CN114734477A

CN114734477A - Clamping jaw device and clamping and rotating system

Info

Publication number: CN114734477A
Application number: CN202210563118.XA
Authority: CN
Inventors: 皮海勇; 葛加伟; 潘凌云; 周涛; 仇青春; 王作友
Original assignee: Changzhou Jaka Intelligent Equipment Co ltd
Current assignee: Changzhou Jaka Intelligent Equipment Co ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-07-12

Abstract

The application provides a clamping jaw device and press from both sides tight and rotating system, includes: the fixed shaft, the power mechanism, the clamping jaw and the clamping jaw tightening structure; the clamping jaw is arranged around the fixed shaft; one end of the clamping jaw tightening structure is connected with the fixed shaft, and the other end of the clamping jaw tightening structure is connected with the clamping jaw; the fixed shaft is configured to receive power output by the power mechanism, contact a target object under the action of the power, and generate pressure on a contact surface contacted with the target object; the stationary shaft is further configured to retract when the pressure exceeds a threshold and trigger the jaw tightening mechanism to control the jaws to grip the target item. This application sets up the fixed axle in the middle of the clamping jaw to through clamping jaw tightening structure with clamping jaw and fixed axle connected, with the opening and tightening up of the action control clamping jaw that realize through the fixed axle, simplified this clamping jaw device's structure, still with this grabbing clamping device's structural design's compacter simultaneously, reduced area occupied.

Description

Clamping jaw device and clamping and rotating system

Technical Field

The application relates to the technical field of machining, in particular to a clamping jaw device and a clamping and rotating system.

Background

With the rapid development of industrialization, the automation degree of mechanical equipment is higher and higher. At present, the development of the clamping jaw devices in the automatic equipment is also more and more rapid, and the common clamping jaw devices usually realize the control of the clamping jaws through cylinders or connecting rods. For example, most of the existing screw locking devices are semi-automated or automated. The clamping jaw device in the existing screw locking equipment is controlled by a cylinder or a connecting rod. However, the space occupied by the cylinder or the connecting rod mechanism is relatively large.

Disclosure of Invention

In view of the above, an object of the embodiments of the present application is to provide a clamping jaw device and a clamping and rotating system. The occupied area of the gripping device is reduced.

In a first aspect, an embodiment of the present application provides a clamping jaw device, including: the fixed shaft, the power mechanism, the clamping jaw and the clamping jaw tightening structure; the clamping jaw is arranged around the fixed shaft; one end of the clamping jaw tightening structure is connected with the fixed shaft, and the other end of the clamping jaw tightening structure is connected with the clamping jaw; the fixed shaft is configured to receive power output by the power mechanism, contact the target object under the action of the power, and generate pressure on a contact surface in contact with the target object; the fixed shaft is further configured to retract when the pressure exceeds a threshold and trigger the jaw tightening mechanism to control the jaws to grip the target item.

In the implementation process, the fixed shaft is connected with the clamping jaws through the clamping jaw tightening structure, when the pressure of the fixed shaft on the target object exceeds a threshold value, the fixed shaft is retracted, the clamping jaw tightening structure is driven to move to drive the clamping jaws to act, and the clamping jaws are controlled to clamp and clamp the target object through the fixed shaft. Through carrying out the linkage setting with fixed axle and clamping jaw, can realize releasing the automation mechanized operation of centre gripping with the target object, avoid artificial intervention, improve the efficiency of work. And because the fixed shaft is arranged in the clamping jaw, the structure of the clamping jaw device is simplified, meanwhile, the structural design of the clamping device is more compact, and the occupied area is reduced.

In one embodiment, the fixed shaft includes: an elastic member; the elastic piece is connected with one end of the fixed shaft, which is far away from the target object; when the pressure exceeds a threshold value, the elastic part retracts and drives the fixing shaft to retract.

In the implementation process, the elastic piece is arranged, when the pressure of the fixed shaft and the target object reaches a pressure threshold value, the elastic piece is compressed, and then the fixed shaft is driven to retract, so that the action direction of the fixed shaft is changed. The change of the movement direction of the fixed shaft is realized through the simple elastic piece, so that the clamping jaws are controlled to clamp a target object, the structure of the clamping jaw device is simplified, the occupied space of the clamping jaw device is further reduced, and the application scenes of the clamping jaw device are increased.

In one embodiment, the jaw tightening structure comprises: the fixed piece and the movable piece; the fixed shaft penetrates through the fixed part and is connected with the elastic part; the fixing piece is movably connected with one side of the clamping jaw, which is far away from the fixed shaft, and is used for fixing the position of the clamping jaw in the direction of the fixed shaft; one end of the movable piece is connected with one side, close to the fixed shaft, of the clamping jaw, and the other end of the movable piece is connected with the fixed shaft; when the fixed shaft retracts, the movable piece is driven to move towards the elastic piece, and the clamping jaw is triggered to rotate at the joint of the clamping jaw and the fixed piece, so that the clamping jaw is controlled to clamp the target object.

In the implementation process, the clamping jaw is driven to act when the fixed shaft retracts through the matching of the fixed part and the movable part, so that the clamping jaw is controlled to clamp a target object through the fixed shaft, the clamping jaw is controlled through a simple mechanical structure, the structure of the clamping jaw device is simplified, and the production and maintenance costs are reduced.

In one embodiment, the fixing member includes: a connecting plate and a fixing rod; the fixed shaft penetrates through the connecting plate and is connected with the elastic piece; one end of the fixed rod is fixedly connected with the connecting plate, and the other end of the fixed rod is movably connected with one side, far away from the fixed shaft, of the clamping jaw.

In the implementation process, the fixed rod and the connecting plate are arranged, and the clamping jaw is kept still in the direction of the fixed shaft by matching the connecting plate and the fixed rod when the fixed shaft retracts, and only the clamping jaw is opened and clamped, so that the clamping control of the clamping jaw is realized. And when the clamping jaw is clamped, a supporting force is provided, and the clamping force of the clamping jaw is improved.

In one embodiment, the movable member includes: a connecting shaft and a connecting rod; one end of the connecting rod is fixedly connected with the fixed shaft, and the other end of the connecting rod is fixedly connected with one end of the connecting shaft; the other end of the connecting shaft is movably connected with one side of the clamping jaw close to the fixed shaft; the connecting rod is further driven by the connecting rod to move towards the elastic piece, and then the clamping jaw is triggered to rotate at the joint of the clamping jaw and the connecting shaft so as to control the clamping jaw to clamp the target object.

In the implementation process, through the matching of the connecting shaft and the connecting rod, when the fixed shaft retracts, the end, close to the fixed shaft, of the clamping jaw is driven to move towards the retracting direction, the clamping jaw is further driven to rotate at the connecting shaft, the rotating direction of the clamping jaw is limited, and the clamping accuracy of the clamping jaw is improved.

In a second aspect, embodiments of the present application further provide a clamping and rotating system, including: a fixed plate, a motor and the clamping jaw device of any one of the first aspect; the clamping jaw device is arranged at one end of the fixing plate, and the motor is arranged at the other end of the fixing plate; the motor is connected with the clamping jaw device; the motor is configured to drive the clamping jaw to rotate after the clamping jaw clamps a target object so as to drive the product shaft to rotate.

In the implementation process, the motor is connected with the clamping jaw device, and after the clamping jaw device grabs a target object, the clamping jaw is driven to rotate through the rotation of the motor so as to further drive the product shaft to rotate.

In one embodiment, the system further comprises: a product clamp and a guide shaft; the guide shaft is arranged between the fixing plate and the product clamp, and the product clamp is used for fixing a target object; the clamping jaw device penetrates through the product clamp to clamp the target object.

In the implementation process, the target object is fixed through the product clamp, and when the clamping jaw device penetrates through the product clamp to tightly grasp the target object, the target object cannot move due to the pressure of the clamping jaw device, so that the relative stability of the target object and the clamping jaw device is ensured, and the accuracy of the clamping and rotating system is improved.

In one embodiment, the product clamp comprises: a fixed limiting part and a movable limiting part; the fixed limiting part and the movable limiting part are both arranged on the product clamp; the fixed limiting part and the movable limiting part are arranged oppositely, and a target object is placed between the fixed limiting part and the movable limiting part so that the target object can be fixed through extrusion between the fixed limiting part and the movable limiting part.

In the implementation process, the movement of the movable limiting part can be controlled to move the target object to the fixed limiting part by arranging the movable limiting part and the fixed limiting part, so that the target object is fixed by squeezing the movable limiting part, the fixed limiting part and the target object, the position of the target object is prevented from moving when the target object is clamped and rotated by the clamping jaw device, and the stability of the clamping and rotating system is improved.

In one embodiment, the system further comprises: a clamp limit pin; the clamp limiting pin is arranged on one surface of the product clamp for fixing the target object; the clamp limiting pin is used for limiting the position of the clamping jaw device and fixing the clamping jaw device so that the clamping jaw device can clamp the target object.

In the implementation process, the product clamp is limited and fixed by arranging the clamp limiting pin, so that the stability of the product clamp is ensured, and the stability of the whole clamping and rotating system is improved.

In one embodiment, the system further comprises: a photovoltaic structure; the photoelectric structure is arranged on the fixing plate; the photoelectric structure is used for acquiring a rotation origin to determine rotation information of the product shaft, so that the motor drives the product shaft to rotate through the rotation information.

In the implementation process, the photoelectric structure is arranged, the rotation origin can be determined before the photoelectric structure rotates, the target object rotates by taking the origin as the starting point when rotating every time, and the accuracy of the rotation of the target object is improved.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic view of a whole clamping jaw device provided in an embodiment of the application;

FIG. 2 is a schematic view of the jaw apparatus shown in FIG. 1 with the securing bar removed;

FIG. 3 is a partial schematic view of a clamping and rotation system provided in an embodiment of the present application;

FIG. 4 is a schematic view of a clamping and rotation system and a target article provided by an embodiment of the present application;

fig. 5 is a schematic view illustrating connection of a clamping jaw device and a motor provided in an embodiment of the present application.

Reference numerals are as follows: the clamping jaw device comprises a clamping jaw device 10, a clamping jaw 100, a clamping jaw 200, a fixed shaft 300, a clamping jaw tightening structure 310, a movable part 311, a connecting shaft 312, a connecting rod 320, a fixed part 321, a connecting plate 322, a fixed rod 323, a bolt 400, an elastic part 400, a 500-power mechanism, a fixed plate 20, a motor 30, a product clamp 40, a fixed limiting part 41, a movable limiting part 42, a guide shaft 50, a clamp limiting pin 60 and a photoelectric structure 70.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the application product usually visits when in use, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.

Throughout the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

With the rapid development of industrialization, more and more products need screw locking, such as airplanes, automobiles, electronic products and children toys, and the screw locking is an indispensable part of finished products formed by parts. In the assembly process of products such as machinery, electrical appliances and the like, various locking screw operations are often required. The traditional mode is to use a manual screwdriver for locking screws, however, the inefficient manual operation mode cannot meet the requirements of modern mass production and mechanical automation. Therefore, the automatic screw locking machine is developed, the automatic screw locking machine can automatically convey screws and lock the screws, the production efficiency is greatly improved, and the automatic screw locking machine meets the requirements of modern large-scale production and assembly.

The clamping jaw device in the current screw automatic locking machine basically realizes the control of the clamping jaw device through the cooperation of a plurality of air cylinders or connecting rods so as to control the target object to carry out operations such as clamping or screwing. However, both the cylinder and the connecting rod need to occupy a large space, so that the whole screw automatic locking machine is large in volume and complex in structure.

In view of the above, the present inventors propose a clamping jaw device and a clamping and rotating system, in which a clamping jaw is connected to a fixed shaft through a clamping jaw tightening mechanism, and the action of the clamping jaw is controlled by the action of the fixed shaft. The clamping jaw device has the advantages that the clamping jaw is controlled through the structure of the clamping jaw device, the arrangement of the air cylinder or the connecting rod is reduced, and the structure of the clamping jaw device is further reduced. In addition, a clamping and rotating device is provided based on the clamping jaw device, the clamping jaw device is connected with a motor, and the action of the clamping jaw is controlled through the action of the motor, so that the target object is rotated.

The clamping and rotating system disclosed in the embodiments of the present application can be used for, but is not limited to, screw automatic locking machines, laser dispensing machines, filling machines, transfer robots, and the like.

Fig. 1 and 2 are schematic views of a clamping jaw device provided in an embodiment of the present application. The method comprises the following steps: the clamping jaw tightening structure comprises a fixed shaft 200, a power mechanism 500, a clamping jaw 100 and a clamping jaw tightening structure 300.

The clamping jaw 100 is disposed around the fixing shaft 200, one end of the clamping jaw tightening structure 300 is connected to the fixing shaft 200, and the other end of the clamping jaw tightening structure 300 is connected to the clamping jaw 100.

The fixing shaft 200 is configured to receive power output from the power mechanism 500 (shown in fig. 3), contact a target object (not shown) by the power, and generate pressure on a contact surface with the target object. The stationary shaft 200 is also configured to retract when the pressure exceeds a threshold and trigger the jaw tightening mechanism 300 to control the jaws 100 to grip the target item.

It is understood that the power mechanism 500 may be an air cylinder, an electric pushing rod, an electric motor, an electric cylinder, etc. The power mechanism 500 is used for pushing the fixing shaft 200 to contact with a target object.

It will be appreciated that a pressure sensor may be provided on the contact surface of the spindle 200 that contacts the target item, and that the spindle 200 retracts when the pressure received by the pressure sensor exceeds a threshold. Of course, a pressure sensor may not be provided on the contact surface of the fixed shaft 200 that contacts the target object, and if a pressure sensor is not provided, pressure is generated when the fixed shaft 200 contacts the target object, and the fixed shaft 200 may be retracted when the pressure value therebetween reaches the maximum pressure value that the fixed shaft 200 can bear.

Since one end of the clamping jaw tightening structure 300 is connected to the fixing shaft 200, when the fixing shaft 200 retracts, the clamping jaw tightening structure 300 and the fixing shaft 200 are driven to move towards the retracting direction of the fixing shaft 200, and the movement of the clamping jaw tightening structure 300 further drives the clamping jaw 100 to move, so as to control the clamping jaw 100 to clamp the target object.

In the implementation process, the fixed shaft is connected with the clamping jaws through the clamping jaw tightening structure, when the pressure of the fixed shaft on the target object exceeds a threshold value, the fixed shaft is retracted, the clamping jaw tightening structure is driven to move to drive the clamping jaws to act, and the clamping jaws are controlled to clamp and clamp the target object through the fixed shaft. Through carrying out the linkage setting with fixed axle and clamping jaw, can realize releasing the automation mechanized operation of target object and centre gripping, avoid artificial intervention, improve the efficiency of work. And because the fixed shaft is arranged in the clamping jaw, the structure of the clamping jaw device is simplified, meanwhile, the structural design of the clamping device is more compact, and the occupied area is reduced.

In one possible implementation, the jaw apparatus should include: the elastic member 400.

Wherein, the elastic member 400 is connected to an end of the fixing shaft 200 away from the target object. When the pressure exceeds the threshold value, the elastic member 400 retracts and drives the fixing shaft 200 to retract.

It is understood that the elastic member 400 may be a spring, an elastic diaphragm, an elastic bellows, a bellows, etc. When the fixing shaft 200 contacts with the target object under the action of the power mechanism 500, the elastic member 400 is in a natural state or a stretched state, and when the pressure between the fixing shaft 200 and the target object reaches a threshold value, the elastic member 400 is in a compressed state to drive the fixing shaft 200 to retract.

In one possible implementation, the jaw tightening structure 300 includes: a stationary member 320 and a movable member 310.

Wherein, the fixing shaft 200 is connected with the elastic member 400 through the fixing member 320. The fixing member 320 is movably connected to a side of the clamping jaw 100 away from the fixing shaft 200, and the fixing member 320 is used for fixing the position of the clamping jaw 100 in the direction of the fixing shaft 200. One end of the movable member 310 is connected to one side of the clamping jaw 100 close to the fixed shaft 200, and the other end of the movable member 310 is connected to the fixed shaft 200.

When the fixed shaft 200 is retracted, the movable member 310 is driven to move towards the elastic member 400, and the clamping jaw 100 is triggered to rotate at the joint with the fixed member 320, so as to control the clamping jaw 100 to clamp the target object.

It is understood that the fixing member 320 may be a single body or a detachable body (shown as a detachable body in fig. 2). The movable member 310 may be one-piece or detachable (shown as detachable in fig. 1).

When the fixed shaft 200 retracts, the movable member 310 is driven to move along with the fixed shaft 200, and at this time, one side of the clamping jaw 100 close to the fixed shaft 200 also moves towards the retracting direction of the fixed shaft 200 under the action of the movable member 310. While the side of the clamping jaw 100 away from the fixed shaft 200 is connected with the fixing member 320, and the fixing member 320 is not moved. In the case of the clamping jaw 100, when one side of the clamping jaw 100 close to the fixing shaft 200 moves in the retracting direction of the fixing shaft 200 and one side of the clamping jaw 100 far from the fixing shaft 200 does not move, a force in the direction far from the fixing shaft 200 is generated at one end of the clamping jaw 100 connected with the clamping jaw tightening structure 300, and a force in the direction facing the fixing shaft 200 is generated at one end of the clamping jaw 100 not connected with the clamping jaw tightening structure 300, so that a target object is clamped by the force in the direction facing the fixing shaft 200.

In the implementation process, the clamping jaw is driven to act when the fixed shaft retracts through the matching of the fixing part and the moving part, so that the clamping jaw is controlled to clamp a target object through the fixed shaft, the clamping jaw is controlled through a simple mechanical structure, the structure of the clamping jaw device is simplified, and the production and maintenance cost is reduced.

In one possible implementation, the fixing member 320 includes: a connecting plate 321 and a fixing rod 322.

The fixing shaft 200 is connected to the elastic member 400 through the connecting plate 321, one end of the fixing rod 322 is fixedly connected to the connecting plate 321, and the other end of the fixing rod 322 is movably connected to one side of the clamping jaw 100 away from the fixing shaft 200.

It is understood that the fixing rod 322 is further provided with a bolt 323, the bolt 323 penetrates through a side of the clamping jaw 100 away from the fixing shaft 200, the clamping jaw 100 can rotate on the bolt 323, and both ends of the bolt 323 are fixed on the fixing rod 322. When the clamping jaw 100 is moved towards the retracting direction of the fixed shaft 200 under the action of the movable piece 310, the side, away from the fixed shaft 200, of the clamping jaw 100 is kept unchanged in the direction of the fixed shaft 200, the side, away from the fixed shaft 200, of the clamping jaw 100 is only rotated on the bolt 323, and the bolt 323 provides a supporting force for the clamping jaw 100 when clamping a target object.

In one possible implementation, moving part 310 includes: the connecting shaft 311 and the connecting rod 312.

Wherein, one end of the connecting rod 312 is fixedly connected with the fixing shaft 200, and the other end of the connecting rod 312 is fixedly connected with one end of the fixing shaft 200. The other end of the connecting shaft 311 is movably connected with one side of the clamping jaw 100 close to the fixed shaft 200.

When the fixing shaft 200 retracts, the connecting rod 312 is driven to move towards the elastic member 400, the connecting rod 312 further drives the connecting shaft 311 to move towards the elastic member 400, and the clamping jaw 100 is triggered to rotate at the connecting position with the connecting shaft 311, so that the clamping jaw 100 is controlled to clamp the target object.

As shown in fig. 3, it is a schematic view of a clamping and rotating system provided in the embodiment of the present application, including: a fixed plate 20, a motor 30 and the jaw apparatus 10 of any one of the first to third aspects.

Wherein the clamping jaw device 10 is arranged at one end of the fixing plate 20, and the motor 30 is arranged at the other end of the fixing plate 20. The motor 30 is connected to the clamping jaw device 10, and the motor 30 is configured to rotate the clamping jaw 100 after the clamping jaw 100 clamps the target object, so as to rotate the product shaft.

The gripper assembly 10 here can be connected to the motor 30 via a timing belt. The clamping jaw device 10 passes through one end of the fixing plate 20 far away from the motor 30 through the power mechanism 500.

After the clamping jaw 100 clamps the target object, the motor 30 rotates to drive the clamping jaw 100 to rotate through the synchronous belt, so as to drive the product shaft to rotate. It is understood that the timing belt may be a drive belt, a drive chain, or the like. Of course, other transmission devices are also possible, the synchronous belt can be set according to actual conditions, and the specific structure of the synchronous belt is not limited in the application.

In one possible implementation, as shown in fig. 4, the clamping and rotating system further comprises: a product holder 40 and a guide shaft 50.

Wherein the guide shaft 50 is disposed between the fixing plate 20 and the product holder 40, and the product holder 40 is used for fixing a target object. The jaw apparatus 10 extends through the product clamp 40 to clamp the target item.

The product holder 40 is provided with an area for holding the target object, and the jaw apparatus 10 is passed through the product holder 40 to contact the target object in the area.

It will be appreciated that one end of the guide shaft 50 is connected to the fixing plate 20, and the other end of the guide shaft 50 is connected to the product holder 40. The guide shaft 50 may be one or more. The guide shaft 50 may be a cylinder, a rectangular parallelepiped, or the like.

In one possible implementation, as shown in fig. 4, the product clamp 40 includes: a fixed limiting member 41 and a movable limiting member 42.

The fixed limiting part 41 and the movable limiting part 42 are both disposed on the product clamp 40, the fixed limiting part 41 and the movable limiting part 42 are disposed opposite to each other, and a target object is placed between the fixed limiting part 41 and the movable limiting part 42, so that the target object is fixed by extrusion between the fixed limiting part 41 and the movable limiting part 42.

The fixing and limiting member 41 is fixedly connected to the product clamp 40, and the fixing and limiting member 41 may be a fixing block, a fixing column, or the like.

Here, the movement limiting member 42 is movably connected to the product clamp 40, and the movement limiting member 42 can move on the product clamp 40 to fix the target object on the product clamp 40. It can be understood that an adjusting device may be disposed at an end of the movement limiting member 42 away from the target object, and the adjusting device is used for adjusting the movement of the movement limiting member 42 to control the pressing force of the fixed limiting member 41 and the movement limiting member 42 on the target object.

When the target object is placed in the target object fixing area of the product clamp 40, the adjusting device is adjusted to control the movement limiting member 42 to move, so that the target object is pressed. One end of the target object, which is far away from the moving limiting part 42, is in contact with the fixed limiting part 41, the fixed limiting part 41 limits the target object from moving, and the target object is fixed by squeezing the target object between the fixed limiting part 41 and the moving limiting part 42.

In the implementation process, the movement of the movable limiting part can be controlled to move the target object to the fixed limiting part by arranging the movable limiting part and the fixed limiting part, so that the target object is fixed by the extrusion of the movable limiting part, the fixed limiting part and the target object, the position of the target object is prevented from moving when the target object is clamped and rotated by the clamping jaw device, and the stability of the clamping and rotating system is improved.

In one possible implementation, as shown in fig. 3, the clamping and rotating system further comprises: a clamp spacing pin 60.

The clamp limiting pin 60 is disposed on one side of the product clamp 40 for fixing the target object, and the clamp limiting pin 60 is used for limiting the position of the clamping jaw device 10 and fixing the clamping jaw device 10, so that the clamping jaw device 10 clamps the target object.

It is to be understood that the jig spacing pin 60 may include one or more. When the jig limiting pin 60 is plural, the jig limiting pin 60 may include a fixed limiting pin and a telescopic limiting pin, and the product jig 40 is limited and fixed by the cooperation between the fixed limiting pin and the telescopic limiting pin.

In one possible implementation, as shown in fig. 5, the clamping and rotating system further comprises: the opto-electronic structure 70.

Wherein the opto-electronic structure 70 is arranged on the fixation plate 20. The optoelectronic structure 70 is used to obtain the rotation origin to determine the rotation information of the product axis, so that the motor 30 drives the product axis to rotate through the rotation information.

The opto-electronic structure 70 herein may comprise one or more of a laser device, a photosensor, infrared, etc.

The above-mentioned rotation origin is a starting point when the target article rotates. For example, in a screw lock mechanism, the origin of rotation may be provided as a lock hole. In the dispensing system, the rotation origin may be set as a reset point of the dispensing device, or the like.

When the target object rotates, in order to ensure the accuracy of the rotation, the rotation origin can be determined before the rotation. After the rotation origin is determined, the target object is rotated according to the set rotation time and the set rotation angle, so that the angle and the time of each rotation of the target object are always kept in the set range.

It will be appreciated that the opto-electronic structure 70 may be connected to a controller that is connected to the motor 30. The opto-electronic structure 70 sends the acquired rotation information to the controller, which controls the motor 30 to rotate according to the acquired rotation information.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A jaw apparatus, comprising: the fixed shaft, the power mechanism, the clamping jaw and the clamping jaw tightening structure;

the clamping jaw is arranged around the fixed shaft;

one end of the clamping jaw tightening structure is connected with the fixed shaft, and the other end of the clamping jaw tightening structure is connected with the clamping jaw;

the fixed shaft is configured to receive power output by the power mechanism, contact a target object under the action of the power, and generate pressure on a contact surface in contact with the target object;

the fixed shaft is further configured to retract when the pressure exceeds a threshold and trigger the jaw tightening mechanism to control the jaws to grip the target item.

2. The apparatus of claim 1, wherein the jaw apparatus further comprises: an elastic member;

the elastic piece is connected with one end of the fixed shaft, which is far away from the target object;

when the pressure exceeds a threshold value, the elastic part retracts and drives the fixing shaft to retract.

3. The apparatus of claim 2, wherein the jaw tightening structure comprises: the fixed piece and the movable piece;

the fixed shaft penetrates through the fixed part and is connected with the elastic part;

the fixing piece is movably connected with one side of the clamping jaw, which is far away from the fixed shaft, and is used for fixing the position of the clamping jaw in the direction of the fixed shaft;

one end of the movable piece is connected with one side, close to the fixed shaft, of the clamping jaw, and the other end of the movable piece is connected with the fixed shaft;

the fixed shaft drives the movable piece to move towards the elastic piece when retracting, and triggers the clamping jaw to rotate at the joint of the clamping jaw and the fixed piece so as to control the clamping jaw to clamp the target object.

4. The apparatus of claim 3, wherein the fixture comprises: a connecting plate and a fixing rod;

the fixed shaft penetrates through the connecting plate and is connected with the elastic piece;

one end of the fixed rod is fixedly connected with the connecting plate, and the other end of the fixed rod is movably connected with one side, far away from the fixed shaft, of the clamping jaw.

5. The apparatus of claim 3, wherein the movable member comprises: a connecting shaft and a connecting rod;

one end of the connecting rod is fixedly connected with the fixed shaft, and the other end of the connecting rod is fixedly connected with one end of the connecting shaft;

the other end of the connecting shaft is movably connected with one side of the clamping jaw close to the fixed shaft;

the connecting rod is further driven by the connecting rod to move towards the elastic piece, and then the clamping jaw is triggered to rotate at the joint of the clamping jaw and the connecting shaft so as to control the clamping jaw to clamp the target object.

6. A clamping and rotation system, comprising: a holding plate, a motor and a jaw arrangement as claimed in any one of claims 1 to 5;

the clamping jaw device is arranged at one end of the fixing plate, and the motor is arranged at the other end of the fixing plate;

the motor is connected with the clamping jaw device;

the motor is configured to drive the clamping jaw to rotate after the clamping jaw clamps a target object so as to drive the product shaft to rotate.

7. The system of claim 6, further comprising: a product clamp and a guide shaft;

the guide shaft is arranged between the fixing plate and the product clamp, and the product clamp is used for fixing a target object;

the clamping jaw device penetrates through the product clamp to clamp the target object.

8. The system of claim 7, wherein the product holder comprises: a fixed limiting piece and a movable limiting piece;

the fixed limiting part and the movable limiting part are both arranged on the product clamp;

the fixed limiting part and the movable limiting part are arranged oppositely, and a target object is placed between the fixed limiting part and the movable limiting part so as to be fixed through extrusion between the fixed limiting part and the movable limiting part.

9. The system of claim 7, further comprising: a clamp limit pin;

the clamp limiting pin is arranged on one surface of the product clamp for fixing the target object;

the clamp limiting pin is used for limiting the position of the clamping jaw device and fixing the clamping jaw device so that the clamping jaw device can clamp the target object.

10. The system of claim 6, further comprising: a photovoltaic structure;

the photoelectric structure is arranged on the fixing plate;

the photoelectric structure is used for acquiring a rotation origin to determine rotation information of the product shaft, so that the motor drives the product shaft to rotate through the rotation information.