CN113134462B

CN113134462B - Rotary clamping device

Info

Publication number: CN113134462B
Application number: CN202110505793.2A
Authority: CN
Inventors: 杜祥哲
Original assignee: Bozhon Precision Industry Technology Co Ltd
Current assignee: Bozhon Precision Industry Technology Co Ltd
Priority date: 2021-05-10
Filing date: 2021-05-10
Publication date: 2022-06-14
Anticipated expiration: 2041-05-10
Also published as: CN113134462A

Abstract

The invention belongs to the technical field of automatic clamping of lenses, and particularly relates to a rotary clamping device which comprises a support assembly, a driving assembly and a clamping assembly. The driving assembly comprises a driving mechanism, a cam seat and a rotating shaft arranged in the cam seat in a penetrating way; the driving mechanism comprises an output shaft; the cam seat comprises a cam curved surface; the rotating shaft is fixedly connected to the output shaft and can rotate along with the output shaft; the clamping assembly comprises at least three clamping jaw mechanisms which are arranged on the rotating shaft in a sliding mode; one end of the clamping jaw mechanism is abutted against the cam seat, and the other end of the clamping jaw mechanism is provided with a clamping jaw head; when the clamping jaw mechanism rotates along with the rotating shaft, the clamping jaw mechanism can ascend or descend along the curved surface of the cam; at least two clamping jaw heads are used for supporting the lens, and when the other clamping jaw mechanism ascends or descends, the clamping jaw heads can clamp or loosen the lens. The rotary clamping device has smooth clamping action, can accurately control the clamping force on the lens, effectively fixes the lens and cannot damage the lens due to overlarge clamping force.

Description

Rotary clamping device

Technical Field

The invention relates to the technical field of automatic clamping of lenses, in particular to a rotary clamping device.

Background

For some existing lens products, the lens needs to be glued in the production process to realize the assembly of the lens. However, in the actual assembly process, if manual smearing is used, not only is the efficiency low and smearing is uneven, but also the glue can generate adverse health influence on operators; in some common automatic gluing equipment in the market, the lens is clamped and fixed by the cylinder clamping jaws, the fixing of the lens is completed by controlling the vertical movement and the left-right movement of the clamping jaws by at least two cylinders, and the clamping action of the clamping jaws is not smooth; meanwhile, the stability of the cylinder during low-speed movement is poor, the clamping force of the clamping jaw is difficult to control, or the lens is difficult to clamp due to insufficient clamping force, or the surface of the lens is damaged due to overlarge clamping force, or even the lens is damaged by clamping.

Disclosure of Invention

The invention aims to provide a rotary clamping device which is smooth in action of clamping a lens, can accurately control clamping force on the lens and avoids the problem that the lens is difficult to fix due to insufficient clamping force or is damaged due to overlarge clamping force.

In order to achieve the purpose, the invention adopts the following technical scheme:

a rotary gripper apparatus, comprising:

a bracket assembly including a mounting plate;

a drive assembly, the drive assembly comprising:

the driving mechanism is fixedly connected to the mounting plate and comprises an output shaft;

the cam seat is fixedly connected to the mounting plate and comprises a cam curved surface; and

the rotating shaft is fixedly connected to the output shaft and can rotate along with the output shaft, and the rotating shaft is arranged in the cam seat in a penetrating mode;

the clamping assembly comprises at least three clamping jaw mechanisms, and the clamping jaw mechanisms are slidably arranged on the rotating shaft and can rotate along with the rotating shaft; one end of the clamping jaw mechanism is abutted against the cam seat, and the other end of the clamping jaw mechanism is provided with a clamping jaw head; when the clamping jaw mechanism rotates along with the rotating shaft, the clamping jaw mechanism can ascend or descend along the curved surface of the cam and drive the clamping jaw head to ascend or descend; at least two of the gripper heads are configured to hold a lens, the gripper heads of the gripper mechanisms being capable of gripping or releasing the lens when the other gripper mechanism is raised or lowered.

As a preferable structure of the present invention, the gripper mechanism further includes:

the pulley is abutted against the cam seat and can roll along the curved surface of the cam;

one end of the clamping jaw connecting plate is detachably connected with the clamping jaw head, and the other end of the clamping jaw connecting plate is rotatably connected with the pulley; the clamping jaw connecting plate is connected to the rotating shaft in a sliding mode.

As a preferable structure of the present invention, the rotating shaft includes at least three sliding rails, the sliding rails extend in an axial direction of the rotating shaft, and the at least three sliding rails are uniformly arranged along a circumferential direction of an outer wall of the rotating shaft at intervals; the clamping jaw mechanism further comprises a sliding block, the sliding block is arranged on the clamping jaw connecting plate, and the sliding block is connected with the sliding rail in a sliding mode.

As a preferable structure of the present invention, the gripper head includes a bearing surface, the bearing surface is disposed obliquely, and the bearing surfaces of at least three of the gripper mechanisms are disposed oppositely.

As a preferred structure of the present invention, the gripping assembly further comprises a vacuum chuck, the vacuum chuck is disposed on at least one of the gripper heads, and the vacuum chuck can abut against the lens; the vacuum chuck protrudes out of the bearing surface.

As a preferred structure of the present invention, the vacuum chuck further includes an air source relay assembly, the air source relay assembly is configured to generate negative pressure for the vacuum chuck, and the air source relay assembly includes:

the rotating plate is detachably connected to the rotating shaft and can rotate along with the rotating shaft, the rotating plate is provided with an air source groove and an air source outlet, and the air source groove is communicated with the air source outlet;

the sealing cover plate is rotationally connected to the rotating plate and comprises an air source inlet, one end of the air source inlet is communicated with an external air source, and the other end of the air source inlet is communicated with the air source groove; and the air source cover plate is detachably connected to the sealing cover plate.

As a preferable structure of the invention, the clamping assembly further comprises at least one tension spring, one end of the tension spring is connected to the clamping jaw connecting plate, and the other end of the tension spring is connected to the rotating plate.

As a preferred structure of the present invention, the present invention further includes a sensing assembly configured to sense rotation of the rotating shaft, the sensing assembly including:

the sensor is detachably connected to the mounting plate;

the sensing metal plate is detachably connected to the rotating plate, and can penetrate through the sensor when rotating along with the rotating plate.

As a preferred structure of the present invention, the gripping assembly further includes an air path mechanism, and the air path mechanism includes:

the air inlet valve is arranged on the clamping jaw connecting plate;

the air channel is arranged in the clamping jaw connecting plate, one end of the air channel is communicated with the air inlet valve, and the other end of the air channel is communicated with the vacuum sucker.

As a preferred structure of the present invention, the bracket assembly further includes a stopper plate fixedly coupled to the mounting plate, the stopper plate being detachably coupled to the sealing cover plate, the stopper plate being configured to support the sealing cover plate.

The invention has the beneficial effects that: the rotary clamping device provided by the invention is provided with at least three clamping jaw mechanisms, wherein the clamping jaw heads of at least two clamping jaw mechanisms are used for supporting the lens, when the clamping assembly rotates along with the rotating shaft, the other clamping jaw mechanism rises along the cam curved surface of the cam seat, the clamping jaw head can slowly abut against the lens, and clamping force is applied to the lens through the resultant force action of the clamping jaw mechanisms and the other at least two clamping jaw mechanisms, so that the lens is fixed. The cam curved surface transition is smooth, and the gripper mechanism rises steadily along the rotation of cam curved surface, and the joint action is smooth to ability accurate control is to the chucking power of lens, and effectively fixed lens avoids being difficult to fixed lens because of chucking power is not enough, perhaps damages the lens because of chucking power is too big. The rotary clamping device is simple in structure, small in size and easy to clamp and loosen the lens.

Drawings

Fig. 1 is a schematic structural diagram of a rotary clamping device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a driving assembly and a gripping assembly provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a jaw mechanism provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a rotating shaft provided in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an air supply relay assembly according to an embodiment of the present invention;

fig. 6 is an exploded view of an air supply relay assembly according to an embodiment of the present invention.

In the figure:

1. a bracket assembly; 11. mounting a plate; 12. a stopper plate;

2. a drive assembly; 21. a drive mechanism; 22. a cam seat; 221. a cam curved surface; 23. a rotating shaft; 231. a slide rail;

3. a gripping assembly; 31. a jaw mechanism; 311. a jaw head; 3111. a bearing surface; 312. a pulley; 313. a clamping jaw connecting plate; 32. a slider; 33. a vacuum chuck; 34. a tension spring; 35. a gas circuit mechanism; 351. an intake valve;

4. an air source transfer assembly; 41. a rotating plate; 411. a gas source tank; 412. an air source outlet; 42. sealing the cover plate; 421. a gas source inlet; 43. a gas source cover plate;

5. a sensing component; 51. a sensor; 52. and (6) inducing the metal plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1 to 6, an embodiment of the present invention provides a rotary clamping device, which includes a bracket assembly 1, a driving assembly 2, and a clamping assembly 3. The bracket assembly 1 comprises a mounting plate 11. The drive assembly 2 includes a drive mechanism 21, a cam holder 22, and a rotary shaft 23. The driving mechanism 21 is fixedly connected to the mounting plate 11, and the driving mechanism 21 comprises an output shaft; the cam seat 22 is fixedly connected to the mounting plate 11, and the cam seat 22 comprises a cam curved surface 221; the rotating shaft 23 is fixedly connected to the output shaft and can rotate along with the output shaft, and the rotating shaft 23 penetrates through the cam seat 22; the clamping assembly 3 comprises at least three clamping jaw mechanisms 31, wherein the clamping jaw mechanisms 31 are slidably arranged on the rotating shaft 23 and can rotate along with the rotating shaft 23; one end of the clamping jaw mechanism 31 is abutted against the cam seat 22, and the other end of the clamping jaw mechanism 31 is provided with a clamping jaw head 311; when the clamping jaw mechanism 31 rotates along with the rotating shaft 23, the clamping jaw mechanism can simultaneously ascend or descend along the curved surface 221 of the cam; at least two gripper heads 311 are configured to hold the lens, and the gripper heads 311 of the gripper mechanism 31 can grip or release the lens when the other gripper mechanism 31 is raised or lowered. When the rotary clamping device of the embodiment of the invention is used for clamping a lens, firstly, the driving component 2 drives the rotating shaft 23 and drives the clamping jaw mechanisms 31 to rotate, when one clamping jaw mechanism 31 is positioned on the concave surface of the cam curved surface 221 and all other clamping jaw mechanisms 31 are positioned on the convex surface of the cam curved surface 221, the driving component 2 is stopped, the lens is placed on the clamping jaw heads 311 of at least two clamping jaw mechanisms 31, and the lens is supported by the clamping jaw heads 311 and is not clamped; at this time, the driving unit 2 drives the rotating shaft 23 again to rotate the gripper mechanism 31, the gripper mechanism 31 located on the concave surface is gradually raised, the gripper head 311 of the gripper mechanism 31 is gradually abutted against the lens, and finally, the gripper head 311 of the gripper mechanism 31 located on the concave surface applies a clamping force to the lens from the circumferential direction of the lens together with at least two other gripper heads 311 for supporting the lens, thereby clamping the lens. Preferably, by designing the height and the inclination angle of the convex surface of the cam curved surface 221, the ascending speed and the height of the gripper mechanism 31 can be precisely controlled, so as to control the clamping force applied to the lens by the gripper head 311. When the clamped lens needs to be removed, the rotating shaft 23 drives the jaw mechanisms 31 to rotate continuously, so that one of the jaw mechanisms 31 slides from the convex surface to the concave surface of the cam curved surface 221, the jaw mechanism 31 descends slowly, and therefore the jaw heads 311 of the jaw mechanism 31 leave the lens, so that the clamping of the lens is released.

The rotary clamping device of the embodiment of the invention is provided with at least three clamping jaw mechanisms 31, wherein the clamping jaw heads 311 of at least two clamping jaw mechanisms 31 can support the lens, when the clamping component 3 rotates along with the rotating shaft 23, the other clamping jaw mechanism 31 rises along the cam curved surface 221 of the cam seat 22, the clamping jaw head 311 can slowly abut against the lens, and clamping force is applied to the lens through the resultant force action of the clamping jaw heads 311 of other clamping jaw mechanisms 31, so that the lens is fixed. The cam curved surface 221 is smooth in transition, the clamping jaw mechanism 31 stably rises along the rotation of the cam curved surface 221, the clamping action is smooth, the clamping force on the lens can be accurately controlled, and the lens is prevented from being difficult to fix due to insufficient clamping force or being damaged due to overlarge clamping force. The rotary clamping device is simple in structure, small in size and easy to clamp and loosen the lens. In this embodiment, four gripper mechanisms 31 are provided, wherein the three gripper mechanisms 31 can support the lens, thereby effectively avoiding the lens from slipping off during the clamping process. In other embodiments, other numbers of the gripper mechanisms 31 larger than three may be provided, and the present embodiment is not limited thereto.

Further, the jaw mechanism 31 further includes a pulley 312 and a jaw attachment plate 313. The pulley 312 abuts against the cam base 22 and can roll along the cam curved surface 221; one end of the clamping jaw connecting plate 313 is detachably connected with the clamping jaw head 311, and the other end is rotatably connected with the pulley 312; the jaw attachment plate 313 is slidably attached to the rotary shaft 23. As shown in fig. 3, one end of the jaw connection plate 313 is provided with a mounting seat of the pulley 312, and the friction between the jaw mechanism 31 and the cam curved surface 221 is reduced by the rolling of the pulley 312 along the cam curved surface 221, so that the rotation and lifting actions of the jaw mechanism 31 are smooth, and the clamping action of the jaw head 311 is more stable.

Further, the rotating shaft 23 includes at least three sliding rails 231, the sliding rails 231 extend along the axial direction of the rotating shaft 23, and the at least three sliding rails 231 are uniformly arranged along the circumferential direction of the outer wall of the rotating shaft 23; the jaw mechanism 31 further includes a slider 32, the slider 32 is disposed on the jaw connecting plate 313, and the slider 32 is slidably connected to the slide rail 231. In this embodiment, the rotating shaft 23 is provided with four sliding rails 231, each clamping jaw mechanism 31 corresponds to one sliding rail 231, and the sliding connection makes the rotation and lifting action of the clamping jaw connecting plate 313 smoother, so as to avoid clamping stagnation of the clamping jaw head 311.

Further, the gripper head 311 includes a support surface 3111, the support surface 3111 is disposed obliquely, and the support surfaces 3111 of the at least three gripper mechanisms 31 are disposed oppositely. The lens can be better lifted to the bearing face 3111 of slope setting to the side of ability butt lens, make the clamp to the lens fixed more reliable.

Further, the gripping assembly 3 further comprises a vacuum chuck 33, the vacuum chuck 33 is disposed on the at least one gripper head 311, and the vacuum chuck 33 can abut against the lens; the vacuum chuck 33 protrudes from the support surface 3111. Preferably, the vacuum chuck 33 is installed on the gripper mechanism 31 for lifting and clamping the lens, and when the gripper mechanism 31 is lifted and gradually approaches the lens, the vacuum chuck 33 is protruded from the supporting surface 3111, so that the vacuum chuck 33 first abuts against the side surface of the lens; during the process of the gripper mechanism 31 rising, the vacuum chuck 33 is compressed and fully abuts against the side of the lens, and at this time, the lens can be firmly fixed on the gripper assembly 3 by vacuum suction. Accordingly, when the lens needs to be released, the vacuum chuck 33 should be released first, and the suction force of the vacuum chuck 33 to the lens is removed.

Further, the rotary gripping device further includes an air supply relay assembly 4, and the air supply relay assembly 4 is configured to generate a negative pressure to the vacuum chuck 33. As shown in fig. 5 and 6, the air supply relay assembly 4 includes a rotating plate 41, a sealing cover plate 42, and an air supply cover plate 43. The rotating plate 41 is detachably connected to the rotating shaft 23 and can rotate along with the rotating shaft 23, the rotating plate 41 is provided with an air source groove 411 and an air source outlet 412, and the air source groove 411 is communicated with the air source outlet 412; the sealing cover plate 42 is rotatably connected to the rotating plate 41, the sealing cover plate 42 includes an air source inlet 421, one end of the air source inlet 421 is communicated with an external air source, and the other end is communicated with the air source groove 411; the air supply cover plate 43 is detachably connected to the sealing cover plate 42, and the air supply cover plate 43 can further enhance the sealing performance of the sealing cover plate 42 to the air supply groove 411. The air source outlet 412 is used for communicating the vacuum chuck 33 to generate negative pressure vacuum, and the rotating plate 41 can drive the air source outlet 412 and the clamping jaw mechanism 31 to synchronously rotate through the air source transfer assembly 4, so that the distortion and damage of the air pipeline are avoided.

Further, the gripping assembly 3 further includes at least one tension spring 34, one end of the tension spring 34 is connected to the jaw connecting plate 313, and the other end is connected to the rotating plate 41. In the present embodiment, the gripping assembly 3 is provided with eight extension springs 34, wherein one extension spring 34 is provided on each side of each gripper mechanism 31. The rotating plate 41 applies pulling force to the clamping jaw connecting plate 313 through the tension spring 34, so that the pulley 312 on the clamping jaw connecting plate 313 is always abutted to the cam curved surface 221, the clamping jaw mechanism 31 is prevented from being separated from the cam curved surface 221 when sliding downwards from the convex surface of the cam curved surface 221, and the stable motion of the clamping jaw mechanism 31 is ensured.

Further, the rotary gripping device further comprises a sensing assembly 5, the sensing assembly 5 is configured to sense the rotation of the rotating shaft 23, and the sensing assembly 5 comprises a sensor 51 and a sensing metal plate 52. The sensor 51 is detachably connected to the mounting plate 11; the sensing metal plate 52 is detachably connected to the rotating plate 41, and when the sensing metal plate 52 rotates along with the rotating plate 41, the sensing metal plate can pass through the sensor 51. As shown in fig. 1, when the sensing plate 52 rotates with the rotating plate 41 and passes through the sensor 51, the sensor 51 can sense the position of the sensing plate 52 and feed back the sensing data to the control system, and the control system can therefore calculate the rotating speed and the rotating angle of the rotating shaft 23 and control the rotating and lifting actions of the clamping jaw mechanism 31 accordingly. Data transmission and calculation between the sensor 51 and the control system, and how the control system controls the clamping jaw mechanism 31 through the sensing data of the sensor, the control principle is the prior art in the field, and the description of this embodiment is omitted here.

Further, the gripping assembly 3 further includes an air path mechanism 35, and the air path mechanism 35 includes an air inlet valve 351 and an air vent. The air inlet valve 351 is arranged on the clamping jaw connecting plate 313; the vent groove is provided in the jaw connection plate 313, and one end of the vent groove communicates with the intake valve 351 and the other end communicates with the vacuum chuck 33. In this embodiment, an air passage (not shown) is provided between the air inlet valve 351 and the air outlet 412 of the rotating plate 41, and the negative pressure air passes through the air outlet 412, the air inlet valve 351, and the air channel until entering the vacuum chuck 33. The air channel is arranged in the clamping jaw connecting plate 313, so that excessive external air pipes are avoided, the structure is simple, and the equipment is small in size.

Further, the bracket assembly 1 further includes a stopper plate 12, the stopper plate 12 is fixedly connected to the mounting plate 11, the stopper plate 12 is detachably connected to the sealing cover plate 42, and the stopper plate 12 is configured to support the sealing cover plate 42. The rotation of the sealing cover plate 42 with the rotating plate 41 is avoided by the supporting function of the stop plate 12, i.e. the communication pipeline between the air source inlet 421 on the sealing cover plate 42 and the external air source is avoided.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A rotary clamping apparatus, comprising:

a bracket assembly (1), the bracket assembly (1) comprising a mounting plate (11);

a drive assembly (2), the drive assembly (2) comprising:

the driving mechanism (21), the driving mechanism (21) is fixedly connected to the mounting plate (11), and the driving mechanism (21) comprises an output shaft;

the cam seat (22), the cam seat (22) is fixedly connected to the mounting plate (11), and the cam seat (22) comprises a cam curved surface (221); and

the rotating shaft (23) is fixedly connected to the output shaft and can rotate along with the output shaft, and the rotating shaft (23) is arranged in the cam seat (22) in a penetrating mode;

the clamping assembly (3) comprises at least three clamping jaw mechanisms (31) and a vacuum chuck (33), and the clamping jaw mechanisms (31) are slidably arranged on the rotating shaft (23) and can rotate along with the rotating shaft (23); one end of the clamping jaw mechanism (31) is abutted against the cam seat (22), and the other end of the clamping jaw mechanism (31) is provided with a clamping jaw head (311); when the clamping jaw mechanism (31) rotates along with the rotating shaft (23), the clamping jaw mechanism can simultaneously ascend or descend along the cam curved surface (221) and drive the clamping jaw head (311) to ascend or descend; at least two of the gripper heads (311) are configured to hold a lens, the gripper heads (311) of the gripper mechanisms (31) being capable of gripping or releasing the lens when the other gripper mechanism (31) is raised or lowered; the vacuum chuck (33) is arranged on at least one of the gripper heads (311), the vacuum chuck (33) being capable of abutting the lens;

an air source relay assembly (4), the air source relay assembly (4) being configured to cause the vacuum chuck (33) to generate a negative pressure, the air source relay assembly (4) comprising:

the rotating plate (41) is detachably connected to the rotating shaft (23) and can rotate along with the rotating shaft (23), the rotating plate (41) is provided with an air source groove (411) and an air source outlet (412), and the air source groove (411) is communicated with the air source outlet (412);

the sealing cover plate (42) is rotatably connected to the rotating plate (41), the sealing cover plate (42) comprises an air source inlet (421), one end of the air source inlet (421) is communicated with an external air source, and the other end of the air source inlet (421) is communicated with the air source groove (411).

2. The rotary gripper device according to claim 1, wherein the gripper mechanism (31) further comprises:

a pulley (312), wherein the pulley (312) abuts against the cam seat (22) and can roll along the cam curved surface (221);

the clamping jaw connecting plate (313), one end of the clamping jaw connecting plate (313) is detachably connected with the clamping jaw head (311), and the other end of the clamping jaw connecting plate is rotatably connected with the pulley (312); the clamping jaw connecting plate (313) is connected to the rotating shaft (23) in a sliding mode.

3. The rotary clamping device as claimed in claim 2, wherein the rotary shaft (23) comprises at least three sliding rails (231), the sliding rails (231) extend along the axial direction of the rotary shaft (23), and the at least three sliding rails (231) are uniformly arranged along the circumferential direction of the outer wall of the rotary shaft (23); the clamping jaw mechanism (31) further comprises a sliding block (32), the sliding block (32) is arranged on the clamping jaw connecting plate (313), and the sliding block (32) is connected with the sliding rail (231) in a sliding mode.

4. The rotary gripper apparatus according to claim 2, characterized in that the gripper head (311) comprises a bearing surface (3111), the bearing surface (3111) being arranged obliquely, the bearing surfaces (3111) of at least three gripper mechanisms (31) being arranged opposite one another.

5. The rotary gripper apparatus according to claim 4, characterized in that the vacuum cups (33) protrude from the support surface (3111).

6. The rotary gripper apparatus as claimed in claim 1, wherein the air supply relay assembly (4) further comprises an air supply cover plate (43), and the air supply cover plate (43) is detachably connected to the sealing cover plate (42).

7. The rotary gripper device according to claim 2, characterized in that the gripper assembly (3) further comprises at least one tension spring (34), one end of the tension spring (34) being connected to the jaw connection plate (313) and the other end being connected to the rotary plate (41).

8. The rotary grasping apparatus according to claim 1, further comprising a sensing assembly (5), the sensing assembly (5) being configured to sense rotation of the rotating shaft (23), the sensing assembly (5) comprising:

the sensor (51), the said sensor (51) is connected to the said mounting plate (11) removably;

the sensing metal plate (52), the sensing metal plate (52) is detachably connected to the rotating plate (41), and when the sensing metal plate (52) rotates along with the rotating plate (41), the sensing metal plate can penetrate through the sensor (51).

9. The rotary gripper apparatus according to claim 5, wherein the gripper assembly (3) further comprises an air path mechanism (35), the air path mechanism (35) comprising:

an intake valve (351), the intake valve (351) being provided on the jaw connection plate (313);

the vent groove is arranged in the clamping jaw connecting plate (313), one end of the vent groove is communicated with the air inlet valve (351), and the other end of the vent groove is communicated with the vacuum sucker (33).

10. The rotary gripper apparatus according to claim 1, wherein the carriage assembly (1) further comprises a stop plate (12), the stop plate (12) being fixedly connected to the mounting plate (11), the stop plate (12) being detachably connected to the sealing cover plate (42), the stop plate (12) being configured to support the sealing cover plate (42).