CN114434485B - Rotary clamping jaw device - Google Patents
Rotary clamping jaw device Download PDFInfo
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- CN114434485B CN114434485B CN202210189878.9A CN202210189878A CN114434485B CN 114434485 B CN114434485 B CN 114434485B CN 202210189878 A CN202210189878 A CN 202210189878A CN 114434485 B CN114434485 B CN 114434485B
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- clamping jaw
- jaw
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- sleeve
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- 238000009434 installation Methods 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 description 8
- 230000000149 penetrating effect Effects 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
Abstract
The application provides a rotary clamping jaw device, which comprises a clamping jaw mechanism, an opening and closing driving mechanism and a rotary driving mechanism which are arranged on a fixed seat, wherein the opening and closing driving mechanism comprises a first cylinder vertically arranged and a connecting component arranged at the output end of the first cylinder; the clamping jaw mechanism further comprises a clamping jaw sleeve rod used for allowing the clamping jaw sliding rod to pass through, the clamping jaw sleeve rod is sleeved on the clamping jaw sliding rod, a first mounting piece and a second mounting piece which are matched with the clamping jaw assembly are arranged on the end part of the clamping jaw sleeve rod, a third mounting piece which is matched with the clamping jaw assembly is arranged at one end of the clamping jaw sliding rod, and the clamping jaw assembly is respectively connected with the clamping jaw sleeve rod and the clamping jaw sliding rod; the first air cylinder drives the clamping jaw sliding rod to slide in the clamping jaw sleeve rod so as to realize opening and closing of the clamping jaw assembly. The rotary clamping jaw device is simple in structure, small in installation space and accurate in clamping.
Description
The application provides a filing date 2021, 5-31 and a patent application number 202110598934X, which is a divisional application with the name of a rotary clamping jaw device.
Technical Field
The application relates to the technical field of automatic equipment, in particular to a rotary clamping jaw device.
Background
In the prior art, the rotating clamping jaw is generally matched with a clamping jaw air cylinder to realize clamping and rotation, or is matched with a clamping jaw structure through a motor structure to realize clamping and rotation. The existing rotary clamping jaw is complex in structure, occupies large space, and particularly occupies a transverse installation space, and a large space is reserved on a machine table for the rotary clamping jaw to rotate and clamp. Especially when two workpieces to be grabbed are relatively close, the existing rotary clamping jaw cannot realize accurate clamping, and the clamping jaw can interfere with adjacent workpieces during action.
Therefore, it is necessary to provide a rotary jaw device that is small in installation space and capable of achieving accurate gripping.
Disclosure of Invention
The application aims to provide a rotary clamping jaw device which is small in installation space and capable of realizing accurate clamping.
In order to achieve the above purpose, the application provides a rotary clamping jaw device, which comprises a clamping jaw mechanism, an opening and closing driving mechanism and a rotary driving mechanism which are arranged on a fixed seat, wherein the opening and closing driving mechanism comprises a first cylinder vertically arranged and a connecting component arranged at the output end of the first cylinder; the clamping jaw mechanism further comprises a clamping jaw sleeve rod used for allowing the clamping jaw sliding rod to pass through, the clamping jaw sleeve rod is sleeved on the clamping jaw sliding rod, a first mounting piece and a second mounting piece which are matched with the clamping jaw assembly are arranged on the end part of the clamping jaw sleeve rod, a third mounting piece which is matched with the clamping jaw assembly is arranged at one end of the clamping jaw sliding rod, and the clamping jaw assembly is respectively connected with the clamping jaw sleeve rod and the clamping jaw sliding rod; the first cylinder drives the clamping jaw sliding rod to slide in the clamping jaw sleeve rod so as to realize opening and closing of the clamping jaw assembly; the rotary driving mechanism comprises a second air cylinder vertically arranged on the fixing seat, and the second air cylinder acts to enable the clamping jaw mechanism to rotate around the connecting assembly.
Preferably, the clamping jaw assembly comprises a connecting rod structure, a first supporting piece and a second supporting piece, wherein the connecting rod structure is rotatably installed on the first installation piece, one end of the first supporting piece is rotatably connected with the connecting rod structure, the other end of the first supporting piece is rotatably connected with the second installation piece, one end of the second supporting piece is rotatably connected with the first supporting piece, the other end of the second supporting piece is rotatably connected with the third installation piece, and the second supporting piece rotates around the first supporting piece to enable the connecting rod structure to open and close so as to take and place the workpiece.
Preferably, the first mounting piece comprises a plurality of first mounting parts circumferentially arranged on the clamping jaw sleeve rod, and the first mounting parts are used for mounting the connecting rod structure; the second mounting piece is including locating a plurality of second installation department of clamping jaw loop bar week, and the second installation department is used for installing first support piece, and the third installation piece is including locating a plurality of third installation department of clamping jaw slide bar week, and the third installation department is used for installing the second support piece.
Preferably, the driving chute is arranged on the clamping jaw sleeve rod, the driving chute comprises a first driving part, a second driving part and a third driving part, the first driving part and the third driving part are vertically arranged, the second driving part is obliquely arranged between the first driving part and the third driving part, and the second driving part is communicated with the first driving part and the third driving part.
Preferably, the clamping jaw sleeve rod is further provided with a limiting groove, the clamping jaw sliding rod is provided with a limiting piece protruding out of the limiting groove, the clamping jaw sliding rod slides along the clamping jaw sleeve rod so that the limiting piece slides in the limiting groove, and the limiting piece is matched with the limiting groove to limit the opening and closing degree of the clamping jaw assembly.
Preferably, the clamping jaw mechanism further comprises a connecting sleeve for installing the clamping jaw sleeve rod, the clamping jaw sleeve rod is fixed on the fixing seat through the connecting sleeve, and a through groove for exposing the driving chute is formed in the connecting sleeve.
Preferably, the connecting assembly comprises a first fixing piece, a bearing, a limit screw and a second fixing piece, wherein the first fixing piece is used for connecting the first air cylinder, a fourth installation part for installing the bearing is arranged on the clamping jaw sliding rod, the limit screw is used for reinforcing the installation of the bearing on the fourth installation part, and the bearing drives the clamping jaw sliding rod to be rotationally connected with the first fixing piece and the second fixing piece; the second fixing piece is sleeved outside the bearing and the first fixing piece, so that connection between the clamping jaw sliding rod and the first fixing piece can be reinforced.
Preferably, the sliding assembly comprises a sliding sleeve and a sliding piece, the sliding sleeve is arranged on the fixed seat, the sliding sleeve is of a hollow structure, the sliding piece is slidably arranged in the sliding sleeve, the driving piece is arranged on the sliding piece, and the driving piece slides along with the sliding of the sliding piece.
Preferably, the sliding piece is provided with a protruding part, the protruding part and the sliding piece are provided with mounting holes in a penetrating way, and the driving piece is arranged in the mounting holes and is in interference fit with the mounting holes; the sliding sleeve is provided with a sliding groove for the convex part to slide.
After the technical scheme is adopted, the rotary clamping jaw device comprises the clamping jaw mechanism, an opening and closing driving mechanism for driving the clamping jaw mechanism to open and close so as to take and put objects, and a rotary driving mechanism for driving the clamping jaw mechanism to rotate. The opening and closing driving mechanism comprises a first air cylinder which is vertically installed, and the rotating driving mechanism comprises a second air cylinder which is vertically installed. The first cylinder and the second cylinder are vertically arranged, so that transverse space can be effectively saved, and the whole structure is more compact. The first cylinder acts to enable the connecting assembly to drive the clamping jaw sliding rod to slide along the clamping jaw sleeve rod, so that the clamping jaw assembly connected to the clamping jaw sliding rod and the clamping jaw sleeve rod can be opened and closed to take and put objects, and the clamping jaw mechanism is further provided with a limiting groove and a limiting piece to enable the clamping jaw assembly to clamp workpieces more accurately. The clamping jaw mechanism is also provided with a driving chute, the rotary driving mechanism comprises a driving piece matched with the driving chute, and the second air cylinder acts to enable the driving piece to slide along the driving chute so as to realize the rotation of the clamping jaw mechanism. According to the rotary clamping jaw device, the first air cylinder and the second air cylinder can act simultaneously or independently, so that the clamping jaw mechanism can independently take and put materials or independently rotate, and the clamping jaw mechanism can also take and put materials and rotate simultaneously. The rotary clamping jaw device is simple in structure, greatly saves installation space and can realize accurate clamping.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a rotary jaw device according to an embodiment of the present application.
Fig. 2 is a schematic view of the internal structure of fig. 1 with the outer shell removed.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a schematic view of the structure of fig. 2 at another angle.
Fig. 5 is an exploded view of the structure of fig. 2.
Fig. 6 is a schematic structural view of the fixing base in fig. 5.
Fig. 7 is a schematic view of the jaw assembly of fig. 5.
Fig. 8 is a schematic view of the structure of the single jaw of fig. 7.
Fig. 9 is a schematic view of the structure of the jaw slide bar in fig. 5.
Fig. 10 is a schematic view of the mechanism of the jaw lever of fig. 5.
Fig. 11 is a schematic view of the structure of the connecting sleeve in fig. 5.
Fig. 12 is a schematic view of the structure of the connector of fig. 5.
Fig. 13 is a schematic view of the slider of fig. 5.
Fig. 14 is a schematic view of the structure of the sliding sleeve of fig. 5.
Reference numerals illustrate:
100. rotating the jaw arrangement; 101. a fixing seat; 1011. a first accommodation hole; 1012. a first mounting groove; 1013. a second accommodation hole; 1014. a second mounting groove; 102. a housing;
10. a jaw mechanism; 11. a jaw assembly; 111. a fastener; 112. a connecting rod structure; 1121. a first link; 1122. a second link; 1123. a first rotating member; 1124. a second rotating member; 1125. a receiving groove; 113. a first support; 1131. a third rotating member; 1132. a fourth rotating member; 114. a second support; 1141. a fifth rotating member; 1142. a sixth rotating member; 12. a clamping jaw sliding rod; 121. a third mount; 1211. a third mounting portion; 122. a fourth mounting portion; 123. a first connection hole; 13. a clamping jaw sleeve rod; 131. driving the chute; 1311. a first driving section; 1312. a second driving section; 1313. a third driving section; 132. a limit groove; 133. a first mounting member; 1331. a first mounting portion; 134. a second mounting member; 1341. a second mounting portion; 14. connecting sleeves; 141. a through groove; 15. a limiting piece;
20. a folding driving mechanism; 21. a first cylinder; 22. a connection assembly; 221. a first fixing member; 222. a bearing; 223. a second fixing member; 224. a limit screw; 225. a locking member;
30. a rotary driving mechanism; 31. a second cylinder; 32. a connecting piece; 321. a second connection hole; 322. a first connection portion; 33. a slider; 331. a second connecting portion; 332. a convex portion; 3321. a mounting hole; 34. a sliding sleeve; 341. a fixing part; 342. a screw; 343. a hollow interior cavity; 344. a sliding groove; 35. a driving member.
Detailed Description
In order to describe the technical content and constructional features of the present application in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 5, the present application provides a rotary clamping jaw device 100, which includes a clamping jaw mechanism 10, an opening and closing driving mechanism 20 and a rotary driving mechanism 30 mounted on a fixed base 101. The opening and closing driving mechanism 20 comprises a first air cylinder 21 vertically installed and a connecting assembly 22 arranged at the output end of the first air cylinder 21. The first cylinder 21 is vertically installed, and space layout is more reasonable, and transverse space can be effectively reduced. The jaw mechanism 10 includes a jaw slide bar 12 and a jaw assembly 11 slidably mounted to the jaw slide bar 12. The end of the jaw slide bar 12 remote from the jaw assembly 11 is rotatably connected to a connecting assembly 22. The rotary driving mechanism 30 comprises a second cylinder 31 vertically installed on the fixing seat 101, the output end of the second cylinder 31 is connected with a sliding component, the sliding component comprises a driving piece 35 which is arranged in a protruding mode, a driving chute 131 for the driving piece 35 to extend in is arranged on the clamping jaw mechanism 10, and the second cylinder 31 acts to enable the driving piece 35 to slide along the driving chute 131 so that the clamping jaw mechanism 10 rotates around the connecting component 22. The first air cylinder 21 acts to enable the clamping jaw mechanism 10 to stretch and retract so as to open and close the clamping jaw assembly 11, and therefore material taking and discharging can be achieved. The second cylinder 31 acts to enable the driving member 35 to drive the jaw assembly 11 to rotate around the connecting assembly 22, so that the angle of taking and discharging materials can be adjusted. The first cylinder 21 and the second cylinder 31 can be independently operated or simultaneously operated, and the use is convenient. The first cylinder 21 and the second cylinder 31 are vertically installed, so that the space layout is more reasonable, and the transverse space can be effectively reduced.
Referring to fig. 3 and 5, in some alternative embodiments, the jaw mechanism 10 further includes a jaw sleeve 13 for passing the jaw slide bar 12, the jaw sleeve 13 is of a hollow structure, and the jaw sleeve 13 is sleeved on the jaw slide bar 12, i.e. the jaw slide bar 12 is installed in the jaw sleeve 13. The clamping jaw assembly 11 is respectively connected to the clamping jaw sleeve rod 13 and the clamping jaw sliding rod 12, the first air cylinder 21 acts to drive the clamping jaw sliding rod 12 to slide in the clamping jaw sleeve rod 13, so that the connecting rod structure 112, the first supporting piece 113 and the second supporting piece 114 on the clamping jaw assembly 11 are driven to move, and further the clamping jaw assembly 11 can be opened and closed to take and discharge materials.
Referring to fig. 7-10, in some alternative embodiments, the jaw lever 13 is provided with a first mounting member 133 and a second mounting member 134 on an end portion thereof that cooperate with the jaw assembly 11, the first mounting member 133 including a plurality of first mounting portions 1331 of the Zhou Sheyu jaw lever 13, the first mounting portions 1331 for mounting the link structure 112. The second mounting member 134 includes a plurality of second mounting portions 1341 of the Zhou Sheyu jaw lever 13, the second mounting portions 1341 for mounting the first support member 113. One end of the jaw slide bar 12 is provided with a third mounting 121 which cooperates with the jaw assembly 11. The third mounting member 121 includes a plurality of third mounting portions 1211 of the Zhou Sheyu jaw slide bar 12, the third mounting portions 1211 for mounting the second support member 114. The first mount 133, the second mount 134, and the third mount 121 are similar in structure. The first mounting portion 1331, the second mounting portion 1341 and the third mounting portion 1211 have the same structure, and each includes two protruding side walls and a groove between the two side walls, and the relevant parts of the clamping jaw assembly 11 are mounted in the groove. The two side walls are also provided with through holes in a penetrating way for installing rotating parts, so that the clamping jaw assembly 11 can rotate in the groove body around the corresponding rotating parts, and the clamping jaw assembly 11 can be opened and closed to take and discharge materials.
Referring to fig. 7-10, in some alternative embodiments, the jaw assembly 11 is mated to the jaw stem 13 and the holder 101 by fasteners 111. The jaw assembly 11 may include sets of structurally identical jaws, each jaw including a linkage structure 112, a first support 113, and a second support 114. Specifically, the link structure 112 is rotatably mounted to the first mount 133. The link structure 112 includes a first link 1121 and a second link 1122, where the first link 1121 is rotatably mounted in the first mounting portion 1331 by a first rotating member 1123, and the first rotating member 1123 sequentially passes through a through hole on one side wall, a through hole on the first link 1121, and a through hole on the other side wall, so that the first link 1121 is stably disposed in the first mounting portion 1331 and the first link 1121 can rotate around the first rotating member 1123. The first link 1121 and the second link 1122 are rotatably coupled by a second rotational member 1124. On the other hand, one end of the first supporting member 113 is rotatably mounted in the second mounting portion 1341 through the third rotating member 1131, and the other end of the first supporting member 113 is rotatably connected to the link structure 112 through the fourth rotating member 1132. The second connecting rod 1122 is provided with a receiving groove 1125 for receiving and mounting the first supporting member 113, and the walls on both sides of the receiving groove 1125 are provided with through holes for mounting the fourth rotating member 1132. One end of the second supporting member 114 is rotatably mounted in the third mounting portion 1211 by the fifth rotating member 1141; the other end of the second supporting member 114 is rotatably coupled to the first supporting member 113 through a sixth rotating member 1142. The first cylinder 21 acts to slide the jaw slide bar 12 in the jaw sleeve bar 13, so that the second support member 114 rotates around the sixth rotating member 1142 relative to the first support member 113, and further causes the link structure 112 to rotate relative to the first rotating member 1123 to open and close the link structure 112, so as to enable the workpiece to be taken and placed. Wherein the cooperation of the first support 113 and the second mounting portion 1341, the cooperation of the second support 114 and the third mounting portion 1211 is similar to the cooperation of the first link 1121 and the first mounting portion 1331; and therefore will not be described in detail herein. It will be appreciated that the number of jaws in the jaw assembly 11 is the same as the number of mounting portions on the mounting member to enable the jaw assembly 11 to be securely connected to the jaw slide bar 12 and the jaw sleeve bar 13. The clamping jaw assembly 11 is reasonable in structural design, and the clamping jaw assembly 11 can be opened and closed by the relative sliding of the clamping jaw sliding rod 12 and the clamping jaw sleeve rod 13, so that a workpiece can be taken and placed well.
Referring to fig. 5 and 10, in some alternative embodiments, a driving chute 131 is formed on the jaw bar 13. Specifically, the driving chute 131 includes a first driving portion 1311, a second driving portion 1312, and a third driving portion 1313, the first driving portion 1311 and the third driving portion 1313 are vertically disposed and have different heights on the jaw stem 13, the second driving portion 1312 is obliquely disposed between the first driving portion 1311 and the third driving portion 1313, and the second driving portion 1312 communicates with a lower end of the first driving portion 1311 and an upper end of the third driving portion 1313. The first driving part 1311 and the third driving part 1313 are vertically disposed for the driving member 35 to stay. The second cylinder 31 acts to slide the driving member 35 from the first driving portion 1311 to the third driving portion 1313 along the second driving portion 1312, so that the jaw rod 13 drives the entire jaw mechanism 10 to rotate around the bearing 222 of the connecting assembly 22 by a certain angle, so as to adjust the angle of the workpiece gripped by the jaw assembly 11. In some embodiments, at least one straight stay portion may be further disposed on the second driving portion 1312, so as to adjust the pick-and-place angle of the workpiece multiple times, so that the workpiece can be more accurately positioned in the next process. Illustratively, the workpiece is a shaped gear, which is required to be rotated and its angle adjusted in order to detect or assemble the shaped gear. The rotary clamping jaw device 100 has high rotary positioning precision and accurate positioning, and can well drive the special-shaped gear to perform rotary positioning.
Referring to fig. 3 and 10, in some alternative embodiments, the jaw sleeve 13 is further provided with a limiting groove 132, the jaw slide bar 12 is provided with a limiting member 15 protruding out of the limiting groove 132, the jaw slide bar 12 slides along the jaw sleeve 13 to slide the limiting member 15 in the limiting groove 132, and the limiting member 15 cooperates with the limiting groove 132 to limit the opening and closing degree of the jaw assembly 11. For example, the limiting member 15 may be integrally formed with the jaw sliding rod 12, or a through hole for installing the limiting member 15 is formed on the jaw sliding rod 12, and the limiting member 15 is detachably installed on the jaw sliding rod 12. Specifically, when the first cylinder 21 drives the jaw slide bar 12 to slide along the jaw sleeve bar 13, the limiting piece 15 on the jaw slide bar 12 slides up and down in the limiting groove 132 on the jaw sleeve bar 13, so that the opening and closing degree of the jaw assembly 11 can be effectively controlled, and interference or touching of adjacent workpieces during picking up the workpieces due to overlarge opening can be avoided. It is also possible to avoid pinching the workpiece due to excessive closure. The existing clamping jaw structures adopt clamping jaw cylinders to control clamping jaw grabbing clamps, the rotating cylinders or motors are used for controlling clamping jaws to rotate, the overall size is large, the opening and closing of the clamping jaws cannot be well controlled, grabbing cannot be well achieved when two adjacent workpieces are placed close, and interference is easy to occur. The clamping jaw mechanism 10 is reasonable in structural design, not only can well pick and place workpieces, but also can avoid picking interference and clamping injury of the workpieces.
Referring to fig. 3, 5, 6 and 11, in some alternative embodiments, a first accommodating hole 1011 and a first mounting groove 1012 are formed in the fixing base 101, a connecting plate is further formed on the fixing base 101, and a second accommodating hole 1013 and a second mounting groove 1014 are formed in the connecting plate. The first receiving hole 1011 and the second receiving hole 1013 are coaxially disposed, and the first mounting groove 1012 and the second mounting groove 1014 are coaxially disposed. The first accommodating hole 1011 is used for accommodating the clamping jaw mechanism 10, the clamping jaw mechanism 10 further comprises a connecting sleeve 14 for installing the clamping jaw sleeve rod 13, and the clamping jaw mechanism 10 is positioned in the first accommodating hole 1011 and is used for fixing the clamping jaw sleeve rod 13 on the fixing base 101 by the cooperation of the connecting sleeve 14 and the first accommodating hole 1011. The connecting sleeve 14 is in a hollow structure, the clamping jaw sleeve rod 13 is positioned in the connecting sleeve 14, the clamping jaw sleeve rod 13 is firmly arranged in the connecting sleeve 14 through a locking piece, and the connecting sleeve 14 can enable the clamping jaw sliding rod 12 to be firmly arranged on the fixing seat 101. The connecting sleeve 14 is provided with a through groove 141 for exposing the driving chute 131, and the driving chute 131 on the clamping jaw sleeve rod 13 positioned in the connecting sleeve 14 can be exposed out of the connecting sleeve 14 to be matched with the driving piece 35 through the through groove 141 on the connecting sleeve 14, so that the rotation of the clamping jaw mechanism 10 can be conveniently realized. In this embodiment, the second accommodating hole 1013 is used for installing the first cylinder 21, the first mounting groove 1012 and the second mounting groove 1014 are used for installing the rotation driving mechanism 30, the rotation driving mechanism 30 can be conveniently and rapidly installed in the first mounting groove 1012 and the second mounting groove 1014, and also can be conveniently and rapidly detached, and when the clamping jaw mechanism 10 does not need to rotate, the rotation driving mechanism 30 can be detached from the fixing seat 101. On the other hand, the fixing seat 101 is also provided with the shell 102, so that dust can be prevented, and the use is safer.
Referring to fig. 3 and 5, in some alternative embodiments, the connection assembly 22 includes a first securing member 221, a bearing 222, a stop screw 224, a second securing member 223, and a locking member 225. One end of the first fixing member 221 is connected to the first cylinder 21, and the other end of the first fixing member 221 abuts against the bearing 222. A fourth mounting portion 122 for mounting a bearing 222 is provided on the jaw slide bar 12, the fourth mounting portion 122 being located at an end of the jaw slide bar 12 adjacent the first securing member 221. Screw holes are further formed in the end face, close to the fourth mounting portion 122, of the clamping jaw sliding rod 12, the connecting assembly 22 further comprises limiting screws 224, and the limiting screws 224 are matched with the first connecting holes 123 in the clamping jaw sliding rod 12, so that the bearings 222 are stably mounted on the fourth mounting portion 122. The first fixing piece 221 is in a hollow structure, and a portion of the limit screw 224 exposed out of the jaw slide bar 12 may be located in the first fixing piece 221. The bearing 222 drives the jaw slide bar 12 to rotate and is connected to the first fixing piece 221 and the second fixing piece 223, and when the second cylinder 31 acts on the jaw sleeve 13, the jaw sleeve 13 drives the jaw slide bar 12 to rotate around the bearing 222. The second fixing member 223 is sleeved outside the bearing 222 and the first fixing member 221, so as to strengthen the connection between the clamping jaw sliding bar 12 and the first fixing member 221. Specifically, the second fixing member 223 is also in a hollow structure, the openings at two ends of the second fixing member 223 are different in size, the large end opening is used for installing the bearing 222 and the first fixing member 221, the small end opening is used for allowing the clamping jaw sliding rod 12 to extend into and play a limiting role after the clamping jaw sliding rod 12 is matched with the bearing 222, so that the clamping jaw sliding rod 12, the bearing 222 and the first fixing member 221 are stably placed in the second fixing member 223. Through holes are further formed in the first fixing piece 221 and the second fixing piece 223 in a penetrating manner, and the through holes in the first fixing piece 221 and the second fixing piece 223 are coaxially arranged so that the locking piece 225 can penetrate through and lock the first fixing piece 221 and the second fixing piece 223, so that the clamping jaw sliding rod 12 can be firmly and rotatably connected to the connecting component 22.
Referring to fig. 3, 5 and 12-14, in some alternative embodiments, a sliding assembly is located at the output end of the second cylinder 31, and the sliding assembly includes a connecting member 32, a sliding sleeve 34 and a sliding member 33. Wherein, the second connecting hole 321 at one end of the connecting piece 32 is connected to the output end of the second cylinder 31, and the connecting piece 32 is provided with a first connecting portion 322 at one end far away from the output end of the second cylinder 31. One end of the sliding piece 33 is provided with a second connecting portion 331 matched with the first connecting portion 322, the first connecting portion 322 can be clamped in the second connecting portion 331 in a sliding mode, and the sliding piece is simple in structure and stable in connection. On the other hand, the sliding sleeve 34 is firmly installed on the fixed seat 101 through the fixing portion 341 and the screw 342, the sliding sleeve 34 is provided with a hollow inner cavity 343 for sliding installation of the sliding member 33, and the sliding member 33 is slidably disposed in the hollow inner cavity 343. The sliding member 33 is provided with a protruding portion 332, the protruding portion 332 and the sliding member 33 are provided with a mounting hole 3321 penetrating therethrough, the driving member 35 is mounted in the mounting hole 3321 and is in interference fit with the mounting hole 3321, the second cylinder 31 acts to drive the sliding member 33 to slide along the sliding sleeve 34, and the driving member 35 slides along with the sliding of the sliding member 33. Specifically, the sliding sleeve 34 is further provided with a sliding groove 344 for the protrusion 332 and the driving member 35 to protrude out of the sliding sleeve 34, and the protrusion 332 slides along the sliding groove 344. The driving member 35 is always located in the driving chute 131 to enable a better fit and prevent the sliding member 33 from sliding out of the sliding sleeve 34.
As shown in fig. 1 to 14, the rotary jaw device 100 of the present application includes a jaw mechanism 10, an opening and closing drive mechanism 20 for driving the jaw mechanism 10 to open and close for taking and placing objects, and a rotary drive mechanism 30 for driving the jaw mechanism 10 to rotate. The opening and closing driving mechanism 20 includes a first cylinder 21 vertically installed, and the rotation driving mechanism 30 includes a second cylinder 31 vertically installed. The vertical installation of the first cylinder 21 and the second cylinder 31 can effectively save lateral space, so that the overall structure is more compact. The first air cylinder 21 acts to enable the connecting assembly 22 to drive the clamping jaw sliding rod 12 to slide along the clamping jaw sleeve rod 13, so that the clamping jaw assembly 11 connected to the clamping jaw sliding rod 12 and the clamping jaw sleeve rod 13 can be opened and closed to take and put objects, and the clamping jaw mechanism 10 is further provided with the limiting groove 132 and the limiting piece 15, so that the clamping jaw assembly 11 can clamp a workpiece more accurately within a certain range. A driving chute 131 is also provided on the jaw mechanism 10, and the rotary driving mechanism 30 includes a driving member 35 cooperating with the driving chute 131, the second cylinder 31 being operated to slide the driving member 35 along the driving chute 131 to effect rotation of the jaw mechanism 10. According to the rotary clamping jaw device 100 disclosed by the application, the first air cylinder 21 and the second air cylinder 31 are independently operated, so that the clamping jaw mechanism 10 can independently take and discharge materials or independently rotate, and under the action of the first air cylinder 21 and the second air cylinder 31, the clamping jaw mechanism 10 can simultaneously take and discharge materials and rotate. The rotary clamping jaw device 100 of the application has a simple and novel structure, greatly saves the installation space and can realize accurate clamping.
The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not to be construed as limiting the scope of the application, which is defined by the appended claims.
Claims (8)
1. The rotary clamping jaw device is characterized by comprising a clamping jaw mechanism, an opening and closing driving mechanism and a rotary driving mechanism which are arranged on a fixed seat, wherein the opening and closing driving mechanism comprises a first cylinder which is vertically arranged and a connecting component which is arranged at the output end of the first cylinder, the clamping jaw mechanism comprises a clamping jaw sliding rod and a clamping jaw component which is slidably arranged on the clamping jaw sliding rod, and one end of the clamping jaw sliding rod, which is far away from the clamping jaw component, is rotationally connected with the connecting component; the clamping jaw mechanism further comprises a clamping jaw sleeve rod used for the clamping jaw sliding rod to pass through, the clamping jaw sleeve rod is sleeved on the clamping jaw sliding rod, a first mounting piece and a second mounting piece which are matched with the clamping jaw assembly are arranged on the end part of the clamping jaw sleeve rod, a third mounting piece which is matched with the clamping jaw assembly is arranged at one end of the clamping jaw sliding rod, and the clamping jaw assembly is respectively connected with the clamping jaw sleeve rod and the clamping jaw sliding rod; the first air cylinder drives the clamping jaw sliding rod to slide in the clamping jaw sleeve rod so as to realize opening and closing of the clamping jaw assembly; the rotary driving mechanism comprises a second air cylinder vertically arranged on the fixing seat, and the second air cylinder acts to enable the clamping jaw mechanism to rotate around the connecting assembly; the clamping jaw assembly comprises a connecting rod structure, a first supporting piece and a second supporting piece, wherein the first mounting piece comprises a plurality of first mounting parts which are circumferentially arranged on the clamping jaw sleeve rod, and the first mounting parts are used for mounting the connecting rod structure; the second mounting piece is including week locating a plurality of second installation department of clamping jaw loop bar, the second installation department is used for installing first support piece, the third mounting piece is including week locating a plurality of third installation department of clamping jaw slide bar, the third installation department is used for installing second support piece.
2. The rotary jaw apparatus of claim 1 wherein the link structure is rotatably mounted to the first mounting member, one end of the first support member is rotatably connected to the link structure, the other end of the first support member is rotatably connected to the second mounting member, one end of the second support member is rotatably connected to the first support member, the other end of the second support member is rotatably connected to the third mounting member, and the second support member rotates about the first support member to expand and contract the link structure to enable the work piece to be removed.
3. The rotary jaw apparatus of claim 1 wherein the jaw stem is provided with a drive chute comprising a first drive portion, a second drive portion and a third drive portion, the first drive portion and the third drive portion being vertically disposed, the second drive portion being disposed obliquely between the first drive portion and the third drive portion and the second drive portion being in communication with the first drive portion and the third drive portion.
4. The rotary clamping jaw device according to claim 1, wherein the clamping jaw sleeve rod is further provided with a limiting groove, the clamping jaw sliding rod is provided with a limiting piece protruding out of the limiting groove, the clamping jaw sliding rod slides along the clamping jaw sleeve rod so that the limiting piece slides in the limiting groove, and the limiting piece is matched with the limiting groove to limit the opening and closing degree of the clamping jaw assembly.
5. A rotary jaw apparatus according to claim 3, wherein the jaw mechanism further comprises a connecting sleeve for mounting the jaw sleeve rod, the jaw sleeve rod being secured to the mounting base by means of the connecting sleeve, the connecting sleeve being provided with a through slot for exposing the drive chute.
6. The rotating jaw apparatus of claim 1 wherein the connecting assembly includes a first fixture, a bearing, a limit screw and a second fixture, the first fixture being adapted to connect to the first cylinder, the jaw slide bar being provided with a fourth mounting portion for mounting the bearing, the limit screw being adapted to reinforce the mounting of the bearing on the fourth mounting portion, the bearing driving the jaw slide bar to be rotatably connected to the first fixture and the second fixture; the second fixing piece is sleeved outside the bearing and the first fixing piece, so that connection between the clamping jaw sliding rod and the first fixing piece can be reinforced.
7. The rotary jaw apparatus of claim 1 wherein the output end of the second cylinder is connected with a slide assembly, the slide assembly comprises a drive member disposed in a protruding manner, the slide assembly comprises a slide sleeve and a slide member, the slide sleeve is mounted on the fixed seat, the slide sleeve is of a hollow structure, the slide member is slidably disposed in the slide sleeve, the drive member is mounted on the slide member, and the drive member slides with the slide member.
8. The rotary jaw apparatus of claim 7 wherein the slide is provided with a protruding boss, the boss and the slide being provided with mounting holes therethrough, the drive member being mounted in and in interference fit with the mounting holes; and the sliding sleeve is provided with a sliding groove for the convex part to slide.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189878.9A CN114434485B (en) | 2021-05-31 | 2021-05-31 | Rotary clamping jaw device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110598934.XA CN113199502B (en) | 2021-05-31 | 2021-05-31 | Rotary clamping jaw device |
| CN202210189878.9A CN114434485B (en) | 2021-05-31 | 2021-05-31 | Rotary clamping jaw device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110598934.XA Division CN113199502B (en) | 2021-05-31 | 2021-05-31 | Rotary clamping jaw device |
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| CN114434485A CN114434485A (en) | 2022-05-06 |
| CN114434485B true CN114434485B (en) | 2023-09-12 |
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| CN202110598934.XA Active CN113199502B (en) | 2021-05-31 | 2021-05-31 | Rotary clamping jaw device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113815007B (en) * | 2021-09-29 | 2023-03-31 | 深圳市大肯科技有限公司 | Rotary electric claw and automatic cover opening mechanism |
| CN114714390A (en) * | 2022-04-27 | 2022-07-08 | 斯派科智能科技(东莞)有限公司 | Pneumatic clamping jaw |
| CN114770563B (en) * | 2022-06-13 | 2022-09-09 | 首都儿科研究所 | AI intelligence medicine robot that send |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113199502A (en) | 2021-08-03 |
| CN113199502B (en) | 2022-04-08 |
| CN114434485A (en) | 2022-05-06 |
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Address after: No. 6, Wanjiang Section, Gangkou Avenue, Wanjiang Street, Dongguan City, Guangdong Province, 523000 Patentee after: Guangdong Ward Precision Technology Co.,Ltd. Country or region after: China Address before: No.8, Wanjiang Chuangye Industrial Road, Wanjiang street, Dongguan City, Guangdong Province, 523000 Patentee before: World Precision Manufacturing (Dongguan) Co.,Ltd. Country or region before: China |