Rotary clamping device and robot

Abstract

The utility model provides a rotary clamping device and a robot, and relates to the technical field of material processing. The rotary clamping device comprises a carrying seat, a connecting shaft and a rotary driving assembly, the connecting shaft and the rotary driving assembly are arranged on the carrying seat, the outer side wall of the connecting shaft comprises four plane connecting areas which extend in the axial direction of the connecting shaft and are distributed in the circumferential direction of the connecting shaft at equal intervals, and supporting ribs are connected between two opposite plane connecting areas serving as first connecting areas and the carrying seat; the other two opposite plane connecting areas serve as second connecting areas and are fixedly provided with carrying frames. The rotary driving assembly is connected with a plurality of clamping mechanisms and used for driving the clamping mechanisms to rotate synchronously. The multiple clamping mechanisms and the connecting shaft are located on the two opposite sides of the carrying base, and connecting pipelines of the rotary driving assembly and the multiple clamping mechanisms are all fixed to the carrying frame. The carrying frame of the rotary clamping device can fix the connecting pipeline, so that the interference of the connecting pipeline on the driving mechanism is reduced, the connecting pipeline is not easy to drag, and the normal operation of the rotary clamping device is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of material processing, in particular to a rotary clamping device and a robot. Background Art

[0002] Rotary clamping devices capable of clamping materials and rotating to adjust the angles of the materials are widely used in the processing or assembly process of materials. Among them, at least a rotary drive mechanism and a clamping drive mechanism are involved in the rotary clamping device. When each drive mechanism is in use, it needs to be connected to a power source through connecting pipelines. For example, a pneumatic drive mechanism needs to be connected to a pneumatic source through an air pipe, a hydraulic drive mechanism needs to be connected to a hydraulic source through a hydraulic pipe, and an electric drive mechanism needs to be connected to a power source through a wire, etc. Based on this, when the existing rotary clamping device is in operation, there are many connecting pipelines for each drive mechanism, which are likely to interfere with the operation of the drive mechanism, and seriously, they may even be torn off and fall off, resulting in the drive mechanism and the rotary clamping device being unable to operate. Content of the Utility Model

[0003] The purpose of the utility model is to provide a rotary clamping device and a robot, so as to solve the technical problem that the connecting pipelines in the existing rotary clamping device are likely to interfere with the operation of the drive mechanism, and seriously, they may even be torn off and fall off, resulting in the drive mechanism and the rotary clamping device being unable to operate.

[0004] To solve the above problems, the utility model provides a rotary clamping device, which includes a carrier base, a connecting shaft and a rotary drive assembly arranged on the carrier base. The outer side wall of the connecting shaft includes four planar connection areas extending along its axial direction and arranged at equal intervals along its circumferential direction. Support ribs are respectively connected between two opposite planar connection areas, which are used as the first connection areas, and the carrier base. Loading frames are fixedly arranged on the other two opposite planar connection areas, which are used as the second connection areas.

[0005] The rotary drive assembly is connected with a plurality of clamping mechanisms for driving each clamping mechanism to rotate synchronously; the plurality of clamping mechanisms and the connecting shaft are located on opposite sides of the carrier base, and the connecting pipelines of the rotary drive assembly and the plurality of clamping mechanisms are all fixed on the loading frame.

[0006] Optionally, the loading frame includes two auxiliary loading beams and two main loading beams respectively connected to the two second connection areas. The two auxiliary loading beams correspond to the two support ribs one by one, and the auxiliary loading beam includes a connecting beam section, a loading beam section and a support beam section connected between the two. The connecting beam section is connected to the corresponding support rib, and the loading beam section is connected between two ends of the two main loading beams on the same side.

[0007] Optionally, the rotation driving assembly includes a rotation driving member provided on the carrier and a plurality of first pivot shafts pivotally connected to the carrier. A driving wheel is provided at the driving end of the rotation driving member, a follower wheel is sleeved on each of the first pivot shafts, and a synchronous belt is sleeved between the driving wheel and each of the follower wheels; the plurality of clamping mechanisms are respectively connected to one end of the plurality of first pivot shafts departing from the connecting shaft.

[0008] Optionally, the driving wheel and each of the follower wheels are circumferentially dispersed and arranged on the carrier to enclose an inner ring area, and each adjacent pair of wheel bodies and the synchronous belt between them form a transmission group. An idler wheel is provided between the two wheel bodies of at least one transmission group. The idler wheel is pivotally connected to the carrier through a second pivot shaft, and the corresponding belt segment bypasses from the side of the idler wheel facing the inner ring area.

[0009] Optionally, at least one of the second pivot shafts is pivotally connected to an adjusting seat. The carrier is provided with a sliding groove extending towards the inner ring area. The adjusting seat is slidably connected to the sliding groove and can be locked at different positions of the sliding groove through a locking structure.

[0010] Optionally, a receiving space is formed between the carrier frame and the carrier. The rotation driving member and the connecting shaft are located on the same side of the carrier, and the driving wheel and each of the follower wheels are received in the receiving space.

[0011] Optionally, the carrier includes a rectangular seat body and an extending seat body adjacent to the rectangular seat body. Each of the first pivot shafts is located in the rectangular seat body, and the rotation driving member is located in the extending seat body.

[0012] Optionally, a buffer seat is fixedly connected to the housing part of the clamping mechanism, and the buffer seat is provided with a guiding hole; one end of the first pivot shaft departing from the connecting shaft is fixedly connected with a mounting seat. A guiding rod is fixedly connected to a side of the mounting seat departing from the first pivot shaft. The guiding rod is slidably inserted into the guiding hole, and a stop member with a size larger than the guiding hole is provided at an end of the guiding rod extending out of the guiding hole; a spring is sleeved on a rod segment of the guiding rod located between the mounting seat and the buffer seat.

[0013] Optionally, among the mounting seat and the buffer seat, one is provided with an identifying member, and the other is provided with a detector. When the identifying member is within the detection range of the detector, the spring is at a preset compression amount.

[0014] The present utility model further provides a robot, including a robotic arm and the above-mentioned rotary clamping device. One end of the connecting shaft of the rotary clamping device departing from the carrier is connected to the end of the robotic arm.

[0015] When the rotary clamping device provided by the present utility model is applied to a robot, on the one hand, the coordinated connection of its rotary drive assembly and multiple clamping mechanisms can achieve synchronous clamping and synchronous rotation angle adjustment of multiple materials, with high operating efficiency and strong functionality. On the other hand, the setting of the support ribs can improve the stability and firmness of the connection shaft connected to the carrier base, thereby improving the stability of the rotary clamping device connected to the robotic arm, ensuring the driving stability and azimuth accuracy of the robotic arm for the clamping mechanism; the setting of the carrier frame can improve the arrangement neatness and stability of each connecting pipeline, reduce the interference caused by the winding and dropping of the connecting pipeline to the clamping mechanism or the situation where the connecting pipeline is torn off, resulting in the inability of the rotary drive assembly and the clamping mechanism to operate, thereby ensuring the normal operation of the rotary clamping device. On the further hand, both the support ribs and the carrier frame are located on the circumferential side of the connecting shaft, which will not interfere with the use of the clamping mechanism, nor affect the connection between the connecting shaft and the robotic arm, and this setting can make full use of the space on the circumferential side of the connecting shaft, making the structure of the rotary clamping device compact and the overall volume approximately remain unchanged. Description of the Drawings

[0016] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Is the first perspective axonometric view of the rotary clamping device provided by the embodiment of the present utility model;

[0018] Figure 2 Is Figure 1 The enlarged partial view of A in

[0019] Figure 3 Is the second perspective axonometric view of the rotary clamping device provided by the embodiment of the present utility model;

[0020] Figure 4 Is the top view of the rotary clamping device provided by the embodiment of the present utility model.

[0021] Description of the Reference Numerals:

[0022] 100 - Carrier; 110 - Rectangular seat body; 111 - Slide groove; 111a - Connecting hole; 120 - Extended seat body; 200 - Connecting shaft; 210 - First connection area; 220 - Second connection area; 300 - Rotary drive assembly; 310 - Rotary drive member; 311 - Angle detection member; 320 - Driving wheel; 330 - First pivot shaft; 340 - Driven wheel; 350 - Synchronous belt; 360 - Second pivot shaft; 361 - Adjusting seat; 361a - Slot; 370 - Idler wheel; 380 - Inner ring area; 400 - Clamping mechanism; 410 - Housing part; 420 - Jaw; 421 - Anti-slip pad; 500 - Support rib; 600 - Carrier frame; 610 - Main carrier beam; 620 - Auxiliary carrier beam; 621 - Connecting beam segment; 622 - Support beam segment; 623 - Loading beam segment; 700 - Accommodation space; 810 - Mounting seat; 820 - Buffer seat; 821 - Guide hole; 830 - Guide rod; 831 - Stop member; 840 - Spring; 851 - Identification member; 852 - Detector; 900 - Connecting pipeline. Detailed implementation manners

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0024] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0026] This embodiment provides a rotary clamping device, as Figure 1 andFigure 3 As shown, it includes a carrier 100, a connecting shaft 200 and a rotary drive assembly 300 provided on the carrier 100. The outer side wall of the connecting shaft 200 includes four planar connection areas extending along its axial direction and arranged at equal intervals along its circumferential direction. Support ribs 500 are connected between two opposite planar connection areas, which are used as the first connection areas 210, and the carrier 100. The other two opposite planar connection areas are used as the second connection areas 220, and a carrier 600 is fixedly provided thereon; the rotary drive assembly 300 is connected with a plurality of clamping mechanisms 400 for driving the clamping mechanisms 400 to rotate synchronously; the plurality of clamping mechanisms 400 and the connecting shaft 200 are located on opposite sides of the carrier 100, and the connecting pipelines 900 of the rotary drive assembly 300 and the plurality of clamping mechanisms 400 are all fixed to the carrier 600.

[0027] This embodiment also provides a robot, including a robotic arm and the above-mentioned rotary clamping device. One end of the connecting shaft 200 of the rotary clamping device, which faces away from the carrier 100, is connected to the end of the robotic arm.

[0028] The rotary clamping device provided in this embodiment can be used for synchronous clamping and synchronous rotation angle adjustment of multiple materials. As the end of the robot, the rotary clamping device can synchronously transport multiple materials under the drive of the robotic arm. The specific use process is as follows:

[0029] Initially, the rotary drive assembly 300 and each clamping mechanism 400 are connected to the corresponding power source through the connecting pipeline 900. Each clamping mechanism 400 rotates to the same preset orientation under the drive of the rotary drive assembly 300, and the jaws 420 of the clamping mechanism 400 are in an open state; the robotic arm drives the rotary clamping device to move to one side of the tray, and the multiple clamping mechanisms 400 correspond to the multiple materials one by one. Subsequently, the robotic arm drives the rotary clamping device to move towards the materials until the multiple materials are respectively located between the jaws 420 of the multiple clamping mechanisms 400; each clamping mechanism 400 adjusts the jaws 420 to clamp the corresponding materials, thereby completing the synchronous clamping of the multiple materials; then the robotic arm drives the rotary clamping device to carry the multiple materials to the target position. When the materials need to be adjusted in angle, the rotary drive assembly 300 drives each clamping mechanism 400 to rotate synchronously, so as to realize the synchronous rotation adjustment of the multiple materials to make them reach the target orientation for processing or assembly operations. Subsequently, the robotic arm drives the rotary clamping device to carry the processed product and place it on the tray, or after the materials are assembled with other components, the clamping mechanism 400 releases the materials, and the robotic arm drives the rotary clamping device to leave for clamping the next group of materials. The operation efficiency is high and the functionality is strong.

[0030] Among them, the connecting shaft 200 is used to connect the robotic arm and the carrier 100. Two opposite first connection areas 210 and two opposite second connection areas 220 are provided on its outer sidewall. Among them, the two first connection areas 210 are used to connect the support ribs 500 to improve the stability and firmness of the connection between the connecting shaft 200 and the carrier 100, thereby improving the stability of the rotary clamping device connected to the robotic arm and ensuring the driving stability and azimuth accuracy of the robotic arm for the clamping mechanism 400; the two second connection areas 220 are used to connect the carrier frame 600. The connection pipelines 900 of the rotary drive assembly 300 and each clamping mechanism 400 are all fixed to the carrier frame 600. On the basis of satisfying the rotary movement of the clamping mechanism 400, the arrangement neatness and stability of the connection pipelines 900 are improved, and the interference caused by the winding and dropping of the connection pipelines 900 to the clamping mechanism 400 or the situation where the connection pipelines 900 are torn off, resulting in the inoperability of the rotary drive assembly 300 and the clamping mechanism 400, is reduced, thereby ensuring the normal operation of the rotary clamping device.

[0031] At the same time, the connecting shaft 200 and the clamping mechanism 400 are located on both sides of the carrier 100, and the support ribs 500 and the carrier frame 600 are both located on the circumferential side of the connecting shaft 200, making full use of the space on the circumferential side of the connecting shaft 200. On the basis of strengthening the stability of the connecting shaft 200 and improving the neatness and stability of the connection pipelines 900, it will not interfere with the use of the clamping mechanism 400, nor will it affect the connection between the connecting shaft 200 and the robotic arm. Correspondingly, on the basis of improving the operating stability of the rotary clamping device, the structure of the rotary clamping device is compact, and the overall volume remains approximately unchanged.

[0032] When the rotary clamping device provided in this embodiment is applied to a robot, on the one hand, the coordinated connection of its rotary drive assembly 300 and multiple clamping mechanisms 400 can realize the synchronous clamping and synchronous rotation angle adjustment of multiple materials, with high operating efficiency and strong functionality. On the other hand, the setting of the support ribs 500 can improve the stability and firmness of the connection between the connecting shaft 200 and the carrier 100, thereby improving the stability of the rotary clamping device connected to the robotic arm and ensuring the driving stability and azimuth accuracy of the robotic arm for the clamping mechanism 400; the setting of the carrier frame 600 can improve the arrangement neatness and stability of the connection pipelines 900, and reduce the interference caused by the winding and dropping of the connection pipelines 900 to the clamping mechanism 400 or the situation where the connection pipelines 900 are torn off, resulting in the inoperability of the rotary drive assembly 300 and the clamping mechanism 400, thereby ensuring the normal operation of the rotary clamping device. On the other hand, the support ribs 500 and the carrier frame 600 are both located on the circumferential side of the connecting shaft 200, which will not interfere with the use of the clamping mechanism 400, nor will it affect the connection between the connecting shaft 200 and the robotic arm, and this setting can make full use of the space on the circumferential side of the connecting shaft 200, making the structure of the rotary clamping device compact, and the overall volume remains approximately unchanged.

[0033] Specifically, the robot can be applied to the handling, picking and placing, 90° flipping, etc. of materials in the AOI inspection equipment for the appearance of electronic products; among them, as Figure 2 and Figure 3 shown, an anti-slip pad 421 can be provided on the inner side of the jaw 420 to improve the stability of the jaw 420 for gripping materials.

[0034] Specifically, in this embodiment, as Figure 1 , Figure 3 and Figure 4 shown, the carrier 600 includes two auxiliary carrier beams 620 and two main carrier beams 610 respectively connected to two second connection areas 220 in a one-to-one correspondence. The two auxiliary carrier beams 620 correspond to the two support ribs 500 one by one, and the auxiliary carrier beam 620 includes a connecting beam segment 621, a loading beam segment 623, and a support beam segment 622 connected between the two. The connecting beam segment 621 is connected to the corresponding support rib 500, and the loading beam segment 623 is connected between the two ends of the two main carrier beams 610 on the same side.

[0035] Taking Figure 1 the perspective as a reference, the two first connection areas 210 are respectively located on the left and right sides of the connecting shaft 200. Correspondingly, the two support ribs 500 are respectively connected to the left and right sides of the connecting shaft 200; the two second connection areas 220 are respectively located in the front and rear of the connecting shaft 200. Correspondingly, the two main carrier beams 610 are respectively connected to the front and rear of the connecting shaft 200 and both extend along the arrangement direction of the two first connection areas 210 (i.e., the left and right direction); the two auxiliary carrier beams 620 are respectively located on the left and right sides of the connecting shaft 200, and their loading beam segments 623 extend along the arrangement direction of the two main carrier beams 610 (i.e., the front and rear direction). Taking the auxiliary carrier beam 620 on the left side as an example, the connecting beam segment 621 of the auxiliary carrier beam 620 is connected to the support segment of the support rib 500 between the main carrier beam 610 and the carrier base 100, the loading beam segment 623 is connected between the two ends of the two main carrier beams 610 on the same left side, and the support beam segment 622 is supported and connected between the connecting beam segment 621 and the loading beam segment 623; then on the one hand, the two loading beam segments 623 are respectively connected between the two ends of the two main carrier beams 610, and the four form a rectangular structure, thereby improving the structural stability of the carrier 600 and surrounding the connecting shaft 200 with the carrier 600, and being able to load the connecting pipelines 900 in all directions of the carrier base 100; on the other hand, the support beam segment 622 can support and strengthen the loading beam segment 623 to improve the stability of the loading beam segment 623 and the main carrier beam 610, and ensure the stability of the carrier 600 for loading the connecting pipelines 900.

[0036] Optionally, in this embodiment, as Figure 1 and Figure 3As shown in the figure, the rotation driving assembly 300 includes a rotation driving member 310 disposed on the carrier 100 and a plurality of first pivot shafts 330 pivotally connected to the carrier 100. A driving wheel 320 is provided at the driving end of the rotation driving member 310. A follower wheel 340 is sleeved on each first pivot shaft 330, and a synchronous belt 350 is sleeved between the driving wheel 320 and each follower wheel 340; a plurality of clamping mechanisms 400 are respectively connected to one end of the plurality of first pivot shafts 330 departing from the connecting shaft 200. When the rotation angle of the clamping mechanism 400 needs to be adjusted, the rotation driving member 310 drives the driving wheel 320 to rotate. The driving wheel 320 correspondingly drives the synchronous belt 350 to rotate, thereby driving each follower wheel 340 to rotate synchronously, and further driving the clamping mechanism 400 and the material clamped by it to rotate synchronously through their respective first pivot shafts 330 to adjust the angle; in this embodiment, a single rotation driving member 310 can realize the synchronous rotation driving of a plurality of clamping mechanisms 400 through a belt transmission mechanism, with a simple structure and high synchronism in driving the rotation of the plurality of clamping mechanisms 400, thereby improving the clamping rotation synchronism of the rotation clamping device for the material, improving the processing quality or assembly accuracy of the material, and improving the assembly convenience of each component in the rotation clamping device and reducing its cost.

[0037] Specifically, the rotation driving member 310 can be selected from a speed-regulating motor, a stepping motor, a servo motor, etc. The angle by which it drives the clamping mechanism 400 to rotate through the belt transmission mechanism can be set as needed and can be detected and controlled by an angle detecting member 311.

[0038] Specifically, in this embodiment, as Figure 4 shown in the figure, the driving wheel 320 and each follower wheel 340 are dispersedly arranged along the circumferential direction of the carrier 100 to enclose an inner ring area 380, and each adjacent pair of wheel bodies and the synchronous belt 350 between them form a transmission group. An idler wheel 370 is provided between the two wheel bodies of at least one transmission group. The idler wheel 370 is pivotally connected to the carrier 100 through a second pivot shaft 360, and the corresponding belt section bypasses from the side of the idler wheel 370 facing the inner ring area 380.

[0039] Compared with the driving wheel 320 and multiple follower wheels 340 arranged in a straight line, the synchronous belt 350 is sleeved outside the driving wheel 320 and each follower wheel 340. The contact area between the synchronous belt 350 and the follower wheel 340 at the middle position is small, and it is easy to slip between them, resulting in poor synchronism of the multiple follower wheels 340. In this embodiment, the outer diameters of the follower wheels 340 are all equal. The driving wheel 320 and the multiple follower wheels 340 are arranged circumferentially along the carrier 100 to jointly support the synchronous belt 350 outward. The contact areas between the synchronous belt 350 and the driving wheel 320 and each follower wheel 340 are large and relatively balanced, so as to ensure the synchronous transmission of the synchronous belt 350 to each follower wheel 340, ensure the synchronism of the multiple follower wheels 340, and further ensure the synchronism of the rotation of the multiple clamping mechanisms 400. Further, an idler wheel 370 is provided between the driving wheel 320 and the adjacent follower wheel 340, and between two adjacent follower wheels 340. The side wall of the idler wheel 370 facing the inner ring area 380 is closer to the inner ring area 380 than the side walls of its two side wheel bodies facing away from the annular area. Then the idler wheel 370 can squeeze the belt section between its two side wheel bodies toward the inner ring area 380, that is, in a transmission group, the belt section bypasses the outer side wall of a wheel body facing away from the inner ring area 380, the inner side wall of the idler wheel 370 facing the inner ring area 380, and the outer side wall of another wheel body facing away from the inner ring area 380 in a wavy shape, so as to increase the contact area and the acting length between the belt section and the wheel body, and correspondingly further improve the transmission synchronism of the synchronous belt 350 to each follower wheel 340, and further improve the rotation driving synchronism of the rotation driving member 310 to each clamping mechanism 400.

[0040] Preferably, an idler wheel 370 is provided between the two wheel bodies of each transmission group.

[0041] In this embodiment, as Figure 1 , Figure 3 and Figure 4As shown, at least one second pivot shaft 360 is pivotally connected to the adjustment seat 361. The carrier 100 is provided with a chute 111 extending towards the inner ring area 380. The adjustment seat 361 is slidably connected to the chute 111 and can be locked at different positions of the chute 111 through a locking structure. The idler pulley 370 pivotally connected to the adjustment seat 361 through the second pivot shaft 360 also serves as a tension pulley, capable of tensioning and adjusting the timing belt 350. Before use, the locking structure can be unlocked, and then the position of the adjustment seat 361 within the chute 111 can be changed according to the tightness of the timing belt 350. Specifically, when the timing belt 350 is loose, the adjustment seat 361 can be slid towards the inner ring area 380, and the tension pulley correspondingly presses the timing belt 350 inwards to tension and adjust it. When the timing belt 350 reaches the tension level, the adjustment seat 361 is locked at this position of the chute 111 through the locking structure; similarly, the adjustment seat 361 can be slid away from the inner ring area 380 to relax the tension of the timing belt 350, thereby realizing the tension adjustment of the timing belt 350, improving the functionality of the rotary drive assembly 300, and ensuring the synchronous transmission of the timing belt 350 to each follower pulley 340.

[0042] Specifically, as Figure 3 and Figure 4 shown, a connection hole 111a can be provided at the bottom of the chute 111, and a slotted hole 361a extending along the extension direction of the chute 111 can be provided on the adjustment seat 361. After the position adjustment of the adjustment seat 361 is completed, bolts are used to pass through the slotted hole 361a and the connection hole 111a in sequence, and nuts are screwed onto the screw rods of the bolts to lock the adjustment seat 361 in the chute 111; when the position needs to be adjusted, the nuts can be loosened to slide the adjustment seat 361.

[0043] Optionally, in this embodiment, as Figure 1 shown, a receiving space 700 is formed between the carrier 600 and the carrier 100. The rotary drive member 310 and the connecting shaft 200 are located on the same side of the carrier 100, and the driving pulley 320 and each follower pulley 340 are all received in the receiving space 700. First, the rotary drive member 310, the driving pulley 320, the timing belt 350, the follower pulley 340, and the clamping mechanism 400 are located on opposite sides of the carrier 100, which can effectively reduce the influence of the interference between the rotary drive member 310, the driving pulley 320, the timing belt 350, the follower pulley 340 and surrounding objects on the clamping action of the clamping mechanism 400 during the clamping process, thereby ensuring the normal clamping operation of the clamping mechanism 400; second, the driving pulley 320 and the follower pulley 340 are received in the receiving space 700 formed between the carrier 600 and the carrier 100, which can make full use of the receiving space 700 and further improve the structural compactness of the rotary clamping device.

[0044] In this embodiment, as Figure 4As shown, the carrier base 100 includes a rectangular base body 110 and an extended base body 120 adjacent to the rectangular base body 110. Each first pivot shaft 330 is located in the rectangular base body 110, and the rotary drive member 310 is located in the extended base body 120. The rectangular base body and the extended base body 120 have different shapes and are easy to distinguish. During assembly, the installation positions of the rotary drive member 310 and the first pivot shaft 330 can be clearly distinguished, thereby improving the assembly convenience of each component in the rotary clamping device and reducing misassembly operations.

[0045] Regarding the connection manner between the first pivot shaft 330 and the clamping mechanism 400, specifically, in this embodiment, as Figure 2 and Figure 3 shown, a buffer seat 820 is fixedly connected to the housing portion 410 of the clamping mechanism 400, and the buffer seat 820 is provided with a guide hole 821; one end of the first pivot shaft 330 departing from the connecting shaft 200 is fixedly connected with a mounting seat 810, and a guide rod 830 is fixedly connected to a side of the mounting seat 810 departing from the first pivot shaft 330. The guide rod 830 is slidably inserted into the guide hole 821, and a stop member 831 with a size larger than the guide hole 821 is provided at an end of the guide rod 830 extending out of the guide hole 821; a spring 840 is sleeved on a rod section of the guide rod 830 located between the mounting seat 810 and the buffer seat 820. Initially, the spring 840 is in a natural state or a compressed state, and the stop member 831 abuts against the end face of the guide hole 821 under the action of the spring 840; when the robotic arm drives the rotary clamping device to move close to the material, when the jaws 420 of the clamping mechanism 400 abut against the material tray or other table surfaces for placing the material, the clamping mechanism 400 receives an extrusion force, and the buffer seat 820 moves towards the mounting seat 810 along with the clamping mechanism 400, and the spring 840 is correspondingly compressed and deformed by the extrusion, thereby playing a buffering role for the clamping mechanism 400, reducing the damage caused by the rigid collision between the clamping mechanism 400 and the material tray or the table surface, and at the same time, it can also reduce the requirement for the driving accuracy of the robotic arm.

[0046] Preferably, both the guide hole 821 and the guide rod 830 can be two, and are located on opposite sides of the buffer seat 820.

[0047] In this embodiment, as Figure 2 and Figure 3As shown, among the mounting base 810 and the buffer base 820, one of them is provided with an identification member 851, and the other is provided with a detector 852. When the identification member 851 is within the detection range of the detector 852, the spring 840 is at a preset compression amount. Both the detector 852 and the robotic arm are communicatively connected to the control module of the robot. Initially, the distance between the mounting base 810 and the buffer base 820 is large, and the identification member 851 is outside the detection range of the detector 852. When the robotic arm drives the clamping mechanism 400 to approach the material for clamping operation, when the clamping mechanism 400 abuts against the tray or tabletop and drives the buffer base 820 to move towards the mounting base 810, the identification member 851 and the detector 852 move towards each other accordingly. When the identification member 851 reaches the detection range of the detector 852, the detector 852 detects the identification member 851 and feeds back a signal indicating that the compression is in place to the control module, indicating that the spring 840 has reached the preset compression amount at this time. The distance between the mounting base 810 and the buffer base 820 is small. If they continue to move towards each other, a collision will occur or the spring 840 will be damaged. The control module accordingly controls the robotic arm to stop driving the clamping mechanism 400, and the clamping mechanism 400 then clamps the material, thus playing a protective role for the buffer mechanism and the clamping mechanism 400.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotary clamping device, characterized in that: The invention comprises a carrier (100), a connecting shaft (200) and a rotation drive assembly (300) arranged on the carrier (100), wherein the outer wall of the connecting shaft (200) comprises four planar connecting areas extending along its axial direction and arranged at equal intervals along its circumference, wherein two opposite planar connecting areas as first connecting areas (210) are connected to the carrier (100) with support ribs (500), and the other two opposite planar connecting areas as second connecting areas (220) are fixedly provided with carriers (600); The rotation drive assembly (300) is connected to a plurality of clamping mechanisms (400) for driving the clamping mechanisms (400) to rotate synchronously; the plurality of clamping mechanisms (400) and the connecting shaft (200) are located on opposite sides of the carrier (100), and the connection pipelines (900) of the rotation drive assembly (300) and the plurality of clamping mechanisms (400) are fixed to the carrier (600).

2. The rotary clamping device according to claim 1, characterized in that: The carrier (600) includes two auxiliary load beams (620) and two main load beams (610) connected one-to-one to the two second connection areas (220), the two auxiliary load beams (620) correspond one-to-one to the two support ribs (500), and the auxiliary load beams (620) include a connecting beam section (621), a loading beam section (623) and a supporting beam section (622) connected therebetween, wherein the connecting beam section (621) is connected to the corresponding support rib (500), and the loading beam section (623) is connected between the two ends of the two main load beams (610) located on the same side.

3. The rotary clamping device according to claim 1 or 2, characterized in that: The rotary drive assembly (300) comprises a rotary drive member (310) arranged on the carrier (100) and a plurality of first pivot shafts (330) pivotally connected to the carrier (100); a driving wheel (320) is arranged at a driving end of the rotary drive member (310); each of the first pivot shafts (330) is sleeved with a follower wheel (340); a synchronous belt (350) is sleeved between the driving wheel (320) and each of the follower wheels (340); and the plurality of clamping mechanisms (400) are connected one by one to the ends of the plurality of first pivot shafts (330) away from the connecting shaft (200).

4. The rotary clamping device according to claim 3, characterized in that: The driving wheel (320) and each of the driven wheels (340) are dispersedly arranged along the circumference of the carrier (100) to form an inner ring area (380), and each two adjacent wheel bodies and the belt segment of the synchronous belt (350) located therebetween serve as a transmission group. An idler wheel (370) is provided between the two wheel bodies of at least one of the transmission groups. The idler wheel (370) is pivotally connected to the carrier (100) via a second pivot shaft (360), and the corresponding belt segment passes around the idler wheel (370) toward one side of the inner ring area (380).

5. The rotary clamping device according to claim 4, characterized in that: At least one of the second pivot shafts (360) is pivotally connected to an adjustment seat (361); the carrier (100) is provided with a slide groove (111) extending toward the inner ring area (380); the adjustment seat (361) is slidably connected to the slide groove (111) and can be locked at different positions of the slide groove (111) by a locking structure.

6. The rotary clamping device according to claim 3, characterized in that: An accommodating space (700) is formed between the carrier (600) and the carrier seat (100), the rotating driving member (310) and the connecting shaft (200) are located on the same side of the carrier seat (100), and the driving wheel (320) and each of the driven wheels (340) are accommodated in the accommodating space (700).

7. The rotary clamping device according to claim 3, characterized in that: The carrier (100) comprises a rectangular seat body (110) and an extended seat body (120) adjacent to the rectangular seat body (110), each of the first pivot shafts (330) is located on the rectangular seat body (110), and the rotating drive member (310) is located on the extended seat body (120).

8. The rotary clamping device according to claim 3, characterized in that: The shell portion (410) of the clamping mechanism (400) is fixedly connected to a buffer seat (820), and the buffer seat (820) is provided with a guide hole (821); the end of the first pivot axis (330) away from the connecting axis (200) is fixedly connected to a mounting seat (810), and the side of the mounting seat (810) away from the first pivot axis (330) is fixedly connected to a guide rod (830), the guide rod (830) is slidably inserted in the guide hole (821), and the end of the guide rod (830) extending out of the guide hole (821) is provided with a stopper (831) whose size is larger than the guide hole (821); the rod section of the guide rod (830) located between the mounting seat (810) and the buffer seat (820) is sleeved with a spring (840).

9. The rotary clamping device according to claim 8, characterized in that: One of the mounting seat (810) and the buffer seat (820) is provided with an identification member (851), and the other is provided with a detector (852), and when the identification member (851) is located within the detection range of the detector (852), the spring (840) is at a preset compression amount.

10. A robot, characterized in that: It comprises a mechanical arm and the rotary clamping device according to any one of claims 1 to 9, wherein one end of the connecting shaft (200) of the rotary clamping device which is away from the carrier (100) is connected to the end of the mechanical arm.

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