaw block assembly, the linear motion transmission assembly and the rotary motion transmission assembly are arranged in the box body, the linear motion transmission assembly is connected with the push-pull head assembly, the rotary motion transmission assembly is connected with the jaw block supporting seat, the clamping driving motor and the rotary driving motor are arranged at the other end of the box body, the clamping driving motor is connected with the linear motion transmission assembly, a first position sensor capable of being adjusted in an up-down moving mode is arranged beside the Y-shaped clamping jaw mechanism on the box body, and the first position sensor is used for detecting whether the Y-shaped mechanism is located at a rotary reference position or not. In some embodiments, the first position sensor is a groove type sensor, and the side wall of the claw block supporting seat is provided with a first detection piece matched with the first position sensor. In at least one embodiment, one end of the box body is fixedly connected with a sensor cover plate, at least two mounting holes are longitudinally formed in the sensor cover plate at intervals, at least two connecting lugs are arranged on the first position sensor, waist-shaped hol