Rotary clamping jaw and transfer device

Abstract

The invention relates to a rotary clamping jaw and a transfer device, the rotary clamping jaw comprises a support, a first driver, a second driver, a rotary seat and a clamping structure, and the support is provided with a barrel; the first driver is arranged on the support and comprises a first shaft which is telescopically arranged in the barrel in a penetrating manner; the second driver is arranged on the support; the rotating seat is hollow and is rotatably sleeved on the cylinder body; the clamping structure is arranged on the inner wall of the rotating base and used for clamping a workpiece. The second driver is in transmission connection with the rotating base so as to drive the rotating base to rotate and drive the clamping structure to rotate. The first shaft extends into the rotating base and is movably connected with the clamping structure so as to drive the clamping structure to be opened and closed and enable the clamping structure to rotate along with the rotating base. The barrel of the support is used for providing an installation position for the rotating seat, and the rotating seat is used for providing an installation position for the clamping structure, so that all parts of elements of the rotating clamping jaw have a stable installation foundation, and assembling is convenient. The transfer device comprises the rotary clamping jaw and is convenient to assemble.

Description

Technical Field

[0001] The present application relates to the technical field of chucks, and in particular to a rotating clamp and a transfer device. Background Art

[0002] In current testing laboratories, samples and sample carriers are usually grasped and rotated by rotating jaws when they are transferred or transported between various functional modules and testing instruments, such as rotating to open the cover, grasping sample tubes, and rotating scanning. The rotating jaws are generally composed of a rotating mechanism and a clamping mechanism to achieve independent clamping and rotation functions for the sample. The current rotating jaws have a complex structure and are inconvenient to assemble. Summary of the invention

[0003] Based on this, it is necessary to provide a rotating clamp and a transfer device to address the problem that the current rotating clamp is inconvenient to assemble.

[0004] On the one hand, the present application provides a rotating clamp, which includes a support, a first driver, a second driver, a rotating seat and a clamping structure, wherein the support is provided with a cylinder; the first driver is arranged on the support, and the first driver includes a first shaft that can be telescopically penetrated through the cylinder; the second driver is arranged on the support; the rotating seat is hollow and rotatably sleeved on the cylinder; the clamping structure is arranged on the inner wall of the rotating seat for clamping a workpiece; wherein the second driver is transmission-connected to the rotating seat to drive the rotating seat to rotate and drive the clamping structure to rotate; the first shaft extends into the rotating seat and is movably connected to the clamping structure to drive the clamping structure to open and clamp and allow the clamping structure to rotate with the rotating seat.

[0005] In one embodiment, the rotating clamp also includes a first bearing component, a pressure plate and a first threaded component, the inner ring of the first bearing component is fixedly sleeved outside the cylinder, the rotating seat is fixedly sleeved outside the outer ring of the first bearing component, the pressure plate is fixed to the end of the rotating seat through the first threaded component, and the pressure plate extends to cover the first bearing component to axially abut the side of the first bearing component away from the clamping structure.

[0006] In one embodiment, the rotating clamp further comprises a second threaded member, a rod portion of the second threaded member is connected to the free end of the cylinder, and a head portion of the second threaded member extends to abut against a side of the first bearing member facing the clamping structure.

[0007] In one of the embodiments, a partial area of ​​the outer circumference of the rotating seat is configured as a transmission portion that is in transmission cooperation with the second driver.

[0008] In one embodiment, the transmission cooperation mode between the transmission part and the second driver is one of gear transmission, belt transmission, chain transmission, connecting rod transmission and friction transmission.

[0009] In one embodiment, the clamping structure includes a connecting member axially movably arranged in the rotating seat, and the clamping structure is opened and clamped when the connecting member moves axially; the rotating clamp also includes a second bearing member and a third threaded member, and the connecting member is provided with a connecting cavity, and the connecting cavity forms an opening at the top of the connecting member for the first shaft to extend into, the outer ring of the second bearing member is fixedly matched with the cavity wall of the connecting cavity, and the inner ring is fixedly connected to the first shaft; the rod portion of the third threaded member is screwed to the top of the connecting member, and the head portion abuts against the side of the second bearing member close to the opening.

[0010] In one embodiment, the clamping structure includes a sliding seat, a clamping part, a transmission part and a retaining member, the sliding seat is fixedly arranged at one end of the rotating seat away from the first driver; the number of the clamping parts is at least two and they are respectively slidably matched with the sliding seat; the number of the transmission arms is multiple and they are respectively rotatably arranged on the inner wall of the rotating seat, one end of each of the multiple transmission arms is connected to the connecting member, and the other end is respectively connected to each of the clamping parts, when the transmission arm rotates, the transmission arm can drive the corresponding clamping part to approach and move away from other clamping parts, so that the clamping structure is clamped and opened; the retaining member is connected between two of the clamping parts to elastically pull the two clamping parts to move in a direction close to each other, and the number of the retaining member is at least one.

[0011] In one embodiment, the clamping structure also includes a first pin shaft arranged on the connecting member, a semi-lunar groove is opened at one end of the transmission arm, the semi-lunar grooves of the two transmission arms are arranged opposite to each other and are both sleeved on the first pin shaft; and / or the sliding seat is provided with a sliding groove and a connecting groove, the connecting groove passes through the sliding seat and is connected to the sliding groove, the two clamping parts are respectively slidably matched with the sliding groove, and the other end of the transmission arm is provided with a transmission ball head, and an adaptation hole is opened in the area of ​​the clamping part close to the connecting groove, and the two transmission ball heads are correspondingly engaged with the adaptation holes of the two clamping parts.

[0012] In one embodiment, the rotating clamp includes a first sensor, the first sensor is located at an end of the first shaft away from the clamping structure, the first sensor has a first detection area, and the first shaft can extend into and out of the first detection area when the first shaft moves telescopically; when the first shaft extends into the first detection area, the first shaft triggers the first sensor, and the first shaft drives the clamping structure to be in a relatively clamped state; when the first shaft moves out of the first detection area, the first shaft drives the clamping structure to be in a relatively open state; and / or the rotating clamp includes a second sensor and a retaining ring, the second sensor is arranged on the support, the second sensor is formed with a second detection medium, the retaining ring is sleeved on the rotating seat to rotate with the rotating seat, the retaining ring is provided with a plurality of slots, and the plurality of slots are arranged at intervals in the circumferential direction around the rotation axis of the rotating seat; the physical area of ​​the retaining ring can block the second detection medium, and the slot allows the second detection medium to pass through and trigger the second sensor; and / or the first driver is configured as a screw motor, the first shaft is constructed as a screw, the diameter of the first shaft is between 5 mm and 8 mm, and the lead of the first shaft is between 2 mm and 6 mm.

[0013] On the other hand, the present application provides a transfer device, which includes the rotating jaw as described above, and the rotating jaw is used to pick up a workpiece.

[0014] In the above-mentioned rotating clamp, the rotating seat can be rotatably sleeved on the cylinder body, so that the second driver can conveniently drive the rotating seat to rotate. The clamping structure is arranged on the inner wall of the rotating seat, and the first shaft of the first driver passes through the cylinder body and the rotating seat, and extends into the rotating seat to connect with the clamping structure, so the first shaft can drive the clamping structure to open and clamp. In this way, the clamping structure can be rotated with the rotating seat and can be opened and clamped under the drive of the first shaft by relying on a simple structure.

[0015] In the present application, the cylindrical body of the support is used to provide an installation position for the rotating seat, and the rotating seat is used to provide an installation position for the clamping structure, so that the various components of the rotating clamp have a stable installation foundation, which is convenient for assembly. For example, the clamping structure can be installed on the rotating seat to form an assembly, and then the assembly is mounted on the cylindrical body, and during the mounting process, the clamping structure is connected to the first shaft, and the rotating seat is connected to the second driver to complete the installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an axial schematic diagram of a rotating clamp provided in one embodiment of the present application.

[0017] Figure 2 for Figure 1 Exploded view of the rotating gripper shown.

[0018] Figure 3 for Figure 2 Axial schematic view of a portion of the structure of a support in a rotating clamp shown.

[0019] Figure 4 for Figure 2 A top view of the pressure plate, the first threaded member, the first bearing member, the transmission belt, the rotating seat and the clamping structure in the rotating clamp is shown.

[0020] Figure 5 for Figure 4 A cross-sectional view of a portion of the rotating clamping jaw along line AA is shown.

[0021] Figure 6 for Figure 4 An exploded schematic diagram of a portion of the structure of the rotating gripper is shown.

[0022] Figure 7 for Figure 1 Axial schematic diagram of the transfer rod and clamping structure in the rotating clamp shown.

[0023] Figure 8 for Figure 2 Exploded view of the transfer rod and clamping structure in the rotating clamp shown.

[0024] Fig. 9 for Figure 1 A schematic axial view of a first driver, a first sensor and a controller in a rotating clamp is shown.

[0025] Fig.10 for Fig. 9 A partial enlarged view of the structure of the rotating clamp shown at B.

[0026] Fig.11 for Figure 2 A schematic diagram of the axial side of the support, rotating seat, retaining ring and second sensor in the rotating clamp shown.

[0027] 1. Reference numerals: 10, rotating clamp; 100, support; 110, cylinder; 120, plate; 130, fixing plate; 140, vertical plate; 150, first through hole; 160, second through hole; 210, first driver; 211, first axis; 212, transfer rod; 220, second driver; 230, transmission belt; 240, driving wheel; 300, rotating seat; 310, transmission part; 320, inner cavity; 330, second mounting hole; 340, seat; 400, clamping structure; 410, connecting piece; 411, connecting cavity; 412, opening; 413, first mounting hole; 420, sliding seat; 421, sliding groove; 422, connecting groove; 430, clamping part; 431, adapter hole; 440, transmission arm; 441, half moon notch; 442, transmission ball head; 443, rotating part; 450, retaining member; 460, first pin shaft; 470, second pin shaft; 480, mounting plate; 510, first bearing member; 520, second bearing member; 610, first threaded member; 620, second threaded member; 630, third threaded member; 640, fourth threaded member; 650, fifth threaded member; 700, pressure plate; 810, first sensor; 811, first detection area; 812, first detection medium; 820, second sensor; 821, second detection area; 822, second detection medium; 830, controller; 900, retaining ring; 910, notch; 20, workpiece; O, rotation axis; S1, first direction; S2, second direction; S3, third direction. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0030] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0032] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0034] See also Figures 1 to 3 , Figure 1 This is a schematic axial view of a rotating clamp provided in one embodiment of the present application. Figure 2 for Figure 1 An exploded view of the rotating gripper is shown. Figure 3 for Figure 2A schematic diagram of the axial side of the support of the rotating jaw. The rotating jaw 10 provided in one embodiment of the present application can clamp the workpiece 20 and drive the workpiece to rotate. For example, when the workpiece 20 is a sample container, the rotating jaw 10 can clamp the sample container and drive the bottle cap of the sample container to rotate relative to the bottle body to open or close the sample container; or the rotating jaw 10 can drive the sample container to rotate and scan.

[0035] The rotating clamp 10 includes a support 100, a first driver 210, a second driver 220, a rotating seat 300 and a clamping structure 400, wherein the first driver 210 and the second driver 220 are both arranged on the support 100. The support 100 is provided with a cylinder 110, and the first driver 210 includes a first shaft 211 which is telescopically arranged through the cylinder 110. The rotating seat 300 is hollow and rotatably sleeved on the cylinder 110. The clamping structure 400 is arranged on the inner wall of the rotating seat 300 for clamping the workpiece 20. Among them, the second driver 220 is connected to the rotating seat 300 in a transmission manner to drive the rotating seat 300 to rotate and drive the clamping structure 400 to rotate. The first shaft 211 extends into the rotating seat 300 and is movably connected to the clamping structure 400 to drive the clamping structure 400 to open and clamp and allow the clamping structure 400 to rotate with the rotating seat 300.

[0036] In the above-mentioned rotating clamp 10, the rotating seat 300 is rotatably sleeved on the cylinder 110, so that the second driver 220 can conveniently drive the rotating seat 300 to rotate. The clamping structure 400 is arranged on the inner wall of the rotating seat 300, and the first shaft 211 of the first driver 210 passes through the cylinder 110 and the rotating seat 300, and extends into the rotating seat 300 to connect with the clamping structure 400, so the first shaft 211 can drive the clamping structure 400 to open and clamp. In this way, the clamping structure 400 can rotate with the rotating seat 300 and can be opened and clamped under the drive of the first shaft 211 by relying on a simple structure.

[0037] In the present application, the cylinder 110 of the support 100 is used to provide an installation position for the rotating seat 300, and the rotating seat 300 is used to provide an installation position for the clamping structure 400, so that the various components of the rotating clamp 10 have a stable installation base, which is convenient for assembly. For example, the clamping structure 400 can be installed on the rotating seat 300 to form an assembly, and then the assembly is sleeved on the cylinder 110, and during the sleeve process, the clamping structure 400 is connected to the first shaft 211, and the rotating seat 300 is connected to the second driver 220 to complete the installation. In the conventional technology, the clamp with a rotating function has both a rotating function and a clamping function. Usually, the clamp with a complete clamping function is separately provided, and a rotating shaft is configured to drive the clamp to rotate. At this time, the rotating shaft not only needs to drive the clamp to rotate, but also needs to bear the weight of the clamp, resulting in a large end load, a complex structure, many parts and inconvenient assembly. Compared with the clamp in the conventional technology, the present application configures a rotating seat 300 to be sleeved on the cylinder 110 of the support 100, and arranges the clamping structure 400 in the rotating seat 300 so that the first shaft 211 can pass through the cylinder 110 and the rotating shaft is connected to the clamping structure 400. The structural layout of the present application integrates the rotation and clamping, which reduces the parts and simplifies the structure compared with the clamp in the conventional technology, so that the rotating clamp 10 has the characteristics of small size and light weight. In addition, the cylinder 110 provides installation support for the rotating seat 300, and the rotating seat 300 provides installation support for the clamping structure 400, so that the assembly of the rotating clamp 10 is simpler and more convenient.

[0038] like Figure 1 and Figure 2 As shown, in one embodiment, the second driver 220 and the first driver 210 are arranged side by side on the support 100, so that the second driver 220 drives the rotating seat 300 sleeved on the cylinder 110 to rotate.

[0039] See also Figure 3 In one embodiment, the support 100 includes a plate body 120 and the cylinder body 110 as described above, and the plate body 120 is provided with a first through hole 150 and a second through hole 160, and the first through hole 150 extends to the cylinder body 110. The first driver 210 is disposed on one side of the plate body 120, and the first shaft 211 passes through the cylinder body 110 through the first through hole 150 and extends into the rotating seat 300. The second driver 220 is disposed on one side of the plate body 120, and the second shaft (not shown in the figure, the same below) of the second driver 220 passes through the second through hole 160 to the other side of the plate body 120, and is in transmission connection with the rotating seat 300 located on the other side.

[0040] In one embodiment, the hollow area in the rotating seat 300 is recorded as the inner cavity 320, the cylinder 110 is disposed in the inner cavity 320, and the clamping structure 400 is disposed on the wall of the inner cavity 320. It should be noted that only a part of the clamping structure 400 may be located in the inner cavity 320.

[0041] See also Figure 4 and Figure 5 , combined with Figure 2 In one embodiment, the rotating seat 300 can be rotatably sleeved on the cylinder 110 and remain fixed with the cylinder 110 in the direction along its rotation axis O. The rotating jaw 10 also includes a first bearing member 510, a pressure plate 700 and a first threaded member 610. The inner ring of the first bearing member 510 is fixedly sleeved outside the cylinder 110, and the rotating seat 300 is fixedly sleeved outside the outer ring of the first bearing member 510. As a result, the rotating seat 300 can be axially fixed with the cylinder 110 through the first bearing member 510. It can be understood that the inner ring of the first bearing member 510 can be interference fit with the cylinder 110, and the outer ring can be interference fit with the rotating seat 300 to achieve a fixed connection. The first bearing member 510 is located in the inner cavity 320.

[0042] Furthermore, the pressure plate 700 is fixed to the end of the rotating seat 300 by the first threaded member 610, and the pressure plate 700 extends to cover the first bearing member 510 to axially abut against the side of the first bearing member 510 that is away from the clamping structure 400. By abutting the first bearing member 510 with the pressure plate 700 connected to the rotating seat 300, the axial position stability of the rotating seat 300 can be further improved. Since the threaded connection is detachable, when the pressure plate 700 is deformed, worn, etc. after long-term use, the pressure plate 700 can be replaced by removing the first threaded member 610, thereby increasing the service life of the rotating jaw 10. Figure 4 and Figure 5 The pressure plate 700 may be an outer ring of the first bearing member 510 that extends inwardly from the inner ring.

[0043] In one embodiment, the first threaded member 610 and the second threaded member 620, the third threaded member 630, the fourth threaded member 640 and the fifth threaded member 650 mentioned below can be common threaded members such as screws and bolts. The use of a common structure makes the parts of the rotating clamp 10 more universal and interchangeable. When a failure, damage or falling off occurs, the corresponding parts can be easily replaced, thereby increasing the service life of the rotating clamp 10. The first bearing member 510 and the second bearing member 520 mentioned below can be bearings that can withstand axial loads, such as thrust bearings, angular contact ball bearings, tapered roller bearings, and end bearings.

[0044] See also Figure 5 , combined with Figure 2 and Figure 3In one embodiment, the rotating clamp 10 further includes a second threaded member 620, the rod of which is connected to the free end of the cylinder 110, and the head of which extends to abut against the side of the first bearing member 510 facing the clamping structure 400. By abutting the head of the second threaded member 620 against the side of the first bearing member 510 facing the clamping structure 400, the position stability of the first bearing member 510 on the cylinder 110 can be improved. The head of the second threaded member 620 can abut against the inner ring of the first threaded member 610. The head of the first threaded member 610 and the pressing plate 700, in conjunction with the head of the second threaded member 620, can respectively abut against the opposite sides of the first bearing member 510, so that the rotating seat 300 and the first bearing member 510 can be stably installed on the cylinder 110, and the rotating seat 300 is allowed to rotate freely relative to the cylinder 110.

[0045] It should be understood that, in the head and the stem of the first threaded member 610 and the second threaded member 620 described in each embodiment, the stem refers to the threaded portion of the threaded connector, and the head refers to the portion protruding radially outward relative to the stem.

[0046] Please refer to 2 and Figure 6 In one embodiment, a portion of the outer periphery of the rotating seat 300 is configured as a transmission part 310, and the transmission part 310 is in transmission cooperation with the second driver 220. That is, the rotating seat 300 includes a seat body 340 and a transmission part 310 located at the outer periphery of the seat body 340 and integrally arranged with the seat body 340. In this way, the number of parts of the rotating jaw 10 is relatively reduced, which is convenient for assembly. Of course, in other embodiments, the transmission part 310 can also be configured as a part independent of the rotating seat 300.

[0047] In one embodiment, the transmission matching mode between the transmission part 310 and the second driver 220 is one of gear transmission, belt transmission, chain transmission, connecting rod transmission and friction transmission. Those skilled in the art can select a suitable transmission matching mode according to actual needs. The shape and structure of the transmission part 310 can be adapted to the transmission matching mode between it and the second driver 220. For example, when the above-mentioned transmission matching mode is gear transmission, the transmission part 310 is constructed as a gear; when the above-mentioned transmission matching mode is belt transmission, the transmission part 310 is constructed as a pulley; when the above-mentioned transmission matching mode is chain transmission, the transmission part 310 is constructed as a sprocket; when the above-mentioned transmission matching mode is connecting rod transmission, the transmission part 310 is constructed as a connecting rod; when the above-mentioned transmission matching mode is friction transmission, the transmission part 310 is constructed as a friction wheel, and so on.

[0048] The following takes the cooperation mode of the transmission part 310 and the second driver 220 using synchronous belt drive as an example. At this time, the transmission part 310 is constructed as a synchronous wheel integrally formed on the outer periphery of the seat body 340. The rotating clamp 10 also includes a transmission belt 230 and a driving wheel 240. The second shaft of the second driver 220 is connected to the driving wheel 240 to drive the driving wheel 240 to rotate. The transmission belt 230 is wound around the outer periphery of the driving wheel 240 and the transmission part 310 (i.e., the synchronous wheel). When the second shaft drives the driving wheel 240 to rotate, it can drive the synchronous wheel to rotate through the transmission belt 230, so that the rotating seat 300 and the clamping structure 400 provided on the rotating seat 300 rotate accordingly.

[0049] See also Figure 7 and Figure 8 , combined with Figure 5 In one embodiment, the clamping structure 400 includes a connecting member 410, a sliding seat 420, a clamping portion 430 and a transmission arm 440. The connecting member 410 is axially movable in the rotating seat 300, and the clamping structure 400 is clamped and opened when the connecting member 410 moves axially. Further, the connecting member 410 can be connected to the first shaft 211, so as to move axially under the drive of the first shaft 211, so that the clamping structure 400 is opened and clamped as a whole.

[0050] Further, the slide 420 is fixedly arranged at one end of the rotating seat 300 away from the first driver 210, and the number of the clamping parts 430 is at least two and they are respectively slidably matched with the slide 420. The opening of the clamping structure 400 in each embodiment refers to the movement of each clamping part 430 in a direction away from each other, so that there is enough space between each clamping part 430 for the workpiece 20 to enter; the clamping of the clamping structure 400 in each embodiment refers to the movement of each clamping part 430 in a direction close to each other, so that each clamping part 430 acts on different areas of the workpiece 20 and cooperates with each other to clamp the workpiece 20. There are multiple transmission arms 440 and they are rotatably arranged on the inner wall of the rotating seat 300. One end of each of the multiple transmission arms 440 is connected to the connecting member 410, and the other end is respectively connected to each clamping part 430. When the transmission arm 440 rotates, the transmission arm 440 can drive the corresponding clamping part 430 to approach and move away from other clamping parts 430, so that the clamping structure 400 is opened and clamped. In short, the axial movement of the connecting member 410 can drive the transmission arms 440 to rotate, and each transmission arm 440 converts the axial movement of the connecting member 410 into the horizontal movement of each clamping portion 430 to clamp the workpiece 20 .

[0051] See also Figure 5In one embodiment, the rotating jaw 10 further includes a second bearing member 520 and a third threaded member 630. The connecting member 410 is provided with a connecting cavity 411, and the connecting cavity 411 forms an opening 412 at the top of the connecting member 410 for the first shaft 211 to extend into. The outer ring of the second bearing member 520 is fixedly matched with the cavity wall of the connecting cavity 411, and the inner ring is fixedly connected with the first shaft 211. The first shaft 211 and the connecting member 410 are axially fixed by the second bearing member 520, and the two can rotate freely in the circumferential direction. It can be understood that the outer ring of the second bearing member 520 can be interference-fitted with the cavity wall of the connecting cavity 411, and the inner ring can be interference-fitted with the first shaft 211 to achieve fixed connection. The rod portion of the third threaded member 630 is screwed with the top of the connecting member 410, and the head portion is in contact with the side of the second bearing member 520 close to the opening 412, so as to stably press the second bearing member 520 into the connecting cavity 411, thereby improving the stability of the connection between the connecting member 410 and the first shaft 211. The rotating jaw 10 provided in the present application provides rotational guidance and support for the rotating part of the rotating jaw 10 (i.e., the rotating seat 300 and the clamping structure 400) through the first bearing component 510 and the second bearing component 520, and the first bearing component 510 and the second bearing component 520 can also provide certain torsion and bending support to prevent the clamping structure 400 from tilting and twisting.

[0052] See also Figure 5 In one embodiment, the rotating clamp 10 further includes a fourth threaded member 640, the rod of which is connected to the first shaft 211, and the head of which is in contact with the side of the second bearing member 520 that is away from the third threaded member 630. The cooperation between the third threaded member 630 and the fourth threaded member 640 can improve the stability of the connection between the first shaft 211 and the connecting member 410. In one embodiment, the side of the second bearing member 520 that is away from the third threaded member 630 is in contact with the bottom wall of the connecting cavity 411. The second bearing member 520 is clamped by the cooperation between the bottom wall of the connecting cavity 411 and the head of the third threaded member 630, thereby improving the position stability of the second bearing member 520 in the connecting cavity 411.

[0053] See also Figures 2 to 8 In one embodiment, the first driver 210 further includes a transfer rod 212, which is connected between the first shaft 211 and the inner ring of the second bearing member 520. On the one hand, since the second bearing member 520 is usually a standard member, the inner diameter of its inner ring is usually a standard value, and the first shaft 211 can be conveniently connected to the second bearing member 520 by providing the transfer rod 212 to adapt and connect the inner ring of the second bearing member 520. On the other hand, it will be mentioned below that the first shaft 211 can be constructed to form a screw rod, which is inconvenient to directly connect and cooperate with the inner ring of the second bearing member 520. Therefore, the provision of the transfer rod 212 can conveniently connect the first shaft 211 constructed as a screw rod to the second bearing member 520.

[0054] See also Figure 7 and Figure 8 In one embodiment, the clamping structure 400 further includes a retaining member 450, which is an elastic member having elastic properties. The retaining member 450 is connected between the two clamping parts 430 to elastically pull the two clamping parts 430 to move toward each other. Through the elastic connection of the retaining member 450, the two clamping parts 430 always have a tendency to move toward each other. Therefore, even if the rotating jaw 10 is accidentally powered off, the retaining member 450 can provide a clamping force for the clamping part 430, thereby maintaining a certain clamping force for the clamping structure 400 in the event of a power outage to prevent the pipe from falling. Furthermore, the retaining member 450 can be configured as a tension spring. The number of retaining members 450 is at least one.

[0055] In one embodiment, the number of the clips 430 may be two, and one end of the retaining member 450 is connected to one of the clips 430 , and the other end is connected to the other clip 430 .

[0056] See also Figure 8 , combined with Figure 5 In one embodiment, the clamping structure 400 further includes a first pin 460 and a second pin 470, wherein the first pin 460 is disposed on the connecting member 410, and the second pin 470 is disposed on the rotating seat 300. A half-moon notch 441 is provided at one end of the transmission arm 440, and a transmission ball head 442 is provided at the other end. The transmission arm 440 further includes a rotating portion 443, and the rotating portion 443 is located between the area where the half-moon notch 441 is located and the area where the transmission ball head 442 is located. The half-moon notches 441 of the two transmission arms 440 are arranged facing each other and are both sleeved on the first pin 460. In this way, the two transmission arms 440 can be driven to rotate by the first pin 460. The rotating portion 443 is rotationally connected to the second pin 470. Since the semi-lunar notch 441 and the transmission ball head 442 are both eccentrically arranged relative to the rotating portion 443 , the first pin 460 abutting against the groove wall of the semi-lunar notch 441 can drive the transmission arm 440 to rotate and drive the transmission ball head 442 to rotate around the rotating portion 443 .

[0057] See also Figure 8 , combined with Figure 6 Further, the connecting member 410 is provided with a first mounting hole 413, and the first pin 460 is passed through the first mounting hole 413 to be installed on the connecting member 410. The rotating seat 300 may be provided with a second mounting hole 330, and the second pin 470 is passed through the second mounting hole 330. The rotating portion 443 may be sleeved on the second pin 470 to be rotatably connected with the second pin 470 and installed on the rotating seat 300.

[0058] Please continue reading Figure 7 and Figure 8 , see also Figure 5In one embodiment, the slide seat 420 is provided with a slide groove 421 and a connecting groove 422. The connecting groove 422 runs through the slide seat 420 and is connected to the slide groove 421. The two clamping parts 430 are respectively slidably matched with the slide groove 421. The area of ​​the clamping part 430 close to the connecting groove 422 is provided with an adapting hole 431. The two transmission ball heads 442 are correspondingly engaged with the adapting holes 431 of the two clamping parts 430. Therefore, when the transmission ball head 442 rotates around the rotating part 443, it can push the clamping part 430 to slide along the slide groove 421. By providing the connecting groove 422 running through the slide seat 420, the transmission arm 440 disposed on the rotating seat 300 can conveniently drive the clamping part 430 disposed on the side of the slide seat 420 away from the transmission arm 440 to move.

[0059] See also Figure 7 and Figure 8 Furthermore, the rotating jaw 10 also includes a fifth threaded member 650 , and the sliding seat 420 is connected and fixed to the rotating seat 300 via the fifth threaded member 650 .

[0060] See also Figure 7 and Figure 8 In one embodiment, the number of retaining members 450 may be two. The clamping direction of the clamping portion 430 is recorded as the first direction S1, and the direction perpendicular to the first direction S1 is recorded as the second direction S2. The slide groove 421 may be extended along the first direction S1, and the clamping portion 430 slides with the slide groove 421 along the first direction S1. In the second direction S2, the two retaining members 450 are respectively located on both sides of the clamping portion 430 to improve the uniformity of the elastic clamping force. Further, the clamping structure 400 may include two mounting plates 480, and the two mounting plates 480 are respectively connected to the sides of the two clamping portions 430 that are away from each other. The mounting plate 480 is extended along the second direction S2, so that along the second direction S2, both sides of the mounting plate 480 protrude from the clamping portion 430. The two ends of the retaining member 450 are respectively connected between the protruding areas of the two mounting plates 480 on the same side.

[0061] See also Fig. 9 and Fig.10 In one embodiment, the rotating jaw 10 includes a first sensor 810, a second sensor 820 and a controller 830. The first sensor 810, the second sensor 820, the first driver 210 and the second driver 220 are electrically connected to the controller 830 respectively. The controller 830 can receive detection signals from the first sensor 810 and the second sensor 820, and send control signals (such as start signals and stop signals) to the first driver 210 and the second driver 220. Further, the support 100 includes a vertical plate 140 connected to the plate body 120, and the controller 830 can be disposed on the vertical plate 140.

[0062] like Fig.10, the first sensor 810 is arranged on the first driver 210 or on the support 100, and the first sensor 810 is located at the end of the first shaft 211 away from the clamping structure 400. The first sensor 810 has a first detection area 811, and the first shaft 211 can extend into and out of the first detection area 811 during telescopic movement. When the first shaft 211 extends into the first detection area 811, the first shaft 211 triggers the first sensor 810, and the first shaft 211 drives the clamping structure 400 to be in a relatively clamped state. When the first shaft 211 moves out of the first detection area 811, the first shaft 211 drives the clamping structure 400 to be in a relatively open state. Thus, the clamping state of the clamping structure 400 can be known according to the triggering state of the first sensor 810. It can be understood that the first sensor 810 can form a first detection medium 812 in the first detection area 811, and the first sensor 810 can be triggered when the first detection medium 812 is blocked by the first shaft 211. It should be understood that the triggering of the sensors described in the embodiments of the present application can be either a triggering of a digital signal from a low level to a high level or a triggering of a digital signal from a high level to a low level, which can be set according to actual needs and is not limited here. The first sensor 810 and the second sensor 820 can be sensors such as optical couplers, photoelectric sensors, and infrared sensors.

[0063] The clamping state of the clamping structure 400 can be obtained in combination with other information to conveniently realize various detection functions. In the following, the first axis 211 is used to drive the clamping structure 400 to clamp when it rises along the third direction S3, and to drive the clamping structure 400 to open when it descends along the third direction S3. The third direction S3 can be parallel to the rotation axis O of the rotating seat 300. Figure 5 , the clamping state of the clamping structure 400 can be known to detect the presence of a tube: the controller 830 controls the first axis 211 to rise and perform the clamping action. At this time, if the clamping structure 400 successfully completes the action of clamping the workpiece 20, the workpiece 20 will hinder the clamping structure 400 from further clamping, and the first axis 211 will not enter the first detection area 811 to trigger the first sensor 810. Therefore, by knowing whether the first sensor 810 is triggered, it can be known whether the clamping structure 400 has a workpiece 20, that is, the tube detection function is realized. This detection method can also be used to determine whether the clamping structure 400 is empty, that is, to realize the empty clamp detection function.

[0064] Combination Figure 5 Similarly, knowing the clamping state of the clamping structure 400 enables pipe drop detection. When the workpiece 20 falls, the workpiece 20 will no longer block the clamping of the clamping structure 400, and the first shaft 211 will extend into the first detection area 811 to trigger the first sensor 810, thereby realizing the pipe drop detection function.

[0065] In addition, when the rotating clamping jaw 10 completes a clamping task or a staged clamping task, the first shaft 211 can be driven to rise, so that the clamping structure 400 is reset to the position of the clamping state, which is convenient for the next clamping task. In other words, the position of the clamping structure 400 when the first shaft 211 triggers the first sensor 810 can be set as the standard position of the clamping structure 400, and the clamping structure 400 can be reset when the clamping task is completed, so as to accurately know the clamping state of the clamping structure 400.

[0066] See also Fig.11 In one embodiment, the rotating jaw 10 includes a retaining ring 900. The second sensor 820 is disposed on the support 100, and the second sensor 820 is formed with a second detection medium 822. The retaining ring 900 is sleeved on the rotating seat 300 to rotate with the rotating seat 300. The retaining ring 900 is provided with a plurality of notches 910, and the plurality of notches 910 are arranged at intervals in the circumferential direction around the rotation axis O of the rotating seat 300. The solid area of ​​the retaining ring 900 can block the second detection medium 822. The notch 910 allows the second detection medium 822 to pass through and trigger the second sensor 820. Since the retaining ring 900 rotates with the rotating seat 300, the rotation position of the rotating seat 300 can be known through the triggering state of the second sensor 820, so as to perform rotation positioning on the rotating seat 300. For example, when the retaining ring 900 is provided with three notches 910, the triggering of the second sensor 820 four times (including the triggering of the notch 910 at the initial position) means that the rotating seat 300 completes a single rotation, and the triggering of the second sensor 820 by any notch 910 indicates that the rotating seat 300 is at one of the set rotation positions. The number of notches 910 can be configured according to the number of angles required for positioning; and the circumferential distribution position of each notch 910 can be configured according to the rotation position required for positioning, which is not specifically limited here. In this embodiment, the rotating seat 300 can be positioned directly and conveniently through the notch 910. Compared with controlling the input parameters of the second driver 220 to control the rotation angle of the rotating seat 300, the positioning method of this embodiment is more direct and is not affected by the transmission error of the transmission between the second driver 220 and the rotating seat 300.

[0067] Regarding the second sensor 820, the second sensor 820 may be provided with a second detection area 821, and along the rotation axis O of the rotation shaft, the projection of the second detection area 821 and the retaining ring 900 have an overlapping area. In the process of the retaining ring 900 rotating with the rotating seat 300, its physical area can be moved into the second detection area 821, and the area where the notch 910 is located can be moved into the second detection area 821. Further, the support 100 may include a fixing plate 130, the fixing plate 130 is connected to the plate body 120, and the second sensor 820 is arranged on the fixing plate 130. The second sensor 820 is connected and supported by the fixing plate 130, so that the distribution position of the second sensor 820 can be more flexible, so that it can be adaptively arranged at a position close to the retaining ring 900, so that a part of the retaining ring 900 is located in the second detection area 821.

[0068] In one embodiment, the first driver 210 is configured as a screw motor, and the first shaft 211 is constructed as a screw. The diameter of the first shaft 211 is between 5 mm and 8 mm, and the lead of the first shaft 211 is between 2 mm and 6 mm. As a result, the first driver 210 has a certain self-locking ability, which is convenient for the clamping structure 400 to remain clamped; the first driver 210 can also rotate in the opposite direction under the drive of an external force, so that the clamping structure 400 can be opened under force. Such a configuration facilitates manual opening of the clamping structure 400 to remove the workpiece 20 after the rotating jaw 10 is powered off, reducing the probability of the workpiece 20 being unable to be removed after the rotating jaw 10 is powered off.

[0069] Further, the diameter of the first shaft 211 may be 5 mm, 5.65 mm, 6 mm, 6.35 mm, 6.7 mm, 7.05 mm, or 8 mm, etc. The lead of the first shaft 211 may be 2 mm, 3.123 mm, 4 mm, 4.877 mm, 5.123 mm, or 6 mm.

[0070] In the absence of contradiction, the components described in the embodiments of the present application can all be fixed by threaded connectors, for example, the first driver 210 can be locked to the support 100, the second driver 220 can be locked to the support 100, the mounting plate 480 can be locked to the clamping portion 430, the fixing sheet 130 can be locked to the plate body 120, the vertical plate 140 can be locked to the plate body 120 or the first driver 210, and the controller 830 can be locked to the vertical plate 140, etc. In this way, each component has a detachable nature, which is convenient for disassembly and replacement, and the service life of the rotating clamp 10 is increased.

[0071] An embodiment of the present application further provides a transfer device, which includes the rotating clamp 10 as described in each embodiment.

[0072] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A rotating clamp, characterized in that: The rotating jaw comprises: A support having a cylinder body; A first driver, disposed on the support, the first driver comprising a first shaft telescopically passing through the cylinder; A second driver, disposed on the support; A rotating seat, which is hollow and rotatably sleeved on the cylinder; A clamping structure, disposed on the inner wall of the rotating seat, for clamping a workpiece; Among them, the second driver is transmission connected to the rotating seat to drive the rotating seat to rotate and drive the clamping structure to rotate; the first shaft extends into the rotating seat and is movably connected to the clamping structure to drive the clamping structure to open and close and allow the clamping structure to rotate with the rotating seat.

2. The rotating clamp according to claim 1, characterized in that: The rotating clamp also includes a first bearing component, a pressure plate and a first threaded component. The inner ring of the first bearing component is fixedly sleeved outside the cylinder, and the rotating seat is fixedly sleeved outside the outer ring of the first bearing component. The pressure plate is fixed to the end of the rotating seat through the first threaded component, and the pressure plate extends to cover the first bearing component to axially abut the side of the first bearing component that is away from the clamping structure.

3. The rotating clamp according to claim 2, characterized in that: The rotating clamp further comprises a second threaded member, the rod portion of the second threaded member is connected to the free end of the cylinder, and the head portion of the second threaded member extends to abut against a side of the first bearing member facing the clamping structure.

4. The rotating clamp according to claim 1, characterized in that: A partial area of ​​the outer circumference of the rotating seat is configured as a transmission portion that is in transmission cooperation with the second driver.

5. The rotating clamp according to claim 4, characterized in that: The transmission cooperation mode between the transmission part and the second driver is one of gear transmission, belt transmission, chain transmission, connecting rod transmission and friction transmission.

6. The rotating clamp according to claim 1, characterized in that: The clamping structure comprises a connecting piece axially movably arranged in the rotating seat, and the connecting piece axially moves to open and close the clamping structure; The rotating clamp also includes a second bearing member and a third threaded member. The connecting member is provided with a connecting cavity. The connecting cavity forms an opening at the top of the connecting member for the first shaft to extend into. The outer ring of the second bearing member is fixedly matched with the cavity wall of the connecting cavity, and the inner ring is fixedly connected to the first shaft. The rod portion of the third threaded member is screwed to the top of the connecting member, and the head portion abuts against the side of the second bearing member close to the opening.

7. The rotating clamp according to claim 6, characterized in that: The clamping structure comprises: A sliding seat, fixedly mounted on an end of the rotating seat away from the first driver; Clamping parts, the number of which is at least two and which are respectively slidably matched with the sliding seat; A transmission arm, wherein the transmission arms are plural in number and are rotatably disposed on the inner wall of the rotating seat, one end of each of the transmission arms is connected to the connecting member, and the other end is correspondingly connected to each of the clamping parts. When the transmission arm rotates, the transmission arm can drive the corresponding clamping part to approach and move away from other clamping parts, so that the clamping structure is clamped and opened; and A retaining member is connected between the two clamping parts to elastically pull the two clamping parts to move toward each other, and the number of the retaining member is at least one.

8. The rotating clamp according to claim 7, characterized in that: The clamping structure further comprises a first pin shaft arranged on the connecting member, a half-moon notch is formed at one end of the transmission arm, the half-moon notches of the two transmission arms are arranged facing each other and are both sleeved on the first pin shaft; and / or The slide seat is provided with a slide groove and a connecting groove, the connecting groove passes through the slide seat and is connected to the slide groove, the two clamps are respectively slidably matched with the slide groove, the other end of the transmission arm is provided with a transmission ball head, and the area of ​​the clamp close to the connecting groove is provided with an adaptation hole, and the two transmission ball heads are correspondingly engaged with the adaptation holes of the two clamps.

9. The rotating clamp according to claim 1, characterized in that: The rotating clamp includes a first sensor, which is located at an end of the first shaft away from the clamping structure, and has a first detection area. The first shaft can extend into and out of the first detection area during telescopic movement; when the first shaft extends into the first detection area, the first shaft triggers the first sensor, and the first shaft drives the clamping structure to a relatively clamped state; when the first shaft moves out of the first detection area, the first shaft drives the clamping structure to a relatively open state; and / or The rotating clamp comprises a second sensor and a retaining ring, wherein the second sensor is arranged on the support, a second detection medium is formed on the second sensor, the retaining ring is sleeved on the rotating seat to rotate with the rotating seat, a plurality of notches are formed on the retaining ring, and the plurality of notches are arranged at intervals in the circumferential direction around the rotation axis of the rotating seat; the physical area of ​​the retaining ring can block the second detection medium, and the notch allows the second detection medium to pass through to trigger the second sensor; and / or The first drive is configured as a lead screw motor, the first shaft is constructed as a lead screw, the diameter of the first shaft is between 5 mm and 8 mm, and the lead of the first shaft is between 2 mm and 6 mm.

10. A transfer device, characterized in that: The transfer device comprises a rotating jaw according to any one of claims 1 to 9, wherein the rotating jaw is used to pick up a workpiece.

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