CN113510729B - Clamping jaw device for realizing linear and rotary compound motion through single drive - Google Patents
Clamping jaw device for realizing linear and rotary compound motion through single drive Download PDFInfo
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- CN113510729B CN113510729B CN202110758426.3A CN202110758426A CN113510729B CN 113510729 B CN113510729 B CN 113510729B CN 202110758426 A CN202110758426 A CN 202110758426A CN 113510729 B CN113510729 B CN 113510729B
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- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The application relates to a clamping jaw device for realizing linear and rotary compound motion by single drive, which relates to the technical field of mechanical equipment and comprises a first clamping jaw, a second clamping jaw and a driving mechanism, wherein the second clamping jaw comprises a transmission mechanism and a second clamping part, the transmission mechanism comprises a second rotating shaft and a second sleeve, a guide groove and a sliding part which is arranged in the guide groove in a sliding manner are arranged between the second rotating shaft and the second sleeve, and the guide groove comprises a linear groove and an arc-shaped groove which are arranged along the axial direction of the second rotating shaft and around the second rotating shaft and are communicated; the second clamping part is arranged at one end of the transmission mechanism, and a clamping space for clamping materials is formed between the second clamping part and the first clamping jaw; the driving mechanism is connected with the transmission mechanism and used for driving the sliding part to move in the linear groove and the arc-shaped groove so as to drive the second clamping part to move towards the direction close to and away from the first clamping jaw and drive the material to rotate. Only one driving mechanism is needed to realize that the second clamping part can do pure rotation motion and can do rotation motion along with linear motion.
Description
Technical Field
The application relates to the technical field of mechanical equipment, in particular to a clamping jaw device for realizing linear and rotary compound motion through single drive.
Background
The automatic technology is widely applied to industrial production, and a clamping jaw device is widely adopted on an industrial automatic production line to realize the transportation of materials or parts. The clamping jaw device is required to do linear and rotary combined motion, and the scheme generally adopted is that two power elements are used, one element enables the clamping jaw device to do linear motion, and the other element enables the clamping jaw device to do rotary motion. The mode occupies a large space and the mechanism is complicated.
In the related art, a rotary-linear combined type spindle driving device is disclosed, which at least comprises a spindle, a device base, a rotary driving module arranged at the front end of the spindle, and a linear feeding module arranged at the rear end of the spindle; the main shaft is arranged on a central shaft of the device base. According to the scheme, the main shaft can be driven in a rotating and linear mode through the rotating driving module, the main shaft can be driven in a linear mode through the linear feeding module, and the main shaft and the linear feeding module can be driven simultaneously or independently.
However, in this scheme, the rotating motor and the linear motor are integrated in the rotating and linear combined type spindle driving device, the structure is complex, the rotating motor and the linear motor need to be controlled respectively, the control is complex, the manufacturing difficulty and the manufacturing cost are high, and the practicability is poor.
Disclosure of Invention
The embodiment of the application provides a clamping jaw device for realizing linear rotation compound motion through single drive, so that the problems that a rotating motor and a linear motor are integrated in the prior art, the structure is complex, the rotating motor and the linear motor are required to be controlled respectively, the control is complex, the manufacturing difficulty and the manufacturing cost are high, and the practicability is poor are solved.
In a first aspect, a clamping jaw device for realizing linear and rotary compound motion by single drive is provided, which comprises:
a first jaw;
a second jaw, comprising:
-a transmission mechanism comprising a second shaft and a second sleeve, the second sleeve being arranged coaxially with the second shaft; a guide groove and a sliding part are arranged between the second rotating shaft and the second sleeve, the sliding part is arranged in the guide groove in a sliding manner, and the guide groove comprises a linear groove and an arc-shaped groove which are arranged along the axial direction of the second rotating shaft and around the second rotating shaft and are communicated;
a second clamping part which is arranged at one end of the transmission mechanism and forms a clamping space for clamping the material with the first clamping jaw;
and the driving mechanism is connected with the transmission mechanism and is used for driving the sliding part to move in the linear groove and the arc-shaped groove so as to drive the second clamping part to move towards the direction close to and far away from the first clamping jaw and drive the material to rotate.
In some embodiments, the guide groove is formed on the outer wall of the second rotating shaft, and the sliding part is formed on the inner wall of the second sleeve; the second clamping part is connected with the second rotating shaft, and the driving mechanism is connected with the second rotating shaft to drive the second rotating shaft to move.
In some embodiments, the guide groove is formed on the outer wall of the second rotating shaft, and the sliding part is formed on the inner wall of the second sleeve; the second clamping part is connected with the second sleeve, and the driving mechanism is connected with the second sleeve to drive the second sleeve to move.
In some embodiments, the guide groove is formed on the inner wall of the second sleeve, and the sliding part is formed on the outer wall of the second rotating shaft; the second clamping part is connected with the second rotating shaft, and the driving mechanism is connected with the second rotating shaft to drive the second rotating shaft to move.
In some embodiments, the guide groove is formed on the inner wall of the second sleeve, and the sliding part is formed on the outer wall of the second rotating shaft; the second clamping part is connected with the second sleeve, and the driving mechanism is connected with the second sleeve to drive the second sleeve to move.
In some embodiments, two guide grooves are provided, and the two guide grooves include linear grooves which are communicated with the arc-shaped grooves and form a quadrilateral structure.
In some embodiments, the abutting ends of the two guide grooves are provided with locking parts, and the locking parts are formed by protruding the ends outwards and used for limiting the reverse movement of the sliding parts.
In some embodiments, the drive mechanism is a linear air cylinder.
In some embodiments, the first jaw comprises:
a first rotating shaft;
the first clamping part is connected to one end of the first rotating shaft, and the clamping space is formed between the first clamping part and the second clamping part;
the first sleeve is sleeved outside the first rotating shaft;
the first spring is accommodated in the first sleeve; one end of the first rotating shaft, which is far away from the first clamping part, is connected in the first sleeve through the first spring.
In some embodiments:
a groove is formed in the first rotating shaft; the first sleeve is provided with a groove body along the radial direction;
the first jaw further comprises:
-a second spring received in the housing and having one end connected to the housing;
-a locking ball connected to the second spring and adapted to be held against the recess.
The beneficial effect that technical scheme that this application provided brought includes: according to the clamping jaw device, the guide groove and the sliding part are arranged between the second rotating shaft and the second sleeve in a sliding mode, and the guide groove is arranged into the linear groove and the arc-shaped groove; only one driving mechanism is needed, and the driving transmission mechanism only does linear motion, so that the sliding part can move in the linear groove to drive the second clamping part to do simple linear motion; and the sliding part moves in the arc-shaped groove, so that the second clamping part can do pure rotary motion and can do rotary motion along with linear motion.
The embodiment of the application provides a clamping jaw device for realizing linear and rotary compound motion by single drive, and the clamping jaw device of the embodiment of the application is provided with a guide groove and a sliding part arranged in the guide groove in a sliding manner through a second rotating shaft and a second sleeve, and the guide groove is arranged into a linear groove and an arc-shaped groove; therefore, the embodiment of the application only needs one driving mechanism, and the driving transmission mechanism only does linear motion, so that the sliding part can move in the linear groove to drive the second clamping part to do simple linear motion; and the sliding part moves in the arc-shaped groove, so that the second clamping part can do simple rotary motion and can do rotary motion along with linear motion.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a clamping jaw device for realizing linear and rotary compound motion by single drive according to an embodiment of the present application;
FIG. 2 is a schematic view of the internal structure of a first jaw and a second jaw provided in an embodiment of the present application;
fig. 3 is a schematic motion principle diagram of a single-drive clamping jaw device for realizing linear and rotary compound motion provided by the embodiment of the application;
FIG. 4 is a schematic structural diagram of a transmission mechanism according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a second rotating shaft according to an embodiment of the present application;
FIG. 6 is a front view of a second shaft according to an embodiment of the present application;
FIG. 7 is a cross-sectional view of a second shaft according to an embodiment of the present application;
FIG. 8 is a cross-sectional view of a first jaw provided in an embodiment of the present application.
In the figure: 1. a first jaw; 10. a first rotating shaft; 11. a first retaining part; 12. a first sleeve; 13. a first spring; 14. a second spring; 15. a locking ball; 2. a second jaw; 20. a second rotating shaft; 21. a second sleeve; 22. a second chucking part; 3. a guide groove; 30. a linear groove; 31. an arc-shaped slot; 32. a lock section; 4. a sliding part; 5. and (3) feeding.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 and 2, the embodiment of the present application provides a single-drive gripper apparatus for implementing a linear-rotary compound motion, which includes a first gripper 1, a second gripper 2, and a driving mechanism, where the second gripper 2 includes a transmission mechanism and a second holding portion 22, the transmission mechanism includes a second rotating shaft 20 and a second sleeve 21, and the second sleeve 21 is disposed coaxially with the second rotating shaft 20; a guide groove 3 and a sliding part 4 arranged in the guide groove 3 in a sliding manner are arranged between the second rotating shaft 20 and the second sleeve 21, the guide groove 3 comprises a linear groove 30 and an arc-shaped groove 31 which are arranged along the axial direction of the second rotating shaft 20 and around the second rotating shaft 20 and communicated with each other; the second clamping part 22 is arranged at one end of the transmission mechanism, and a clamping space for clamping the material 5 is formed between the second clamping part and the first clamping jaw 1; the driving mechanism is connected with the transmission mechanism and is used for driving the sliding part 4 to move in the linear groove 30 and the arc-shaped groove 31 so as to drive the second clamping part 22 to move towards the direction close to and away from the first clamping jaw 1 and drive the material 5 to rotate.
Because the conventional clamping jaw realizes linear motion and rotary motion, two driving mechanisms are needed to respectively drive the clamping jaw to do linear motion and rotary motion, or drive the clamping jaw to do rotary motion and do linear motion simultaneously. The first mode needs two driving mechanisms, and has complex structure and high cost; the second method cannot realize a simple linear motion accompanied by a rotational motion and a simple rotational motion accompanied by a linear motion.
In the clamping jaw device of the embodiment of the application, the guide groove 3 and the sliding part 4 which is arranged in the guide groove 3 in a sliding way are arranged between the second rotating shaft 20 and the second sleeve 21, and the guide groove 3 is arranged into the linear groove 30 and the arc-shaped groove 31; only one driving mechanism is needed, and the driving transmission mechanism only does linear motion, so that the sliding part 4 can move in the linear groove 30 to drive the second clamping part 22 to do simple linear motion; and the sliding part 4 moves in the arc-shaped groove 31, so that the second clamping part 22 can do simple rotation movement and can do rotation movement along with linear movement.
Referring to fig. 3, taking the driving mechanism driving the transmission mechanism to make a linear motion as an example, the guide groove 3 in the embodiment of the present application only includes a path a-C-D, and the working principle of the gripper apparatus is as follows:
during feeding, one end of the material 5 is clamped through the first clamping jaw 1, then the driving mechanism drives the sliding part 4 to move in the arc-shaped groove 31 until the sliding part 4 moves to the junction of the linear groove 30 and the arc-shaped groove 31, namely from A-C, so that the second clamping part 22 moves towards the direction close to the first clamping jaw 1 to clamp the material 5, then the driving mechanism continues to drive the transmission mechanism to do linear motion, at the moment, the sliding part 4 falls into the arc-shaped groove 31 and passively does rotary motion along the arc-shaped groove 31, namely from C-D, and the sliding part 4 rotates by driving the material 5.
During blanking, the driving mechanism moves reversely to drive the sliding part 4 to rotate reversely along the arc-shaped groove 31 until the sliding part 4 moves to the junction of the arc-shaped groove 31 and the linear groove 30, namely from D-C, the transmission mechanism is continuously driven to move linearly, at the moment, the sliding part 4 falls into the arc-shaped groove 31 and moves linearly along the arc-shaped groove 31, namely from C-A, so that the second clamping part 22 is driven to loosen the material 5, and the sliding part 4 returns to the original position.
In an alternative embodiment, referring to fig. 4 and 5, the guide groove 3 is formed on the outer wall of the second rotating shaft 20, and the sliding portion 4 is formed on the inner wall of the second sleeve 21; the second holding portion 22 is connected to the second shaft 20, and the driving mechanism is connected to the second shaft 20 to drive the second shaft 20 to move.
In this embodiment, the driving mechanism drives the second rotating shaft 20 to move linearly to drive the guiding groove 3 on the second rotating shaft 20 to move, so that the sliding portion 4 on the second sleeve 21 moves along the guiding groove 3, and the second retaining portion 22 connected to the second rotating shaft 20 is driven to move together.
When the sliding part 4 is located at a, a certain gap is left between the second sleeve 21 and the second retaining part 22 to prevent the second sleeve 21 and the second retaining part 22 from interfering with each other when the second rotating shaft 20 moves linearly. By adopting the scheme, the guide groove 3 is conveniently processed on the outer wall of the second rotating shaft 20, the sliding part 4 is conveniently processed on the inner wall of the second sleeve 21, the assembly of the second rotating shaft 20 and the second sleeve 21 is simpler and easier to operate, and the matching installation between the sliding part 4 and the guide groove 3 is easier to realize.
In an alternative embodiment, the guide groove 3 is disposed on the outer wall of the second rotating shaft 20, and the sliding portion 4 is disposed on the inner wall of the second sleeve 21; the second catch 22 is connected with the second sleeve 21, and the driving mechanism is connected with the second sleeve 21 to drive the second sleeve 21 to move.
In this embodiment, the driving mechanism drives the second sleeve 21 to move linearly, so as to drive the sliding portion 4 on the second sleeve 21 to move in the guiding groove 3 on the second rotating shaft 20, thereby driving the second holding portion 22 connected to the second sleeve 21 to move together. And the second rotating shaft 20 is always kept still, the second rotating shaft 20 and the second sleeve 21 are only connected with the guide groove 3 through the sliding part 4.
However, the fixing of the second rotating shaft 20 in this solution is complicated, and the problem of interference between the second rotating shaft 20 and the second catch 22 needs to be considered.
In an alternative embodiment, the guide groove 3 is disposed on the inner wall of the second sleeve 21, and the sliding portion 4 is disposed on the outer wall of the second rotating shaft 20; the second holding portion 22 is connected to the second shaft 20, and the driving mechanism is connected to the second shaft 20 to drive the second shaft 20 to move.
In this embodiment, the driving mechanism drives the second rotating shaft 20 to move linearly, so as to drive the sliding portion 4 on the second rotating shaft 20 to move in the guiding groove 3 on the second sleeve 21, and thus drive the second holding portion 22 connected to the second sleeve 21 to move together.
Since the guide groove 3 is on the inner wall of the second sleeve 21, it is difficult to make the sliding portion 4 directly fall into the initial position a in the guide groove 3 when the second rotating shaft 20 and the second sleeve 21 are assembled.
In an alternative embodiment, the guide groove 3 is disposed on the inner wall of the second sleeve 21, and the sliding portion 4 is disposed on the outer wall of the second rotating shaft 20; the second catch 22 is connected with the second sleeve 21, and the driving mechanism is connected with the second sleeve 21 to drive the second sleeve 21 to move.
In this embodiment, the driving mechanism drives the second sleeve 21 to move linearly to drive the guiding groove 3 on the second sleeve 21 to move, so that the sliding portion 4 on the second rotating shaft 20 moves along the guiding groove 3, and the second holding portion 22 connected to the second sleeve 21 is driven to move together. And the second rotating shaft 20 is always kept still, and the second rotating shaft 20 and the second sleeve 21 are only communicated with the guide groove 3 through the sliding part 4.
The fixing of the second rotating shaft 20 in this solution is complicated, and the problem of interference between the second rotating shaft 20 and the second clamping portion 22 also needs to be considered.
Further, referring to fig. 3, two guide grooves 3 are provided, and the linear grooves 30 included in the two guide grooves 3 communicate with the arc-shaped grooves 31 and form a quadrangular structure.
In the embodiment of the present application, the rotational movement in the arc-shaped groove 31 is 180 °, and the arc-shaped groove 31 is spiral around the counterclockwise direction, so that the sliding portion 4 rotates in the arc-shaped groove 31 along with the linear movement.
Specifically, the method comprises the following steps: when feeding, the driving mechanism drives the second rotating shaft 20 to do linear motion towards the direction close to the first clamping jaw 1, firstly, the sliding part 4 does linear motion in the linear groove 30, and moves from A to B to be close to the material 5 and then moves from B to C to clamp the material 5; then, the sliding part 4 moves along the arc-shaped slot 31 from C to D to drive the second rotating shaft 20 to rotate along with the linear movement, thereby completing the feeding.
During blanking, the driving mechanism reversely drives the second rotating shaft 20 to do linear motion towards the direction far away from the first clamping jaw 1, firstly, the sliding part 4 does linear motion in the linear groove 30, and the linear motion is from D to F so as to loosen the material 5; then, the sliding part 4 moves along the arc-shaped slot 31 from F to a and returns to the initial position to drive the second rotating shaft 20 to rotate along with the linear movement, thereby completing the blanking.
Referring to fig. 5 and 6, the abutting ends of the two guide grooves 3 are provided with locking portions 32, and the locking portions 32 are formed by protruding the ends outward and are used for limiting the reverse movement of the sliding portion 4.
Because the sliding part 4 of the embodiment of the present application needs to lift the material 5 upwards when moving to the D position, in order to lock the sliding part 4 and prevent the sliding part 4 from reversely rotating towards the C position, the locking part 32 is provided, so that the sliding part 4 sinks into the locking part 32, and cannot reversely rotate towards the C position, and the sliding part 4 is not affected when moving to the F position along the linear groove 30.
Optionally, the drive mechanism is a linear cylinder.
Referring to fig. 7, a slide cylinder is sleeved on the second rotating shaft 20 according to the embodiment of the present invention, and the guide groove 3 is formed in an outer wall of the slide cylinder, and the slide cylinder is connected to the second rotating shaft 20 through a thrust ball bearing and an angular contact ball bearing.
Referring to fig. 8, a thrust ball bearing is provided in the first sleeve 12 and is connected to the first rotating shaft 10 through the thrust ball bearing.
When the driving mechanism is a linear cylinder, the linear cylinder drives the second rotating shaft 20 to make a pure linear motion, so that the sliding part 4 actively makes a linear motion in the linear groove 30 and passively makes a rotary motion in the arc-shaped groove 31.
Therefore, the embodiment of the present application only needs one driving mechanism to drive the second rotating shaft 20 to perform a simple linear or rotational motion, so that the second retaining portion 22 can perform a simple rotational motion and a rotational motion accompanied by a linear motion.
Further, the first clamping jaw 1 comprises a first rotating shaft 10, a first clamping part 11, a first sleeve 12 and a first spring 13, wherein the first clamping part 11 is connected to one end of the first rotating shaft 10, and forms a clamping space with the second clamping part 22; the first sleeve 12 is sleeved outside the first rotating shaft 10; the first spring 13 is accommodated in the first sleeve 12; an end of the first rotating shaft 10 remote from the first catch 11 is connected to the inside of the first sleeve 12 by a first spring 13.
Specifically, the method comprises the following steps: when feeding, the driving mechanism drives the second rotating shaft 20 to do linear motion towards the direction close to the first clamping jaw 1, firstly, the sliding part 4 does linear motion in the linear groove 30, the linear motion is from A to B to be close to the material 5, and then the linear motion is from B to C to clamp the material 5, at the moment, the first spring 13 is compressed, and the first rotating shaft 10 moves from the position B to the position C; the sliding part 4 then moves along the arc-shaped slot 31 from C to D to drive the second rotating shaft 20 to rotate with the linear movement, at which time the first spring 13 continues to be compressed and the first rotating shaft 10 moves from the C position to the D position.
During blanking, the driving mechanism reversely drives the second rotating shaft 20 to do linear motion towards the direction far away from the first clamping jaw 1, firstly, the sliding part 4 does linear motion in the linear groove 30, the linear motion is from D to E, at the moment, the first spring 13 rebounds, the first rotating shaft 10 moves from the position D to the position E, and the first rotating shaft 10 is not compressed by the first spring 13 any more; when the sliding part 4 moves from E to F, the material 5 is completely released; then, the sliding part 4 moves along the arc-shaped slot 31 from F to a and returns to the initial position to drive the second rotating shaft 20 to rotate along with the linear movement, thereby completing the blanking.
Furthermore, a groove is formed on the first rotating shaft 10; the first sleeve 12 is provided with a groove body along the radial direction; the first clamping jaw 1 further comprises a second spring 14 and a locking ball 15, the second spring 14 is accommodated in the groove body, and one end of the second spring is connected with the groove body; the locking ball 15 is connected with the second spring 14 and is used for abutting against the groove.
When the first spring 13 rebounds and the first rotating shaft 10 is at the b position and the e position, the locking ball 15 abuts against the groove to lock the first rotating shaft 10.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in this application, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a single drive realizes clamping jaw device of sharp rotatory combined motion which characterized in that, it includes:
a first jaw (1);
a second jaw (2) comprising:
-a transmission mechanism comprising a second shaft (20) and a second sleeve (21), the second sleeve (21) being arranged coaxially with the second shaft (20); a guide groove (3) and a sliding part (4) which is arranged in the guide groove (3) in a sliding manner are arranged between the second rotating shaft (20) and the second sleeve (21), and the guide groove (3) comprises a linear groove (30) and an arc-shaped groove (31) which are arranged along the axial direction of the second rotating shaft (20) and around the second rotating shaft (20) and are communicated with each other;
-a second holding part (22) arranged at one end of the transmission mechanism and forming a holding space for holding the material (5) with the first clamping jaw (1);
the driving mechanism is connected with the transmission mechanism and is used for driving the sliding part (4) to move in the linear groove (30) and the arc-shaped groove (31) so as to drive the second clamping part (22) to move towards the direction close to and away from the first clamping jaw (1) and drive the material (5) to rotate;
two guide grooves (3) are arranged, and linear grooves (30) contained in the two guide grooves (3) are communicated with an arc-shaped groove (31) to form a quadrilateral structure;
the end parts of the two guide grooves (3) which are butted with each other are provided with locking parts (32), and the locking parts (32) are formed by protruding the end parts outwards and used for limiting the reverse movement of the sliding parts (4).
2. The single-drive linear-rotary compound motion clamping jaw device as claimed in claim 1, characterized in that the guide groove (3) is arranged on the outer wall of the second rotating shaft (20), and the sliding part (4) is arranged on the inner wall of the second sleeve (21); the second clamping part (22) is connected with the second rotating shaft (20), and the driving mechanism is connected with the second rotating shaft (20) to drive the second rotating shaft (20) to move.
3. The single-drive linear-rotary compound motion clamping jaw device as claimed in claim 1, characterized in that the guide groove (3) is arranged on the outer wall of the second rotating shaft (20), and the sliding part (4) is arranged on the inner wall of the second sleeve (21); the second clamping part (22) is connected with the second sleeve (21), and the driving mechanism is connected with the second sleeve (21) to drive the second sleeve (21) to move.
4. The single-drive linear-rotary compound motion clamping jaw device as claimed in claim 1, characterized in that the guide groove (3) is arranged on the inner wall of the second sleeve (21), and the sliding part (4) is arranged on the outer wall of the second rotating shaft (20); the second clamping part (22) is connected with the second rotating shaft (20), and the driving mechanism is connected with the second rotating shaft (20) to drive the second rotating shaft (20) to move.
5. The single-drive linear-rotary compound motion clamping jaw device as claimed in claim 1, characterized in that the guide groove (3) is arranged on the inner wall of the second sleeve (21), and the sliding part (4) is arranged on the outer wall of the second rotating shaft (20); the second clamping part (22) is connected with the second sleeve (21), and the driving mechanism is connected with the second sleeve (21) to drive the second sleeve (21) to move.
6. The single drive linear-rotary compound motion gripper apparatus of claim 1, wherein said drive mechanism is a linear cylinder.
7. A single-drive linear-rotary compound motion jaw device according to claim 1, characterized in that said first jaw (1) comprises:
a first rotating shaft (10);
the first clamping part (11) is connected to one end of the first rotating shaft (10), and the clamping space is formed between the first clamping part and the second clamping part (22);
the first sleeve (12) is sleeved outside the first rotating shaft (10);
a first spring (13) housed in the first sleeve (12); one end of the first rotating shaft (10) far away from the first clamping part (11) is connected into the first sleeve (12) through the first spring (13).
8. A single drive linear and rotary compound motion gripper apparatus as defined in claim 7, wherein:
a groove is formed in the first rotating shaft (10); the first sleeve (12) is provided with a groove body along the radial direction;
the first jaw (1) further comprises:
-a second spring (14) housed in said housing and connected at one end to said housing;
-a locking ball (15) connected to the second spring (14) and intended to be held against the recess.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110758426.3A CN113510729B (en) | 2021-07-05 | 2021-07-05 | Clamping jaw device for realizing linear and rotary compound motion through single drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110758426.3A CN113510729B (en) | 2021-07-05 | 2021-07-05 | Clamping jaw device for realizing linear and rotary compound motion through single drive |
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| Publication Number | Publication Date |
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| CN113510729A CN113510729A (en) | 2021-10-19 |
| CN113510729B true CN113510729B (en) | 2022-06-17 |
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| CN202110758426.3A Active CN113510729B (en) | 2021-07-05 | 2021-07-05 | Clamping jaw device for realizing linear and rotary compound motion through single drive |
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| CN115709477B (en) * | 2023-01-06 | 2023-09-26 | 苏州钧舵机器人有限公司 | Single-drive animal bag separating device |
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| CN113510729A (en) | 2021-10-19 |
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