Integrated high-precision rotary clamping jaw

Abstract

The utility model provides an integrated high-precision rotary clamping jaw which comprises an outer shell, a clamping jaw mechanism detachably connected with one end of the outer shell, an opening and closing driver detachably connected with the other end of the outer shell and a rotary driver detachably connected with the other end of the outer shell, and power interfaces are arranged on the opening and closing driver and the rotary driver. The opening and closing driver is detachably connected with the rotary driver through a fixing plate and a motor connecting plate, an opening and closing sensor is arranged on the shell, and a rotary sensor is arranged on the fixing block on the same face with the opening and closing sensor and used for detecting the action of the clamping jaw. And reasonable alternate use and action precision of opening and closing and rotating actions are guaranteed, the problem that in automatic production, the use and utilization efficiency of the device is low due to power source replacement is effectively solved, and the device has market prospects and is suitable for application and popularization.

Description

Technical Field

[0001] This application relates to the technical field of grippers, and particularly to an integrated high-precision rotary gripper. Background Art

[0002] With the continuous development of automated assembly technology, electric rotary grippers are widely used in automated equipment, robots, and medical automated equipment. Currently, there are a wide variety of electric rotary grippers on the market, with different functions, and all use an integrated structure. The patent application number is CN202311186694.8, and the patent name is a rotary gripper with a power source that can be quickly replaced. This invention includes a rotatable gripper module and a power source that can be quickly replaced component arranged above the rotatable gripper module. The power source that can be quickly replaced component can be matched with the power source to realize the linear motion of the push-pull screw inside the rotatable gripper module. Through the quick replacement design of the special-shaped nut and the coupling, this invention can transmit the rotational motion of the power source to the special-shaped nut through the coupling, realizing the quick replacement of the power source. However, in actual use, frequently replacing the power source will also reduce the operation efficiency and affect the full utilization and use of the device. Utility Model Content

[0003] The purpose of this application is to improve the defects in the above-mentioned existing technologies and provide an integrated high-precision rotary gripper, which includes a housing and a gripper mechanism detachably connected to one end thereof, an opening and closing driver and a rotation driver detachably connected to the other end of the housing. The opening and closing driver and the rotation driver are provided with power interfaces for supplying the driving power required for the opening and closing driver and the rotation driver. The opening and closing driver is detachably connected to the rotation driver through a fixing plate and a motor connection plate. An opening and closing sensor is arranged on the housing, and a rotation sensor is arranged on the fixed block on the same side as the opening and closing sensor for detecting the gripper action to ensure the reasonable alternating use of the opening and closing and rotation actions and the accuracy of the actions. When the opening and closing driver operates, the gripper driving screw drives the gripper mechanism to perform actions such as telescoping, gripping, and releasing. When the rotation driver operates, the rotating shaft drives the gripper mechanism to perform a rotation action through a connecting rod and a rotation connecting block.

[0004] Further, the gripper mechanism includes a guide block, a pull rod, a swing arm, a limit block, a chuck base, and a chuck.

[0005] Further, one end of the opening and closing driver is fixedly connected to the gripper driving screw, one end of the guide block is connected to the gripper driving screw, and the other end is connected to the pull rod.

[0006] Further, the pull rod is provided with an oval perforation, and the fixing pin for fixing the connecting rod is in the perforation, playing a limiting role when opening and closing and pulling.

[0007] Further, a bearing is provided inside the guiding block, enabling the chuck to rotate infinitely. A limiting block is sleeved outside the pull rod. The pull rod is connected to a swing arm, and the end of the swing arm is connected to a chuck.

[0008] Further, one end of the limiting block is provided with a stack-shaped circular protrusion of one large and one small. The large circular protrusion is sleeved with the inner ring of the outer shell fixing block, and the small circular protrusion is sleeved with the inner ring of the bearing.

[0009] Further, positioning holes and screw holes are symmetrically arranged on the end face of the limiting block facing the chuck direction, facilitating the replacement and installation of the limiting block and the chuck base and chuck matching with it.

[0010] Further, the chuck base and the chuck can be two-jaw, three-jaw, four-jaw or a shrink chuck.

[0011] Further, the rotary drive is provided with a rotating shaft connected to the connector. The connector is fixedly connected to the connecting rod, and the other end of the connecting rod is connected to the pull rod.

[0012] Further, the fixing pin passes through the pull rod and the connecting rod from one side of the rotary connection block to the perforation of the rotary connection block on the opposite side. Two rotary bearings are sleeved on its periphery. A circular protrusion is provided on one side of the rotary connection block close to the guiding block to prevent the sleeved bearings from slipping off.

[0013] Compared with the prior art, the advantages of this application are as follows:

[0014] Compared with the traditional electric rotary gripper, the utility model adopts an integrated structure design, effectively solving the problem of low device use and utilization efficiency caused by the replacement of the power source in automated production, having a market prospect and being suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the front view structural schematic diagram of Embodiment 1 of this application;

[0016] Figure 2 is the exploded structural schematic diagram of Embodiment 1 of this application;

[0017] Figure 3 is the structural schematic diagram of the gripper mechanism of Embodiment 1 of this application.

[0018] Description of the reference numerals in the drawings:

[0019] Outer shell 1, opening and closing sensor 11, opening and closing drive 2, rotary drive 3, rotating shaft 31, connecting rod 32, fixing pin 33, connector 34, rotary connection block 35, drive connection plate 4, fixing plate 5, rotation sensor 51, gripper mechanism 6, drive lead screw 61, guiding block 62, pull rod 63, swing arm 64, limiting block 65, chuck base 66, chuck 67, rotary bearing 7. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In the following, the technical solutions of the present application will be clearly and completely described in conjunction with the embodiments and the accompanying drawings of the specification. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the present application.

[0021] In the description of the present utility model, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the 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. Therefore, it should not be construed as a limitation to the present utility model.

[0022] Embodiment 1:

[0023] As Figure 1-2 shown, the present utility model discloses an integrated high-precision rotary jaw, which includes a jaw mechanism 6 detachably connected to one end of the housing 1, an opening and closing driver 2 detachably connected to the other end of the housing 1, and further includes a rotary driver 3 detachably connected to the opening and closing driver 2 through a fixing plate 5 and a driver connecting plate 4. The opening and closing driver 2 and the rotary driver 3 are provided with power interfaces for supplying the power required for driving to the opening and closing driver 2 and the rotary driver 3. One end of the fixing plate 5 is detachably connected to the opening and closing driver 2 by screws, and the other end is detachably connected to the rotary driver 3 through the driver connecting plate 4. An opening and closing sensor 11 is provided on the housing 1, and a rotary sensor 51 is provided on the fixing plate 5 on the same surface as the opening and closing sensor 11 for detecting the jaw movement to ensure the reasonable use of the opening and closing and rotary movements and the accuracy of the movements.

[0024] The jaw mechanism 6 includes a driving lead screw 61, a guide block 62, a pull rod 63, a swing arm 64, a limit block 65, a jaw base 66 and a jaw 67. One end of the opening and closing driver 11 is fixedly connected to the jaw driving lead screw 61. One end of the guide block 62 is threadedly connected to the jaw driving lead screw 61, and the other end is connected to the pull rod 63. The pull rod 63 is provided with an oval perforation, and the fixing pin 33 of the fixed connecting rod 32 is in the perforation, playing a limiting role during the opening and closing pulling. A bearing is provided inside the guide block 62, which can enable the jaw 67 to rotate infinitely. A limit block 65 is sleeved outside the pull rod 63. One end of the limit block 65 is connected to the jaw base 66 by screws, and the other end is provided with a large and a small stacked circular protrusion. The large circular protrusion is sleeved in the inner ring of the housing fixed block, and the small circular protrusion is sleeved in the inner ring of the rotary bearing 7. The end surface of the limit block 65 facing the jaw 67 is symmetrically provided with positioning holes and screw holes, which is convenient for replacing and installing the limit block 65 and the matching jaw base 66 and jaw 67. The jaw base 66 and the jaw 67 can be replaced with two-jaw, three-jaw, four-jaw or shrink jaws according to the use requirements. The pull rod 63 is connected to the swing arm 64, and the end of the swing arm 64 is connected to the jaw 67.

[0025] During use, the opening and closing driver 2 drives the gripper driving lead screw 61 to rotate. The gripper driving lead screw 61 advances by rotation relying on the thread, drives the guide block 62 to move up and down, and the guide block pulls the pull rod 63 and the swing arm 64, so that the swing arm drives the chuck 67 to perform the clamping or loosening action.

[0026] The rotation driver 3 is provided with a rotating shaft 31. One end thereof connected to the rotation driver 3 is provided with a connector 34. The connector 34 is sleeved on the rotating shaft 31. The connecting rod 32 is fixedly connected to the connector 34. The other end of the connecting rod 32 is fixedly connected to the fixing pin 33 on the pull rod 63. A rotating connection block 35 is sleeved outside the pull rod 63. The fixing pin 33 passes through the pull rod 63 and the connecting rod 32 from one side of the rotating connection block 35 to the perforation of the rotating connection block 35 on the opposite side. The length of the fixing pin 33 is not less than the diameter of the rotating connection block 35. The rotating connection block 35 is fixedly connected to the limit block 65 with screws. Two rotating bearings 7 are sleeved outside it. The rotating connection block 35 is provided with a circular protrusion on the side close to the guide block 62 to prevent the sleeved rotating bearings 7 from slipping off. This structural design ensures the high concentricity and accuracy of the gripper.

[0027] During use, the rotation driver 3 rotates, and the rotating shaft 31 drives the connector 34 and the connecting rod 32 to rotate. At this time, since one end of the connecting rod 32 is connected to the pull rod 63 and the rotating connection block 35 through the fixing pin 35, and the rotating connection block 35 is also connected to the limit block 65, and the limit block 65 is connected to the chuck base 66, under the rotation drive of the connecting rod 32 driven by the rotating shaft 31, each connection module also performs a corresponding rotational movement to realize the rotation of the chuck 67.

[0028] Compared with the traditional electric rotating gripper, the utility model adopts an integrated structural design, effectively solves the problem of low use and utilization efficiency of the device caused by the replacement of the power source in automated production, has a market prospect, and is suitable for popularization and application.

[0029] The above embodiments are only the preferred embodiments of the utility model, and do not limit the technical solution of the utility model. As long as the technical solution can be realized on the basis of the above embodiments without creative labor, it shall be regarded as falling within the scope of the patent right protection of the utility model.

Claims

1. An integrated high-precision rotating jaw, comprising a housing (1), a jaw mechanism (6) detachably connected to one end thereof, an opening and closing driver (2) and a rotation driver (3) detachably connected to the other end of the housing (1). Power interfaces are provided on the opening and closing driver (2) and the rotation driver (3) for supplying the power required for driving to the opening and closing driver (2) and the rotation driver (3). It is characterized in that: The opening and closing driver (2) is detachably connected to the rotary driver (3) through the fixing plate (5) and the motor connecting plate (4). An opening and closing sensor (11) is provided on the outer shell (1), and a rotary sensor (51) is provided on the fixing plate (5) on the same side as the opening and closing sensor (11) for detecting the clamping jaw movement, ensuring the reasonable use and action accuracy of the opening and closing and rotary movements. When the opening and closing driver (2) operates, the clamping jaw driving lead screw (61) drives the clamping jaw mechanism (6) to perform actions such as telescoping, clamping, and releasing; when the rotary driver (3) operates, the rotating shaft (31) drives the clamping jaw mechanism (6) to perform a rotary action through the connecting rod (32) and the rotary connecting block (35).

2. The integrated high-precision rotating jaw according to claim 1, characterized in that: The clamping jaw mechanism (6) includes a driving lead screw (61), a guide block (62), a pull rod (63), a swing arm (64), a limit block (65), a chuck base (66), and a chuck (67).

3. The integrated high-precision rotating jaw according to claim 2, wherein: One end of the opening and closing driver (2) is fixedly connected to the clamping jaw driving lead screw (61), and one end of the guide block (62) is threadedly connected to the clamping jaw driving lead screw (61), and the other end is connected to the pull rod (63).

4. The integrated high-precision rotating jaw according to claim 3, characterized in that: The pull rod (63) is provided with an oval perforation, and the fixing pin (33) for fixing the connecting rod (32) is in the perforation, playing a role in limiting during the opening and closing pulling.

5. The integrated high-precision rotating jaw according to claim 3, characterized in that: A bearing is provided inside the guide block (62) to enable the chuck (67) to rotate. A limit block (65) is sleeved outside the pull rod (63). The pull rod (63) is connected to the swing arm (64), and the end of the swing arm (64) is connected to the chuck (67).

6. The integrated high-precision rotating jaw according to claim 5, wherein: One end of the limit block (65) is provided with a large and a small stacked circular protrusion. The large circular protrusion is sleeved with the inner ring of the outer shell fixing block, and the small circular protrusion is sleeved with the inner ring of the rotary bearing (7).

7. The integrated high-precision rotating jaw according to claim 5, wherein: The end face of the limit block (65) facing the chuck (67) is symmetrically provided with positioning holes and screw holes, facilitating the replacement and installation of the limit block (65) and the matching chuck base (66) and chuck (67).

8. The integrated high-precision rotary jaw according to claim 7, wherein: The chuck base (66) and the chuck (67) can be two-jaw, three-jaw, four-jaw or shrink chucks.

9. The integrated high-precision rotating jaw according to claim 1, wherein: The rotary driver (3) is provided with a connector (34) sleeved on the rotating shaft (31). The connector (34) is fixedly connected to the connecting rod (32), and the other end of the connecting rod (32) is connected to the pull rod (63).

10. The integrated high-precision rotating jaw according to claim 4, characterized in that: The fixing pin (33) passes through the pull rod (63) and the connecting rod (32) from one side perforation of the rotary connecting block (35) to the perforation of the opposite rotary connecting block (35). Two rotary bearings (7) are sleeved on its periphery. A circular protrusion is provided on one side of the rotary connecting block (35) close to the guide block (62) to prevent the sleeved rotary bearings (7) from slipping off.

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