Rotary gripper and transfer device

Abstract

The application relates to a rotary clamp and a transfer device. The rotary clamp comprises a support, a first driver, a second driver, a rotary seat and a clamping structure. The support is provided with a cylinder. The first driver is arranged on the support and comprises a first shaft which is telescopically arranged through the cylinder. The second driver is arranged on the support. The rotary seat is hollow and rotatably sleeved on the cylinder. The clamping structure is arranged on the inner wall of the rotary seat and used for clamping a workpiece. The second driver is in transmission connection with the rotary seat to drive the rotary seat to rotate and drive the clamping structure to rotate. The first shaft extends into the rotary seat and is in movable connection with the clamping structure to drive the clamping structure to open and close and to rotate with the rotary seat. The cylinder of the support provides a mounting position for the rotary seat, and the rotary seat provides a mounting position for the clamping structure, so that the parts of the rotary clamp have stable mounting bases and are convenient to assemble. The transfer device comprises the rotary clamp and is convenient to assemble.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chuck, in particular to a rotary jaw and transfer device. BACKGROUND

[0002] In the current inspection laboratory, the sample and the sample carrier are transferred or transported in various functional modules and inspection instruments, and are usually grabbed and rotated by a rotary jaw, such as rotary cover opening, sample tube grabbing and rotary scanning. The rotary jaw is generally composed of a rotating mechanism and a clamping mechanism to realize independent clamping and rotating functions of the sample. The current rotary jaw structure is complex and is not convenient to assemble. SUMMARY

[0003] Therefore, it is necessary to provide a rotary jaw and transfer device to solve the problem of inconvenient assembly of the current rotary jaw.

[0004] The present application provides a rotary jaw, which comprises a support, a first driver, a second driver, a rotating seat and a clamping structure. The support is provided with a cylinder. The first driver is arranged on the support and comprises a first shaft which is telescopically arranged in 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 and is used for clamping a workpiece. The second driver is in transmission connection with 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 in movable connection with the clamping structure to drive the clamping structure to open and close and to rotate with the rotating seat.

[0005] In one embodiment, the rotary jaw further comprises a first bearing, a pressing plate and a first threaded member. The inner ring of the first bearing is fixedly sleeved on the outside of the cylinder. The rotating seat is fixedly sleeved on the outside of the outer ring of the first bearing. The pressing plate is fixedly arranged on the end of the rotating seat by the first threaded member and extends to cover the first bearing to axially abut against the side of the first bearing which is away from the clamping structure.

[0006] In one embodiment, the rotary jaw further comprises a second threaded member. The rod portion of the second threaded member is connected with the free end of the cylinder, and the head portion extends to abut against the side of the first bearing which faces the clamping structure.

[0007] In one embodiment, part of the outer periphery of the rotating seat is configured as a transmission part which is in transmission cooperation with the second driver.

[0008] In one of the embodiments, the transmission part of 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 of the embodiments, the clamping structure comprises a connecting piece movably arranged in the rotating seat, and the connecting piece is axially movable to open and close the clamping structure; the rotating clamping jaw further comprises a second bearing and a third threaded piece, the connecting piece is provided with a connecting cavity, the connecting cavity is provided with an opening at the top of the connecting piece for the first shaft to extend into, the outer ring of the second bearing is fixedly connected with the cavity wall of the connecting cavity, and the inner ring is fixedly connected with the first shaft; the rod part of the third threaded piece is screwed with the top of the connecting piece, and the head part is abutted with the side of the second bearing close to the opening.

[0010] In one of the embodiments, the clamping structure comprises a sliding seat, a clamping part, a transmission part and a retaining piece, the sliding seat is fixedly arranged at one end of the rotating seat away from the first driver; the number of the clamping part is at least two and is slidably connected with the sliding seat; the number of the transmission arm is multiple and is rotatably arranged on the inner wall of the rotating seat, one end of the multiple transmission arms is connected with the connecting piece, and the other end is respectively connected with each clamping part, when the transmission arm rotates, the transmission arm can drive the corresponding clamping part to move close to and away from other clamping parts, so as to open and close the clamping structure; the retaining piece is connected between two clamping parts to elastically pull the two clamping parts to move close to each other, and the number of the retaining piece is at least one.

[0011] In one of the embodiments, the clamping structure further comprises a first pin shaft arranged on the connecting piece, the transmission arm is provided with a half moon notch at one end, and the half moon notches of the two transmission arms are oppositely arranged and sleeved on the first pin shaft; and / or the sliding seat is provided with a sliding groove and a communication groove, the communication groove penetrates through the sliding seat and communicates with the sliding groove, the two clamping parts are respectively slidably connected with the sliding groove, the other end of the transmission arm is provided with a transmission ball head, the region close to the communication groove of the clamping part is provided with an adaptive hole, and the two transmission ball heads are correspondingly clamped with the adaptive holes of the two clamping parts.

[0012] In one of the embodiments, the rotating gripper comprises a first sensor located at an end of the first shaft away from the clamping structure, the first sensor having a first detection zone into which the first shaft can extend and out of which the first shaft can move, when the first shaft is in the telescopic movement; when the first shaft extends into the first detection zone, the first shaft triggers the first sensor, and the first shaft drives the clamping structure to be in the relatively clamped state; when the first shaft moves out of the first detection zone, the first shaft drives the clamping structure to be in the relatively open state; and / or the rotating gripper comprises a second sensor and a blocking ring, the second sensor being arranged on the support, the second sensor being formed with a second detection medium, the blocking ring being sleeved on the rotating seat to rotate with the rotating seat, the blocking ring being provided with a plurality of notches, the plurality of notches being arranged in the circumferential direction of the rotation axis of the rotating seat; the solid area of the blocking ring can block the second detection medium, and the notches allow the second detection medium to pass through to trigger the second sensor; and / or the first driver is configured as a screw rod motor, the first shaft is configured as a screw rod, the diameter of the first shaft is between 5mm and 8mm, and the lead of the first shaft is between 2mm and 6mm.

[0013] Another aspect of the present application provides still another transfer device, which comprises the rotating gripper as described above, and the rotating gripper is used to pick up a workpiece.

[0014] In the rotating gripper described above, the rotating seat is rotatably sleeved on the cylinder, 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 and the rotating seat, extends into the rotating seat to be connected with the clamping structure, so that the first shaft can drive the clamping structure to open and clamp. In this way, the clamping structure can rotate with the rotating seat and open and clamp under the driving of the first shaft by means of a simple structure.

[0015] In the present application, the cylinder of the support provides a mounting position for the rotating seat, and the rotating seat provides a mounting position for the clamping structure, so that the various components of the rotating gripper have a stable mounting basis and are convenient to assemble. For example, the clamping structure can be assembled on the rotating seat to form an assembly, and then the assembly is sleeved on the cylinder, and the clamping structure is connected with the first shaft and the rotating seat is connected with the second driver during the sleeving process, so that the mounting is completed. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The axial side schematic view of the rotating gripper provided by one of the embodiments of the present application.

[0017] Figure 2 The axial side schematic view of the rotating gripper provided by one of the embodiments of the present application. Figure 1 The axial side schematic view of the rotating gripper provided by one of the embodiments of the present application.

[0018] Figure 3 Fig. 4 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 2 Fig. 5 is a top view of the structure of the rotary jaw shown in Fig. 1.

[0019] Figure 4 Fig. 6 is a cross-sectional view of a portion of the structure of the rotary jaw shown in Fig. 1 along line A-A. Figure 2 Fig. 7 is an axial view of the structure of the rotary jaw shown in Fig. 1.

[0020] Figure 5 Fig. 8 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 4 Fig. 9 is a cross-sectional view of a portion of the structure of the rotary jaw shown in Fig. 1 along line A-A.

[0021] Figure 6 Fig. 10 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 4 Fig. 11 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0022] Figure 7 Fig. 12 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 1 Fig. 13 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0023] Figure 8 Fig. 14 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 2 Fig. 15 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0024] Figure 9 Fig. 16 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 1 Fig. 17 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0025] Figure 10 Fig. 18 is a partial enlarged view of a portion of the structure of the rotary jaw shown in Fig. 1 at point B. Figure 9 Fig. 19 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0026] Figure 11 Fig. 20 is an axial view of a portion of the structure of the rotary jaw shown in Fig. 1. Figure 2 Fig. 21 is an exploded view of a portion of the structure of the rotary jaw shown in Fig. 1.

[0027] 10, rotating jaw; 100, support; 110, barrel; 120, plate body; 130, fixed sheet; 140, vertical plate; 150, first through hole; 160, second through hole; 210, first driver; 211, first shaft; 212, adapter 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 body; 400, clamping structure; 410, connecting piece; 411, connecting cavity; 412, opening; 413, first mounting hole; 420, sliding seat; 421, sliding groove; 422, communication groove; 430, clamping part; 431, matching hole; 440, transmission arm; 441, half moon notch; 442, transmission ball head; 443, rotating part; 450, retaining piece; 460, first pin shaft; 470, second pin shaft; 480, mounting plate; 510, first bearing piece; 520, second bearing piece; 610, first threaded part; 620, second threaded part; 630, third threaded part; 640, fourth threaded part; 650, fifth threaded part; 700, pressing 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, blocking 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 objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application.

[0029] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, if there are terms "a plurality of", the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0031] In the present application, unless otherwise explicitly specified and limited, if there are terms "installation", "connection", "connection", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] In the present application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on" or "second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be the first feature directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" of the second feature can be the first feature directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0033] It should be noted that if an element is referred to as "fixed to" or "provided to" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If there is, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for the purpose of description, and do not represent the only implementation.

[0034] Referring to Figures 1 to 3 , Figure 1 the shaft side view of the rotating gripper provided by an embodiment of the present application, Figure 2 for Figure 1 the exploded view of the rotating gripper shown, Figure 3 for Figure 2The shaft side schematic view of the support of the shown rotary gripper. The rotary gripper 10 provided by an embodiment of the present application can clamp a workpiece 20 and drive the workpiece to rotate. For example, when the workpiece 20 is a sample container, the rotary gripper 10 can clamp the sample container and drive the cap of the sample container to rotate relative to the bottle body to open or close the sample container; or the rotary gripper 10 can drive the sample container to rotate and scan.

[0035] The rotary gripper 10 comprises a support 100, a first driver 210, a second driver 220, a rotary seat 300 and a clamping structure 400, and the first driver 210 and the second driver 220 are both arranged on the support 100. The support 100 is provided with a barrel 110, and the first driver 210 comprises a first shaft 211 which is telescopically arranged through the barrel 110. The rotary seat 300 is hollow and is rotatably sleeved on the barrel 110. The clamping structure 400 is arranged on the inner wall of the rotary seat 300 and is used for clamping the workpiece 20. The second driver 220 is in transmission connection with the rotary seat 300 to drive the rotary seat 300 to rotate and drive the clamping structure 400 to rotate. The first shaft 211 extends into the rotary seat 300 and is in activity connection with the clamping structure 400 to drive the clamping structure 400 to open and clamp and to rotate with the rotary seat 300.

[0036] In the rotary gripper 10 described above, the rotary seat 300 is rotatably sleeved on the barrel 110, so that the second driver 220 can conveniently drive the rotary seat 300 to rotate. The clamping structure 400 is arranged on the inner wall of the rotary seat 300, and the first shaft 211 of the first driver 210 passes through the barrel 110 and the rotary seat 300 and extends into the rotary seat 300 to be connected with the clamping structure 400, so that 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 rotary seat 300 and can open and clamp under the driving of the first shaft 211 by means of a simple structure.

[0037] In the present application, the cylinder 110 of the support 100 provides a mounting position for the rotating seat 300, and the rotating seat 300 provides a mounting position for the clamping structure 400, so that each part of the rotating clamp jaw 10 has a stable mounting basis and is convenient for assembly. For example, the clamping structure 400 can be assembled on the rotating seat 300 to form an assembly, and then the assembly is sleeved on the cylinder 110, and in the sleeving process, the clamping structure 400 is connected with the first shaft 211, and the rotating seat 300 is connected with the second driver 220, and the installation is completed. In the prior art, the clamp jaw with a rotating function usually has a complete clamping function and is separately arranged, and a rotating shaft is configured to drive the clamp jaw to rotate. At this time, the rotating shaft not only needs to drive the clamp jaw to rotate, but also needs to bear the weight of the clamp jaw, resulting in large end load, complex structure, many parts and inconvenient assembly. Compared with the clamp jaw in the prior art, in the present application, the rotating seat 300 is sleeved on the cylinder 110 of the support 100, and the clamping structure 400 is arranged in the rotating seat 300, so that the first shaft 211 can pass through the cylinder 110 and the rotating shaft and be connected with the clamping structure 400. The structure layout of the present application integrates the rotating and clamping functions, reduces the parts, simplifies the structure, and makes the rotating clamp jaw 10 have the characteristics of small size and light weight. Moreover, the cylinder 110 provides mounting support for the rotating seat 300, and the rotating seat 300 provides mounting support for the clamping structure 400, so that the assembly of the rotating clamp jaw 10 is more simple and convenient.

[0038] As shown in Figure 1 and Figure 2 In one embodiment, the second driver 220 is arranged side by side with the first driver 210 on the support 100, so as to drive the rotating seat 300 sleeved on the cylinder 110 to rotate.

[0039] Please refer to Figure 3 In one embodiment, the support 100 includes a plate body 120 and the cylinder 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 110. The first driver 210 is arranged on one side of the plate body 120, and the first shaft 211 passes through the first through hole 150 and extends into the rotating seat 300. The second driver 220 is arranged on one side of the plate body 120, and the second shaft (not shown, 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 on the other side.

[0040] In one embodiment, the hollow area in the rotating seat 300 is referred to as an inner cavity 320, the cylinder 110 is arranged in the inner cavity 320, and the clamping structure 400 is arranged on the cavity wall of the inner cavity 320. It should be noted that the clamping structure 400 can be located only partially in the inner cavity 320.

[0041] Please refer to Figure 4 and Figure 5 , and combine with Figure 2 In one embodiment, the rotating seat 300 is rotatably sleeved on the barrel 110 and fixed with the barrel 110 in the direction along the rotating axis O. The rotating clamp jaw 10 further comprises a first bearing member 510, a pressing plate 700 and a first threaded member 610. The inner ring of the first bearing member 510 is fixedly sleeved on the outside of the barrel 110, and the rotating seat 300 is fixedly sleeved on the outside of the outer ring of the first bearing member 510. In this way, the rotating seat 300 can be fixed with the barrel 110 in the axial direction through the first bearing member 510. It can be understood that the inner ring of the first bearing member 510 can be in interference fit with the barrel 110, and the outer ring can be in interference fit with the rotating seat 300 to achieve fixed connection. The first bearing member 510 is located in the inner cavity 320.

[0042] Further, the pressing plate 700 is fixedly arranged on the end of the rotating seat 300 through the first threaded member 610, and the pressing plate 700 extends to cover the first bearing member 510 to axially abut against the side of the first bearing member 510 away from the clamping structure 400. By abutting the first bearing member 510 through the pressing plate 700 connected on the rotating seat 300, the axial position stability of the rotating seat 300 can be further improved. Since the threaded connection has a detachable property, when the pressing plate 700 is deformed, worn or has other problems after long-term use, the first threaded member 610 can be detached to replace the pressing plate 700, thereby improving the service life of the rotating clamp jaw 10. As shown in Figure 4 and Figure 5 The pressing plate 700 can be a ring that extends inward to abut against the outer ring of the first bearing member 510.

[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 and other threaded connecting members to be mentioned below can be general threaded connecting members such as screws and bolts. The use of general structures makes the parts of the rotating clamp jaw 10 more general and interchangeable, and when failure, damage or falling off and other situations occur, the corresponding parts can be conveniently replaced, thereby improving the service life of the rotating clamp jaw 10. The first bearing member 510 and the second bearing member 520 to be mentioned below can adopt bearings capable of bearing axial load, such as thrust bearings, angular contact ball bearings, tapered roller bearings and face bearings.

[0044] Please refer to Figure 5 , and combine with Figure 2 and Figure 3In one embodiment, the rotating jaw 10 further comprises a second threaded member 620, the shank of which is connected to the free end of the barrel 110, and the head thereof 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 barrel 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 cooperation with the head of the second threaded member 620, can abut against the opposite sides of the first bearing member 510 respectively, so that the rotating seat 300 and the first bearing member 510 can be stably mounted on the barrel 110, and the rotating seat 300 is allowed to freely rotate relative to the barrel 110.

[0045] It should be understood that, among the head and the shank of the first threaded member 610 and the second threaded member 620 described in the embodiments, the shank refers to the threaded part of the threaded member, and the head refers to the part protruding radially outward relative to the shank.

[0046] Please refer to FIGS. 2 and Figure 6 In one embodiment, a part of the outer periphery of the rotating seat 300 is configured as a transmission part 310, which is in transmission cooperation with the second driver 220. That is, the rotating seat 300 comprises a seat body 340 and the transmission part 310 located on the outer periphery of the seat body 340 and integrally arranged with the seat body 340. In this way, the parts of the rotating jaw 10 are relatively reduced, and the assembly is facilitated. 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 cooperation between the transmission part 310 and the second driver 220 is one of gear transmission, belt transmission, chain transmission, linkage transmission and friction transmission. Those skilled in the art can select a suitable transmission cooperation mode according to actual needs. The shape and structure of the transmission part 310 can be adapted to the transmission cooperation mode with the second driver 220. For example, when the transmission cooperation mode is gear transmission, the transmission part 310 is configured as a gear; when the transmission cooperation mode is belt transmission, the transmission part 310 is configured as a pulley; when the transmission cooperation mode is chain transmission, the transmission part 310 is configured as a sprocket; when the transmission cooperation mode is linkage transmission, the transmission part 310 is configured as a linkage; when the transmission cooperation mode is friction transmission, the transmission part 310 is configured as a friction wheel, and so on.

[0048] The following is an example of the transmission part 310 and the second driver 220 using synchronous belt transmission. At this time, the transmission part 310 is configured as a synchronous wheel formed integrally on the outer periphery of the seat body 340. The rotary jaw 10 further comprises a transmission belt 230, a driving wheel 240, and a second shaft of the second driver 220 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 rotary seat 300 and the clamping structure 400 provided on the rotary seat 300 rotate accordingly.

[0049] Please refer to Figure 7 and Figure 8 , in combination with Figure 5 In one embodiment, the clamping structure 400 comprises a connecting piece 410, a sliding seat 420, a clamping part 430, and a transmission arm 440. The connecting piece 410 is axially movably arranged in the rotary seat 300, and the axial movement of the connecting piece 410 causes the clamping structure 400 to close and open. Further, the connecting piece 410 can be connected to the first shaft 211 to move axially under the drive of the first shaft 211, so that the clamping structure 400 opens and closes as a whole.

[0050] Further, the sliding seat 420 is fixedly arranged at one end of the rotary seat 300 away from the first driver 210, and the clamping part 430 is at least two in number and is in sliding cooperation with the sliding seat 420. The opening of the clamping structure 400 in each embodiment means that each clamping part 430 moves away from each other in the direction, so that there is enough space between each clamping part 430 for the workpiece 20 to enter; the closing of the clamping structure 400 in each embodiment means that each clamping part 430 moves towards each other in the direction, so that each clamping part 430 acts on different regions of the workpiece 20 and cooperates with each other to clamp the workpiece 20. The transmission arm 440 is a plurality of and rotatably arranged on the inner wall of the rotary seat 300. One end of the plurality of transmission arms 440 is connected to the connecting piece 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 move away from and close to other clamping parts 430, so that the clamping structure 400 opens and closes. In short, the axial movement of the connecting piece 410 can drive each transmission arm 440 to rotate, and each transmission arm 440 converts the axial movement of the connecting piece 410 into the horizontal movement of each clamping part 430, so as to clamp the workpiece 20.

[0051] Please refer to Figure 5In one embodiment, the rotating gripper 10 further comprises a second bearing member 520 and a third threaded member 630. The connecting member 410 is provided with a connecting cavity 411, which is formed at the top of the connecting member 410 and has an opening 412 for the first shaft 211 to extend into. The outer ring of the second bearing member 520 is fixedly connected 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 is axially fixed with the connecting member 410 through the second bearing member 520, and the two can freely rotate circumferentially. 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, so as to achieve fixed connection. The rod part of the third threaded member 630 is screwed with the top of the connecting member 410, and the head part is abutted 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, and improve the stability of the connection between the connecting member 410 and the first shaft 211. The rotating gripper 10 provided in the present application provides rotation guide and support for the rotating part (i.e. the rotating seat 300 and the clamping structure 400) of the rotating gripper 10 through the first bearing member 510 and the second bearing member 520, and the first bearing member 510 and the second bearing member 520 can also provide certain torsional and bending support, so as to prevent the clamping structure 400 from tilting and twisting.

[0052] Please refer to Figure 5 In one embodiment, the rotating gripper 10 further comprises a fourth threaded member 640, the rod part of which is connected with the first shaft 211, and the head part is abutted with the side of the second bearing member 520 away from the third threaded member 630. Through the cooperation of the third threaded member 630 and the fourth threaded member 640, the stability of the connection between the first shaft 211 and the connecting member 410 can be improved. In one embodiment, the side of the second bearing member 520 away from the third threaded member 630 is abutted with the bottom wall of the connecting cavity 411. The second bearing member 520 is clamped and fixed by the cooperation of the bottom wall of the connecting cavity 411 and the head part of the third threaded member 630, so as to improve the position stability of the second bearing member 520 in the connecting cavity 411.

[0053] Please refer to Figures 2 to 8 In one embodiment, the first driver 210 further comprises an adapter rod 212, which is connected between the first shaft 211 and the inner ring of the second bearing member 520. First, since the second bearing member 520 is usually a standard part, the inner diameter of the inner ring is usually a standard value. By setting the adapter rod 212 to adapt to the inner ring of the second bearing member 520, the first shaft 211 can be conveniently connected with the second bearing member 520. Second, as will be mentioned below, the first shaft 211 can be configured as a screw rod, which is inconvenient to directly connect with the inner ring of the second bearing member 520. Therefore, by setting the adapter rod 212, the first shaft 211 configured as a screw rod can be conveniently connected with the second bearing member 520.

[0054] Referring to Figure 7 and Figure 8 In one embodiment, the clamping structure 400 further comprises a retaining member 450, which is a resilient member having resilient properties. The retaining member 450 is connected between the two clamping portions 430 to elastically pull the two clamping portions 430 to move towards each other. By virtue of the elastic connection of the retaining member 450, the two clamping portions 430 always have a tendency to move towards each other. Thus, even if the rotating jaw 10 is accidentally powered off, the retaining member 450 can provide clamping force to the clamping portions 430 to achieve a certain clamping force of the clamping structure 400 in the case of power failure, preventing the pipe from falling. Further, 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 clamping portions 430 can be two, one end of the retaining member 450 is connected to one of the clamping portions 430, and the other end is connected to the other clamping portion 430.

[0056] Referring to Figure 8 , in combination with Figure 5 In one embodiment, the clamping structure 400 further comprises a first pin shaft 460 and a second pin shaft 470, the first pin shaft 460 is provided on the connecting member 410, and the second pin shaft 470 is provided on the rotating seat 300. The transmission arm 440 is provided with a half-moon notch 441 at one end and a transmission ball head 442 at the other end. The transmission arm 440 further comprises a rotating portion 443, which 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 oppositely arranged and are sleeved on the first pin shaft 460. In this way, the first pin shaft 460 can drive the two transmission arms 440 to rotate. The rotating portion 443 is rotationally connected to the second pin shaft 470. Since the half-moon notch 441 and the transmission ball head 442 are eccentrically arranged relative to the rotating portion 443, the abutment of the slot wall of the half-moon notch 441 by the first pin shaft 460 can drive the transmission arm 440 to rotate, and drive the transmission ball head 442 to rotate around the rotating portion 443.

[0057] Referring to Figure 8 , in combination with Figure 6 Further, the connecting member 410 is provided with a first mounting hole 413, and the first pin shaft 460 is arranged in the first mounting hole 413 to be mounted on the connecting member 410. The rotating seat 300 can be provided with a second mounting hole 330, and the second pin shaft 470 is arranged in the second mounting hole 330. The rotating portion 443 can be sleeved on the second pin shaft 470 to be rotationally connected to the second pin shaft 470 and mounted on the rotating seat 300.

[0058] Please continue to refer to Figure 7 and Figure 8 , in combination with Figure 5In one embodiment, the sliding seat 420 is provided with a sliding groove 421 and a communication groove 422, the communication groove 422 penetrates the sliding seat 420 and communicates with the sliding groove 421, and the two clamping portions 430 are respectively in sliding fit with the sliding groove 421. The region of the clamping portion 430 close to the communication groove 422 is provided with an adaptive hole 431, and the two transmission ball heads 442 are correspondingly connected with the adaptive holes 431 of the two clamping portions 430. Thus, when the transmission ball head 442 rotates around the rotating portion 443, the clamping portion 430 can be pushed to slide along the sliding groove 421. By providing the communication groove 422 penetrating the sliding seat 420, the transmission arm 440 provided on the rotating seat 300 can conveniently drive the clamping portion 430 provided on the side of the sliding seat 420 away from the transmission arm 440 to move.

[0059] Please refer to Figure 7 and Figure 8 Further, the rotating clamp jaw 10 further comprises a fifth threaded member 650, and the sliding seat 420 is connected and fixed with the rotating seat 300 through the fifth threaded member 650.

[0060] Please refer to Figure 7 and Figure 8 In one embodiment, the number of the retaining members 450 can be two. The clamping direction of the clamping portion 430 is defined as a first direction S1, and the direction perpendicular to the first direction S1 is defined as a second direction S2. The sliding groove 421 can be arranged along the first direction S1, and the clamping portion 430 is in sliding fit with the sliding groove 421 along the first direction S1. In the second direction S2, the two retaining members 450 are respectively located on the two sides of the clamping portion 430, so as to improve the uniformity of the elastic clamping force. Further, the clamping structure 400 can comprise two mounting plates 480, and the two mounting plates 480 are respectively connected to the sides of the two clamping portions 430 away from each other. The mounting plate 480 is arranged along the second direction S2, so that in the second direction S2, the two sides of the mounting plate 480 are both outwardly extended from the clamping portion 430. The two ends of the retaining member 450 are respectively connected between the outwardly extended regions of the two mounting plates 480 on the same side.

[0061] Please refer to Figure 9 and Figure 10 In one embodiment, the rotating clamp jaw 10 comprises a first sensor 810, a second sensor 820 and a controller 830, and the first sensor 810, the second sensor 820, the first driver 210 and the second driver 220 are respectively electrically connected with the controller 830. The controller 830 can receive the detection signals sent by the first sensor 810 and the second sensor 820, and send control signals (such as start signal and stop signal) to the first driver 210 and the second driver 220. Further, the support 100 comprises a vertical plate 140 connected with the plate body 120, and the controller 830 can be arranged on the vertical plate 140.

[0062] As Figure 10The first sensor 810 is arranged on the first driver 210 or the support 100, and is located at an 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 move out of the first detection area 811 when the first shaft 211 extends and retracts. 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 detection medium 812 can trigger the first sensor 810 when the first shaft 211 blocks the first detection medium 812. It should be understood that the triggering of the sensor in each embodiment of the present application can be the triggering of a digital signal from a low level to a high level, or the 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 herein. The first sensor 810 and the second sensor 820 can be optical couplings, photoelectric sensors, infrared sensors, and the like.

[0063] Knowing the clamping state of the clamping structure 400 in combination with other information can facilitate the implementation of various detection functions. For example, when the first shaft 211 drives the clamping structure 400 to clamp along the third direction S3, and drives the clamping structure 400 to open along the third direction S3, the third direction S3 can be parallel to the rotation axis O of the rotating seat 300. Figure 5 Knowing the clamping state of the clamping structure 400 can facilitate tube detection: the controller 830 controls the first shaft 211 to rise to perform a 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 shaft 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 clamps the workpiece 20, i.e., the tube detection function is realized. This detection method can also be used to determine whether the clamping structure 400 is empty, i.e., the empty detection function is realized.

[0064] Knowing the clamping state of the clamping structure 400 can facilitate tube detection: the controller 830 controls the first shaft 211 to rise to perform a 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 shaft 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 clamps the workpiece 20, i.e., the tube detection function is realized. This detection method can also be used to determine whether the clamping structure 400 is empty, i.e., the empty detection function is realized. Figure 5 Similarly, knowing the clamping state of the clamping structure 400 can facilitate tube detection. When the workpiece 20 falls, the workpiece 20 will no longer hinder the clamping of the clamping structure 400, and at this time the first shaft 211 will extend into the first detection area 811 to trigger the first sensor 810, thereby realizing the tube detection function.

[0065] In addition, when the rotary gripper 10 completes a clamping task or a partial clamping task, the first shaft 211 can be driven to ascend, so that the clamping structure 400 is reset to the position of the clamped state, facilitating 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, facilitating accurate determination of the clamped state of the clamping structure 400.

[0066] Please refer to Figure 11 In an embodiment, the rotary gripper 10 comprises a blocking ring 900. The second sensor 820 is arranged on the support 100, and the second sensor 820 is formed with a second detection medium 822. The blocking ring 900 is sleeved on the rotary seat 300 to rotate with the rotary seat 300. The blocking ring 900 is provided with a plurality of notches 910, and the plurality of notches 910 are arranged at intervals in the circumferential direction of the rotary seat 300. The solid area of the blocking ring 900 can block the second detection medium 822. The notch 910 is provided for the second detection medium 822 to pass through and trigger the second sensor 820. Since the blocking ring 900 rotates with the rotary seat 300, the rotation position of the rotary seat 300 can be determined by the triggering state of the second sensor 820, so as to rotate the rotary seat 300. For example, when the blocking ring 900 is provided with three notches 910, the second sensor 820 is triggered four times (including the triggering of the notch 910 at the initial position) means that the rotary seat 300 completes a single rotation, and the second sensor 820 is triggered by any notch 910 means that the rotary seat 300 is at one of the set rotation positions. The number of notches 910 can be configured according to the number of required positioning angles; and the circumferential distribution position of each notch 910 can be configured according to the required positioning rotation position, which is not limited herein. In the embodiment, the rotary seat 300 can be directly and conveniently positioned by the notch 910. Compared with controlling the rotation angle of the rotary seat 300 by controlling the input parameter of the second driver 220, the positioning mode of the embodiment is more direct, and is not affected by the transmission error between the second driver 220 and the rotary seat 300.

[0067] As to the second sensor 820, the second sensor 820 can be provided with a second detection area 821, and a projection of the second detection area 821 overlaps with the blocking ring 900 along the rotation axis O of the rotating shaft. During the rotation of the blocking ring 900 along with the rotating seat 300, the solid area of the blocking ring 900 can move into the second detection area 821, and the area where the notch 910 of the blocking ring 900 is located can also move into the second detection area 821. Further, the support 100 can include a fixed sheet 130 connected with the plate body 120, and the second sensor 820 is arranged on the fixed sheet 130. The second sensor 820 is supported by the fixed sheet 130, so that the distribution position of the second sensor 820 can be more flexible, and the second sensor 820 can be arranged close to the blocking ring 900 to facilitate the partial area of the blocking ring 900 to be located in the second detection area 821.

[0068] In an embodiment, the first driver 210 is configured as a lead screw motor, and the first shaft 211 is configured as a lead 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. In this way, the first driver 210 has a certain self-locking ability, so as to facilitate the clamping structure 400 to be clamped; and the first driver 210 can also be reversely rotated under external force, so that the clamping structure 400 can be forced to open. In this way, the workpiece 20 can be manually taken out after the rotary jaw 10 is powered off, and the probability of the situation that the workpiece 20 cannot be taken out after the rotary jaw 10 is powered off is reduced.

[0069] Further, the diameter of the first shaft 211 can 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 can be 2 mm, 3.123 mm, 4 mm, 4.877 mm, 5.123 mm or 6 mm.

[0070] In the case of no contradiction, the components described in the embodiments of the present application can all be fixed by using threaded connectors, for example, the first driver 210 can be locked to the support 100 by using a threaded connector, the second driver 220 can be locked to the support 100 by using a threaded connector, the mounting plate 480 can be locked to the clamping part 430 by using a threaded connector, the fixed sheet 130 can be locked to the plate body 120 by using a threaded connector, the vertical plate 140 can be locked to the plate body 120 or the first driver 210 by using a threaded connector, and the controller 830 can be locked to the vertical plate 140 by using a threaded connector. In this way, each component has a detachable property, so as to facilitate disassembly and replacement, and the service life of the rotary jaw 10 is improved.

[0071] An embodiment of the present application also provides a transfer device, which includes the rotary jaw 10 as described in each embodiment.

[0072] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.

[0073] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications 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 patent protection scope of the present application should be subject to the appended claims.

Claims

1. A rotating clamp, characterized in that: The rotating clamp comprises: A support having a cylindrical body; A first driver is provided on the support, the first driver comprising a first shaft telescopically passing through the cylinder; a second driver, provided on the support; A rotating seat is hollow and rotatably sleeved on the cylinder; The cam is secured to the inner wall of the rotating seat and is used to securely hold the workpiece in place. The cam is secured to the inner wall of the rotating seat and is used to securely hold the workpiece in place. The cam is secured to the inner wall of the rotating seat and is used to securely hold the workpiece in place. The cam is secured to the inner wall of the rotating seat and is used to securely hold the workpiece in place. The cam is connected to the base frame of the second frame by the support frame, and the other end is respectively connected to each of the clamping parts, and when the transmission arm rotates, the transmission arm can drive the corresponding clamping part to move closer to and away from the other clamping parts, so that the clamping structure is clamped and opened, and the slide seat is provided with a slide groove and a connecting groove, and the connecting groove passes through the slide seat and is connected to the slide groove, and the two clamping parts are respectively slidably matched with the slide groove, and the other end of the transmission arm is provided with a transmission ball head, and the area of ​​the clamping part close to the connecting groove is provided with an adapting hole, and the two transmission ball heads are correspondingly engaged with the adapting holes of the two clamping parts, and the retaining member is connected between the two clamping parts to elastically pull the two clamping parts to move in the direction of approaching each other, and the number of the retaining member is at least one; a second bearing member, wherein the outer ring of the second bearing member is fixedly matched with the cavity wall of the connecting cavity, and the inner ring of the second bearing member is fixedly connected to the first shaft; a third threaded member, wherein the stem of the third threaded member is threadedly connected to the top of the connecting member, and the head of the third threaded member abuts against a side of the second bearing member close to the opening; Among them, the second driver is connected to the rotating seat in a transmission manner 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 rotary 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 rotary clamp according to claim 2, characterized in that: The rotary clamp further comprises a second threaded member, the stem of the second threaded member is connected to the free end of the cylinder, and the head of the second threaded member extends to abut against the side of the first bearing member facing the clamping structure.

4. The rotary clamp according to claim 1, wherein: 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 rotary 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 rotary clamp according to claim 1, wherein: The clamping structure further includes a first pin shaft provided on the connecting member. A semi-moon notch is provided at one end of the transmission arm. The semi-moon notches of the two transmission arms are arranged facing each other and are both sleeved on the first pin shaft.

7. The rotary clamp according to claim 1, wherein: The rotating clamp includes a first sensor, which 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 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.

8. The rotary clamp according to claim 1, wherein: 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 slots allow the second detection medium to pass through to trigger the second sensor.

9. The rotary clamp according to claim 1, wherein: 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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