Single motor rotary jaw mechanism

Abstract

The application discloses a single-motor rotary jaw mechanism, which comprises a three-jaw chuck and a chuck cover plate, three groups of clamping claws are integrated in the three-jaw chuck, a vertical cylinder is fixedly connected to the chuck cover plate through a base, the outer surface wall of the vertical cylinder is rotationally matched with the three-jaw chuck through a bearing, a direct-current worm gear reduction motor is fixedly connected to the base through a motor mounting plate, a fixed plate and an elastic component for maintaining the axial position of the fixed plate are integrated on the outer side of the motor mounting plate, the outer surface wall of the fixed plate is fixedly connected with a rotating seat, a gear ring and a driving assembly for driving the gear ring to rotate are integrated between the rotating seat and the output end of the direct-current worm gear reduction motor. In the application, the clamping and rotating actions of the clamping claws are realized through a group of motors, only one set of sensors is needed, the mechanical action node is matched, the control is convenient and reliable, a horizontal single-motor step is adopted, compact design is adopted, and in particular, the upper and lower volumes are small, and the single-motor rotary jaw mechanism is suitable for most small spaces.

Description

Technical Field

[0001] This invention relates to the field of grasping and recognition technology, and in particular to a single-motor rotating gripper mechanism. Background Technology

[0002] During the production and sale of goods, it is necessary to identify the QR code on the outer packaging of the goods. Considering the positional deviation of the goods, corresponding rotating jaws are needed to hold the goods while deflecting them.

[0003] Chinese Patent Publication No. CN213674196U, published on 20210713, discloses a rotating gripper, including a gear base; a clamping assembly mounted on the gear base; a first driver for driving the clamping assembly to clamp a target part, the first driver being fixedly connected to the gear base; a second driver for driving the gear base to rotate; and an electric slip ring located at the output end of the first driver, the wire of the first driver being connected to the electric slip ring, so that the gear base, the first driver, and the clamping assembly can rotate at any angle under the drive of the second driver. The second driver can drive the clamping assembly on the gear base to achieve rotation at any angle.

[0004] Existing rotary gripper mechanisms mostly use two motors for control, one for rotation and one for clamping, resulting in high costs. Two motors control the same mechanism, with the rotary motors on the side, but the power must be combined, making the mechanism assembly complex and difficult to control. Existing mechanisms require controlling two motors, two sets of position sensors, and torque detection, making control difficult. Therefore, there is an urgent need to propose a corresponding single-motor rotary gripper mechanism to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a single-motor rotating gripper mechanism to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A single-motor rotary gripper mechanism includes a three-jaw chuck and a chuck cover plate. The three-jaw chuck integrates three sets of jaws. A vertical cylinder is fixedly connected to the inside of the chuck cover plate via a base. The outer wall of the vertical cylinder is rotatably engaged with the three-jaw chuck via bearings. A DC worm gear reducer motor is fixedly connected to the base via a motor mounting plate. A fixing plate and an elastic component for maintaining the axial position of the fixing plate are integrated on the outer side of the motor mounting plate. A rotating seat is fixedly connected to the outer wall of the fixing plate. A gear ring and a drive component for driving the gear ring to rotate are integrated between the rotating seat and the output end of the DC worm gear reducer motor. The top of the rotating seat is in transmission engagement with the three sets of jaws. An overload adjustment seat is fixedly connected to the bottom of the three-jaw chuck. The gear ring, fixing plate, and overload adjustment seat are in transmission engagement via a transmission component. A detection mechanism for controlling the stroke of the DC worm gear reducer motor is provided between the base and the fixing plate.

[0008] Preferably, the outer wall of the arc-shaped end of the rotary seat is provided with countersunk screws through mounting holes, and the rotary seat and the fixing plate are fixedly connected by countersunk screws.

[0009] Preferably, the mounting holes are provided in multiple sets, and the multiple sets of mounting holes are arranged in a ring.

[0010] Preferably, an involute is fixedly connected to the top of the rotating base, and the bottom of each of the three sets of jaws is provided with a tooth groove that matches the involute.

[0011] Preferably, the drive assembly includes a drive wheel fixedly connected to the output end of a DC worm gear reducer motor, and the drive wheel is meshed with a gear ring.

[0012] Preferably, the detection component includes a contact limit switch integrated on the DC worm gear reducer motor. The contact limit switch passes through the vertical cylinder. Detection switch one and detection switch two are fixedly connected to the bottom of the fixing plate and the outer wall of the base, respectively. Signal detection block one and signal detection block two are fixedly connected to the outer side of the motor mounting plate and the bottom of the overload adjustment seat, respectively.

[0013] Preferably, the elastic component includes a tension spring installed between the signal detection block and the fixing plate.

[0014] Preferably, the transmission assembly includes a protruding rod fixedly connected to the bottom of the gear ring, the protruding rod passing through the fixing plate, and the outer wall of the protruding rod slidingly engaging with the inner wall of the overload adjustment seat through an arc groove.

[0015] Preferably, the bottom of the overload adjustment seat is fixedly connected to a protruding post, and the protruding post is slidably connected to the inner wall of the motor mounting plate through a mating groove.

[0016] A method of using a single-motor rotary gripper mechanism includes the following steps:

[0017] S1. When the top of the product contacts the contact limit switch, the DC worm gear reducer motor starts and drives the drive wheel to rotate. The protrusion at the bottom of the drive wheel slides along the arc groove and pushes the fixed plate.

[0018] S2. The fixed plate is linked to the rotating seat. The rotating seat drives the involute to rotate synchronously. The involute simultaneously engages with the bottom tooth grooves of the three sets of jaws, so that the three sets of jaws retract inward for a specified period until the product is clamped.

[0019] S3. At this time, the convex rod is at the limit position of the arc groove. The continued rotation of the convex rod will push the overload adjustment seat, the tension spring will be stretched, the overload adjustment seat will be linked with the three-jaw chuck and the three sets of jaws, and the three sets of jaws will drive the product in the clamping state to deflect at the corresponding angle until the detection switch one detects the signal detection block one, and the DC worm gear reducer motor stops running.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. In this application, when the top of the product contacts the contact-type limit switch, the DC worm gear reducer motor starts and drives the drive wheel to rotate. The protruding rod at the bottom of the drive wheel slides along the arc-shaped groove and pushes the fixed plate. The fixed plate is linked to the rotating seat, which drives the involute to rotate synchronously. The involute simultaneously meshes with the bottom tooth grooves of the three sets of jaws, so that the three sets of jaws retract inward for a specified period until the product is clamped. At this time, the protruding rod is at the limit position of the arc-shaped groove. The continued rotation of the protruding rod will push the overload adjustment seat, and the tension spring will be stretched. The overload adjustment seat is linked to the three-jaw jaws, and the three-jaw jaws will drive the product in the clamped state to move at a corresponding angle. The deflection of the DC worm gear reducer motor stops when the detection switch detects the signal from the detection block, thus completing the first stage of product transfer and identification. Next, the product is directly transferred to the corresponding position. As the drive wheel rotates, the overload adjustment seat, under the action of the tension spring, drives the three-jaw chuck to reset. The continued reversal of the drive wheel opens the three sets of chucks. A single motor enables the gripping and rotation of the chucks. Only one set of sensors is needed, along with mechanical action nodes, making control convenient and reliable. It adopts a horizontal single-motor layout and a compact design, especially with its small vertical volume, making it suitable for most small spaces.

[0022] 2. In this application, the rotating base is rotated so that the three sets of jaws are adjusted to a suitable initial opening through the involute curve. Then, the countersunk screws are passed through the corresponding mounting holes and connected to the fixing plate. In this way, based on the fixed rotation stroke of the convex rod, it can adapt to products with different profile sizes, thereby improving the applicability of the single motor rotating jaw mechanism. Attached Figure Description

[0023] Figure 1 A schematic diagram of the overall structure provided according to an embodiment of the present invention is shown;

[0024] Figure 2 A schematic diagram of an involute structure provided according to an embodiment of the present invention is shown;

[0025] Figure 3 A schematic diagram of the clamp cover plate structure provided according to an embodiment of the present invention is shown;

[0026] Figure 4 A schematic diagram of a toothed ring structure provided according to an embodiment of the present invention is shown;

[0027] Figure 5 A schematic diagram of a base structure provided according to an embodiment of the present invention is shown;

[0028] Figure 6 A schematic diagram of a tension spring structure according to an embodiment of the present invention is shown;

[0029] Figure 7 A schematic diagram of a fixing plate structure provided according to an embodiment of the present invention is shown.

[0030] Legend:

[0031] 1. Chuck cover plate; 2. Three-jaw chuck; 3. Clamping jaws; 4. Contact limit switch; 5. Vertical cylinder; 6. Rotary base; 7. Mounting hole; 8. Countersunk screw; 9. Involute; 10. Drive wheel; 11. Gear ring; 12. Fixing plate; 13. Overload adjustment seat; 14. Protruding rod; 15. Arc groove; 16. Tension spring; 17. Detection switch one; 18. Signal detection block one; 19. Signal detection block two; 20. Detection switch two; 21. Protruding post; 22. Mating groove; 23. Motor mounting plate; 24. Base; 25. DC worm gear reducer motor. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-7 The present invention provides a technical solution:

[0034] A single-motor rotary gripper mechanism includes a three-jaw chuck 2 and a chuck cover plate 1. The three-jaw chuck 2 integrates three sets of jaws 3. A vertical cylinder 5 is fixedly connected to the inside of the chuck cover plate 1 via a base 24. The outer wall of the vertical cylinder 5 is rotatably engaged with the three-jaw chuck 2 via bearings. A DC worm gear reducer motor 25 is fixedly connected to the base 24 via a motor mounting plate 23. A fixing plate 12 and an elastic component for maintaining the axial position of the fixing plate 12 are integrated on the outer side of the motor mounting plate 23. A rotating seat 6 is fixedly connected to the outer wall of the fixing plate 12. A gear ring 11 and a drive component for driving the gear ring 11 to rotate are integrated between the rotating seat 6 and the output end of the DC worm gear reducer motor 25. The top of the rotating seat 6 is in transmission engagement with the three sets of jaws 3. An overload adjustment seat 13 is fixedly connected to the bottom of the three-jaw chuck 2. The gear ring 11, the fixing plate 12, and the overload adjustment seat 13 are in transmission engagement via a transmission component. A detection mechanism for controlling the stroke of the DC worm gear reducer motor 25 is provided between the base 24 and the fixing plate 12.

[0035] A method of using a single-motor rotary gripper mechanism includes the following steps:

[0036] S1. When the top of the product comes into contact with the contact limit switch 4, the DC worm gear reducer motor 25 starts and drives the drive wheel 10 to rotate. The protruding rod 14 at the bottom of the drive wheel 10 slides along the arc groove 15 and pushes the fixing plate 12.

[0037] S2. The fixed plate 12 is linked to the rotating seat 6. The rotating seat 6 drives the involute 9 to rotate synchronously. The involute 9 simultaneously engages with the bottom tooth grooves of the three sets of jaws 3, so that the three sets of jaws 3 retract inward for a specified period until the product is clamped.

[0038] S3. At this time, the protruding rod 14 is at the limit position of the arc groove 15. The continued rotation of the protruding rod 14 will push the overload adjustment seat 13, and the tension spring 16 will be stretched. The overload adjustment seat 13 will be linked with the three-jaw chuck 2 and the three sets of jaws 3. The three sets of jaws 3 will drive the product in the clamping state to deflect at the corresponding angle until the detection switch 17 detects the signal detection block 18, and the DC worm gear reducer motor 25 stops running.

[0039] When the top of the product contacts the contact-type limit switch 4, the DC worm gear reducer motor 25 starts and drives the drive wheel 10 to rotate. The protruding rod 14 at the bottom of the drive wheel 10 slides along the arc groove 15 and pushes the fixing plate 12. The fixing plate 12 is linked to the rotating seat 6, which drives the involute 9 to rotate synchronously. The involute 9 simultaneously engages with the bottom tooth grooves of the three sets of jaws 3, so that the three sets of jaws 3 retract in a specified period until the product is clamped. At this time, the protruding rod 14 is at the limit position of the arc groove 15. The continued rotation of the protruding rod 14 will push the overload adjustment seat 13, and the tension spring 16 will be stretched. The overload adjustment seat 13 is linked to the three-jaw chuck 2 and the three sets of jaws 3, and the three sets of jaws 3 are in a clamping state. The product is deflected at a corresponding angle until the detection switch 17 detects the signal detection block 18, and the DC worm gear reducer motor 25 stops running, thus completing the first stage of product transfer and identification. Then, the product is directly transferred to the corresponding position. As the drive wheel 10 moves, the overload adjustment seat 13 drives the three sets of claws 3 to reset under the action of the tension spring 16. The continued reverse rotation of the drive wheel 10 can open the three sets of claws 3. The clamping and rotation of the claws are achieved by a single motor. Only one set of sensors is needed, combined with mechanical action nodes, making the control convenient and reliable. It adopts a horizontal single motor layout and a compact design, especially with a small vertical volume, making it suitable for most small spaces.

[0040] Specifically, such as Figure 2 and Figure 4 As shown, the outer wall of the arc-shaped end of the rotary seat 6 is provided with countersunk screws 8 through the mounting holes 7. The rotary seat 6 and the fixed plate 12 are fixedly connected by the countersunk screws 8. There are multiple sets of mounting holes 7, and the multiple sets of mounting holes 7 are arranged in a ring. After rotating the rotary seat 6 so that it drives the three sets of claws 3 to adjust to the appropriate initial opening through the involute 9, the countersunk screws 8 are passed through the corresponding mounting holes 7 and connected to the fixed plate 12. In this way, based on the fixed rotation stroke of the convex rod 14, it can adapt to products with different contour sizes, thereby improving the applicability of the single motor rotating claw mechanism.

[0041] Specifically, such as Figure 2 and Figure 3 As shown, an involute 9 is fixedly connected to the top of the rotary seat 6. The bottom of each of the three sets of jaws 3 is provided with a tooth groove that matches the involute 9. The involute 9 meshes with the tooth groove at the bottom of the three sets of jaws 3, so that the three sets of jaws 3 retract inward for a specified period until the product is clamped. The drive assembly includes a drive wheel 10 fixedly connected to the output end of the DC worm gear reducer motor 25. The drive wheel 10 meshes with the gear ring 11, thus serving as the only drive component.

[0042] Specifically, such as Figure 1 and Figure 2As shown, the detection component includes a contact limit switch 4 integrated on the DC worm gear reducer motor 25. The contact limit switch 4 passes through the vertical cylinder 5 and is used to determine the opening of the clamping process. Detection switch 17 and detection switch 20 are fixedly connected to the bottom of the fixed plate 12 and the outer wall of the base 24, respectively. Signal detection block 18 and signal detection block 29 are fixedly connected to the outer side of the motor mounting plate 23 and the bottom of the overload adjustment seat 13, respectively, to determine the start and end of the rotation process. The elastic component includes a tension spring 16 installed between signal detection block 18 and the fixed plate 12 to assist in the reset of the overload adjustment seat 13. The transmission component includes... The device includes a protruding rod 14 fixedly connected to the bottom of the gear ring 11. The protruding rod 14 passes through the fixed plate 12. The outer wall of the protruding rod 14 slides with the inner wall of the overload adjustment seat 13 through the arc groove 15. The protruding rod 14 at the bottom of the drive wheel 10 first slides along the arc groove 15 and pushes the fixed plate 12. When the protruding rod 14 is at the limit position of the arc groove 15, the continued rotation of the protruding rod 14 will push the overload adjustment seat 13. The bottom of the overload adjustment seat 13 is fixedly connected to a protruding post 21, and the protruding post 21 slides with the inner wall of the motor mounting plate 23 through the mating groove 22. This assists the overload adjustment seat 13 in limiting its stroke and ensuring the stability of the movement of the overload adjustment seat 13.

[0043] Working principle: When the top of the product contacts the contact limit switch 4, the DC worm gear reducer motor 25 starts and drives the drive wheel 10 to rotate. The protrusion 14 at the bottom of the drive wheel 10 slides along the arc groove 15 and pushes the fixing plate 12. The fixing plate 12 is linked to the rotating seat 6, which drives the involute 9 to rotate synchronously. The involute 9 simultaneously meshes with the bottom tooth grooves of the three sets of jaws 3, so that the three sets of jaws 3 retract in a specified period until the product is clamped. At this time, the protrusion 14 is at the limit position of the arc groove 15. The continued rotation of the protrusion 14 will push the overload adjustment seat 13, and the tension spring 16 will be stretched. The overload adjustment seat 13 is linked to the three-jaw chuck 1 and the three sets of jaws 3. The three sets of jaws 3 then drive the product in the clamped state to deflect at the corresponding angle until the detection switch 17 detects the signal detection block 18, and the DC worm gear reducer motor 25 stops running. This completes the first stage of product transfer and identification. Then, the product is directly transferred to the corresponding position. As the drive wheel 10 moves, the overload adjustment seat 13, under the action of the tension spring 16, drives the three sets of claws 3 to reset. The continued reversal of the drive wheel 10 can open the three sets of claws 3. The gripping and rotation of the claws are achieved by a single motor. Only one set of sensors is needed, along with mechanical action nodes. The control is convenient and reliable. It adopts a horizontal single motor layout and a compact design. In particular, the vertical volume is small, making it suitable for most small spaces. After rotating the rotating seat 6, it drives the three sets of claws 3 to adjust to the appropriate initial opening through the involute 9. Then, the countersunk screw 8 is passed through the corresponding mounting hole 7 and connected to the fixing plate 12. Based on the fixed rotation stroke of the convex rod 14, it can adapt to products with different contour sizes, thereby improving the applicability of the single motor rotating claw mechanism.

[0044] The above description of the embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A single-motor rotary gripper mechanism, comprising a three-jaw chuck (2) and a chuck cover plate (1), characterized in that, The three-jaw chuck (2) integrates three sets of jaws (3). The chuck cover plate (1) is fixedly connected to a vertical cylinder (5) via a base (24). The outer wall of the vertical cylinder (5) is rotatably connected to the three-jaw chuck (2) via bearings. The base (24) is fixedly connected to a DC worm gear reducer motor (25) via a motor mounting plate (23). The outer side of the motor mounting plate (23) is integrated with a fixing plate (12). The outer wall of the fixing plate (12) is fixedly connected to a rotating seat (6). The rotating seat (6) is connected to the vertical cylinder. The output end of the DC worm gear reducer motor (25) is integrated with a gear ring (11) and a drive assembly for driving the gear ring (11) to rotate. The top of the rotating base (6) is engaged with three sets of jaws (3). The bottom of the three-jaw chuck (2) is fixedly connected to an overload adjustment seat (13). The gear ring (11), the fixed plate (12), and the overload adjustment seat (13) are engaged with each other through a transmission assembly. A travel control mechanism for the DC worm gear reducer motor (25) is provided between the base (24) and the fixed plate (12). The detection mechanism includes an involute (9) fixedly connected to the top of the rotating base (6), and the bottom of each of the three sets of jaws (3) having a toothed groove that matches the involute (9). The transmission assembly includes a protruding rod (14) fixedly connected to the bottom of the gear ring (11). The protruding rod (14) passes through the fixing plate (12). The outer wall of the protruding rod (14) slides with the inner wall of the overload adjustment seat (13) through an arc-shaped groove (15) opened at the edge of the overload adjustment seat (13). The detection mechanism includes a DC worm gear integrated into the worm. A contact limit switch (4) is provided on the geared motor (25). The contact limit switch (4) passes through the vertical cylinder (5). The bottom of the fixed plate (12) and the outer wall of the base (24) are respectively fixedly connected to the detection switch one (17) and the detection switch two (20). The outer side of the motor mounting plate (23) and the bottom of the overload adjustment seat (13) are respectively fixedly connected to the signal detection block one (18) and the signal detection block two (19). A tension spring (16) is provided between the signal detection block one (18) and the fixed plate (12).

2. The single-motor rotary gripper mechanism according to claim 1, characterized in that, The outer wall of the arc-shaped end of the rotating base (6) is provided with countersunk screws (8) through the mounting hole (7), and the rotating base (6) and the fixing plate (12) are fixedly connected by the countersunk screws (8).

3. The single-motor rotary gripper mechanism according to claim 2, characterized in that, The mounting holes (7) are provided in multiple sets, and the multiple sets of mounting holes (7) are arranged in a ring.

4. The single-motor rotary gripper mechanism according to claim 3, characterized in that, The drive assembly includes a drive wheel (10) fixedly connected to the output end of a DC worm gear reducer motor (25), and the drive wheel (10) is meshed with a gear ring (11).

5. A single-motor rotary gripper mechanism according to claim 4, characterized in that, The overload adjustment seat (13) has a protruding post (21) fixedly connected to its bottom, and the protruding post (21) is slidably connected to the inner surface of the motor mounting plate (23) through a mating groove (22) opened at the edge of the motor mounting plate (23).

6. A method of using a single-motor rotary gripper mechanism, based on the single-motor rotary gripper mechanism according to claim 1, characterized in that, Includes the following steps: S1. When the top of the product comes into contact with the contact limit switch (4), the DC worm gear reducer motor (25) starts and drives the drive wheel (10) to rotate. The protruding rod (14) at the bottom of the gear ring (11) slides along the arc groove (15) and pushes the fixing plate (12). S2. The fixed plate (12) is linked to the rotating seat (6). The rotating seat (6) drives the involute (9) to rotate synchronously. The involute (9) simultaneously engages with the bottom tooth grooves of the three sets of jaws (3) so that the three sets of jaws (3) retract in a specified period until the product is clamped. S3. At this time, the protruding rod (14) is at the limit position of the arc groove (15). The continued rotation of the protruding rod (14) will push the overload adjustment seat (13), the tension spring (16) will be stretched, the overload adjustment seat (13) will link the three-jaw chuck (2) and the three sets of jaws (3), and the three sets of jaws (3) will drive the product in the clamping state to deflect at the corresponding angle until the detection switch (17) detects the signal detection block (18), and the DC worm gear reducer motor (25) stops running.

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