Infinite rotating clamping jaw platform capable of moving front and back

Abstract

The utility model belongs to the field of clamping jaw devices, and particularly relates to a clamping jaw platform capable of moving back and forth and rotating infinitely. According to the utility model, the structure is simple and stable, synchronous clamping of the clamping jaws is ensured by utilizing the connecting rod mechanism, rotating power, rotating speed and torque are provided by utilizing the hollow motor, the space is saved, the cost is reduced, the air cylinder is used for providing thrust, energy is clean, the thrust is adjustable, the thrust is stable, and the cost is low; according to the rotary clamping jaw, the precision of forward and backward movement of the clamping jaw is guaranteed, the adaptability of the mechanism is improved, and the problems that under the condition that an existing rotary clamping jaw is used under large clamping force, the clamping force is insufficient, so that the working efficiency is reduced, and under the condition of the large clamping force, the actions such as rotation and backward discharging of materials cannot be well completed are effectively solved.

Description

Technical Field

[0001] The utility model belongs to the field of clamping claw devices, and in particular relates to a clamping claw platform which can move forward and backward and rotate infinitely. Background Art

[0002] A rotary gripper is a robot end effector that combines electric drive and rotation functions. It is usually composed of a gripper body, an electric drive, and a rotation mechanism. It can perform operations such as grasping, transporting, and rotating workpieces under the control of the robot.

[0003] Rotary grippers are widely used in various fields. For example, in the automotive manufacturing sector, they can be used to precisely grasp and assemble various parts, improving production efficiency and quality. In the food processing sector, they can handle fragile items such as tofu, test tubes, and eggs, ensuring that the objects are not damaged during the grasping process. In the logistics and distribution field, they enable fast and accurate sorting and handling of items in automated warehouses.

[0004] However, when the current rotary clamp is used with a clamping force of more than 20kg, the clamping force will be insufficient, resulting in a decrease in work efficiency. In addition, when the clamping force is large, the material is rotated, the material is withdrawn and other actions are performed, and the completion efficiency is low. Utility Model Content

[0005] In response to the above problems, the utility model provides a clamping platform with infinite rotation that can move forward and backward and can provide large clamping force and ensure that under the clamping force, it can effectively complete actions such as rotation and backward unloading, thereby improving work efficiency.

[0006] To achieve the above-mentioned purpose, the utility model provides a clamping platform that can move back and forth and rotate infinitely, including: a rotating group, clamping jaws respectively connected to one side of the rotating group, and a cylinder connected to the other side of the rotating group by a screw. It is characterized in that the rotating group includes a hollow shaft stepping motor and a push rod passing through the hollow shaft stepping motor, the clamping jaw body includes a right connecting rod and a clamping jaw coaxially hinged with the right connecting rod, one end of the push rod is connected to the screw rod, and the other end sleeve of the push rod is coaxially connected to the right connecting rod, the bottom of the rotating group and the bottom of the cylinder are fixedly connected to the middle plate, and the middle plate is slidably arranged on the sliding base.

[0007] Optionally, the clamping jaw body further includes a connecting piece, a clamping jaw plate, and a clamping jaw, wherein the connecting piece is connected to the rotating shaft of the hollow shaft stepping motor, the clamping jaw plate is fixed on both sides of the connecting piece, and the clamping jaw is coaxially hinged with the clamping jaw plate.

[0008] Optionally, the push rod passes through a connecting piece and is coaxially connected to the right side of the connecting rod.

[0009] Optionally, the rotating group also includes a stepping plate, a middle baffle, and a rib plate. The hollow shaft stepping motor is fixedly connected to the stepping plate, and the bottom of the stepping plate is fixedly connected to the middle plate. The rib plate is fixedly connected to the stepping plate and the middle plate at the same time. The middle baffle is fixedly connected to the middle plate, and the push rod passes through the stepping plate and is connected to the screw.

[0010] Optionally, the cylinder bottom is fixedly connected to the cylinder plate, and the cylinder plate is fixedly connected to the middle plate.

[0011] Optionally, a sliding sleeve is provided below the middle plate.

[0012] Optionally, the sliding base includes two guide rails, side panels fixedly connected to the guide rails, and a left side panel, the left side of the side panel is fixedly connected to the sensor guide rail, the sensor guide rail is provided with a groove-type photoelectric, one end of the side panel is fixedly connected to the end corresponding to the left side panel through a screw plate, and the other end of the side panel is fixedly connected to the other end corresponding to the left side panel through an end plate.

[0013] Optionally, the sliding base also includes a screw rod, a screw rod connecting plate, a control motor, and a motor plate. One end of the screw rod is coaxially connected to the screw rod fixing seat, the other end of the screw rod is coaxially connected to the screw rod support seat, the middle of the screw rod is coaxially connected to the screw rod connecting plate, the screw rod fixing seat is fixedly connected to the screw rod plate, the screw rod support seat is fixedly connected to the end plate, the control motor is fixed on the motor plate, the motor plate is fixed on the side plate and the upper left side plate, the output shaft of the control motor is coaxially connected to one end of the coupling, and the other end of the coupling is coaxially connected to the screw rod.

[0014] Optionally, the upper portion of the screw rod connecting plate is inserted into the sliding sleeve. Beneficial effects

[0015] The utility model has a simple and stable structure, uses a connecting rod mechanism to ensure the synchronous clamping of the clamping jaws, uses a hollow motor to provide rotational power, speed and torque, saves space and reduces costs, uses a cylinder to provide thrust, the energy is clean, the thrust is adjustable, the thrust is stable, and the cost is low. At the same time, the forward and backward movement adopts a combination of a lead screw and a control motor, which ensures the accuracy of the forward and backward movement of the clamping jaws and increases the adaptability of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural diagram of the utility model;

[0018] Figure 2 It is a partial structural diagram of the utility model;

[0019] Figure 3 This is a structural diagram of the sliding base in the utility model;

[0020] Figure 4 Figure used in this utility model;

[0021] Among them, the rotating group 1; the clamping claw body 1-1; the sliding base 2; the sausage 3; the air joint 11; the photoelectric sensor 12; the middle baffle 13; the connecting piece 14; the left connecting rod 15; the stepping plate 16; the clamping claw plate 17; the sliding sleeve 18; the clamping claw 19; the guide rail 21; the control motor 22; the left side plate 23; the side plate 24; the screw connecting plate 25; the slotted photoelectric 26; the end plate 27; the screw plate 28; the coupling 29; the screw 210; the screw support seat 211; the screw fixing Seat 212; sensor guide rail 213; motor plate 214; screw 110; center pin 111; cylinder plate 112; bushing 113; push rod 114; bearing sleeve 115; cross plate 116; baffle 117; right connecting rod 118; oil-free bushing 119; edged wear-resistant pin 120; cylinder 121; hollow shaft stepper motor 122; bearing 123; intermediate plate 124; rib 125. DETAILED DESCRIPTION

[0022] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component. When a component is considered to be "disposed on" another component, it may be directly disposed on the other component or there may be a centrally located component.

[0024] In addition, the terms "long", "short", "inside", "outside", etc. that indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention. They do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientation structure, and should not be understood as a limitation of the present invention.

[0025] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0026] like Figure 1 、 2 The shown embodiment shows an infinitely rotating clamping platform that can move forward and backward, comprising a rotating group 1, a clamping body 1-1 respectively connected to one side of the rotating group 1, and a cylinder 121 connected to the other side of the rotating group 1 through a screw 110. The embodiment is characterized in that the rotating group 1 comprises a hollow shaft stepping motor 122, a push rod 114 passing through the hollow shaft stepping motor 122, the clamping body 1-1 comprises a right connecting rod 118, a clamping jaw 19 coaxially hinged to the right connecting rod 118, one end of the push rod 114 is connected to the screw 110, and the other end sleeve of the push rod 114 is coaxially connected to the right connecting rod 118, the bottom of the rotating group 1 and the bottom of the cylinder 121 are fixedly connected to the middle plate 124, and the middle plate 124 is slidably arranged on the sliding base 2.

[0027] like Figure 2 The air joint 11 shown is screwed and locked above the cylinder 121. The cylinder 121 is fixed to the cylinder plate 112 by bolts. The cylinder plate 112 is fixed to one end of the intermediate plate 124. The end of the piston rod of the cylinder 121 is screwed and locked with the screw 110. The other end of the screw 110 is connected to the bearing sleeve 115. The bearing sleeve 115 is fixedly connected to the shaft sleeve 113 by bolts, and a bearing 123 is installed in the middle. One end of the push rod 114 is sleeved with an oil-free bushing 119 and is coaxially connected to the inner hole of the bearing sleeve 115. The push rod 114 passes through the hollow shaft stepper motor and is sleeved with an oil-free bushing at the other end and is coaxially connected to the right connecting rod 118. The right connecting rod 118 is coaxially hinged to the clamping jaw 19 through the middle pin 111. The two ends of the connecting piece 14 A clamping plate 17 is fixed at one end, and a wear-resistant pin 120 with an edge is inserted into each of the two circular holes at the other end of the clamping plate 17. The wear-resistant pin 120 with an edge is hinged in the middle of the clamping jaw 19 and the right connecting rod 118. The central opening circular hole of the connecting member 14 is connected to the rotating shaft at one end of the hollow shaft stepper motor 122. When the shaft of the hollow shaft stepper motor 122 rotates, the clamping jaw 19 is driven to rotate together. The hollow shaft stepper motor 122 is fixedly connected to the stepping plate 16 by bolts, and the lower part of the stepping plate 16 is fixed to the middle plate 124 by bolts. The rib plate 125 is fixedly connected to the stepping plate 16 and the middle plate 124 at the same time. The middle baffle 13 is connected to the middle plate 124 by screws, and the sliding sleeve 18 is fixed below the middle plate 124.

[0028] Among them, the push rod 114 is pushed out synchronously when the piston rod of the cylinder 121 is pushed out. The other end of the push rod 114 is hingedly connected to the right connecting rod 118. The right connecting rod 118 pushes the clamping jaw 19 to rotate around the edge wear-resistant pin 120 to realize the clamping action of the clamping jaw 19.

[0029] Secondly, the rotation of the rotating shaft of the hollow shaft stepper motor 122 will drive the connecting part 14 to rotate together. The connecting part 14 fixes the clamping claw plate 17. The clamping claw plate 17 drives the clamping claw 19 to rotate together through the edge wear-resistant pin 120 to realize the rotation of the clamping claw 19. At the same time, the required clamping force and rotational torque can be obtained by using the cylinder 121 and the hollow shaft stepper motor 122.

[0030] like Figure 3 The sliding base 2 shown in the figure contains two guide rails 21, and the two lower parts of the guide rails 21 are respectively connected to the side panels 24 and the left side panels 23. The sensor guide rail 213 is fixed to the side of the left side panel 23 by bolts. The slot-shaped photoelectric 26 is fixed to the sensor guide rail 213. One end of the screw rod 210 is coaxially connected to the screw rod fixing seat 212 and the other end is coaxially connected to the screw rod support seat 211. The screw rod connecting plate 25 is coaxially connected to the nut in the middle of the screw rod 210. The screw rod fixing seat 2 12 is fixed to the screw plate 28 by screws, and the screw plate 28 is fixed to one end of the side plate 24 and the left side plate 23. The screw support seat 211 is installed on the end plate 27 by screws, and the end plate 27 is fixed to the other end of the side plate 24 and the left side plate 23. The control motor 22 is fixed to the motor plate 214, and the motor plate 214 is fixed to the side plate 24 and the left side plate 23. One end of the coupling 29 is coaxially connected to the output shaft of the control motor 22, and the other end is coaxially connected to the screw 210.

[0031] First, the rotation of the shaft of the control motor 22 is transmitted to the screw rod 210 through the coupling 29. The rotation of the screw rod 210 drives the nut on the screw rod 210 to move, and the screw rod connecting plate 25 fixed on the nut of the screw rod 210 will also move synchronously. The upper part of the screw rod connecting plate 25 is inserted into the sleeve 18 in the clamping rotation group 1, so that the sleeve 18 moves synchronously, and the movement of the sleeve 18 will drive the clamping rotation group 1 to move synchronously.

[0032] Secondly, the corresponding forward and backward movement speed and force can be obtained through the screw rod 210 and the control motor 22.

[0033] like Figure 4 As shown, the sausage 3 is clamped by the clamping claw body 1-1 and accurately positioned forward. After the aluminum buckle is reliably clamped, the casing is twisted off and accurately retreated to above the aluminum buckle recovery point. The clamping claw is released and the aluminum buckle falls off.

[0034] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0035] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamping platform capable of infinitely rotating and moving forward and backward, comprising a rotating group (1), a clamping body (1-1) connected to one side of the rotating group (1), and a cylinder (121) connected to the other side of the rotating group (1) via a screw (110), characterized in that: The rotating group (1) includes a hollow shaft stepping motor (122) and a push rod (114) passing through the hollow shaft stepping motor (122); the clamping jaw body (1-1) includes a right connecting rod (118) and a clamping jaw (19) coaxially hinged with the right connecting rod (118); one end of the push rod (114) is connected to the screw rod (110); the other end of the push rod (114) is coaxially connected to the right connecting rod (118); the bottom of the rotating group (1) and the bottom of the cylinder (121) are fixedly connected to the middle plate (124); and the middle plate (124) is slidably arranged on the sliding base (2).

2. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 1, characterized in that: The clamping jaw body (1-1) further comprises a connecting member (14), a clamping jaw plate (17), and a clamping jaw (19); the connecting member (14) is connected to the rotating shaft of the hollow shaft stepping motor (122); the clamping jaw plates (17) are fixed on both sides of the connecting member (14); and the clamping jaw (19) is coaxially hinged with the clamping jaw plate (17).

3. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 2, characterized in that: The push rod (114) passes through the connecting piece (14) and is coaxially connected to the right connecting rod (118).

4. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 1, characterized in that: The rotating group (1) further comprises a stepping plate (16), a middle baffle (13), and a rib plate (125); the hollow shaft stepping motor (122) is fixedly connected to the stepping plate (16); the lower portion of the stepping plate (16) is fixedly connected to the middle plate (124); the rib plate (125) is fixedly connected to both the stepping plate (16) and the middle plate (124); the middle baffle (13) is fixedly connected to the middle plate (124); and the push rod (114) passes through the stepping plate (16) and is connected to the screw rod (110).

5. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 4, characterized in that: The bottom of the cylinder (121) is fixedly connected to the cylinder plate (112), and the cylinder plate (112) is fixedly connected to the middle plate (124).

6. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 1, characterized in that: A sliding sleeve (18) is provided below the middle plate (124).

7. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 6, characterized in that: The sliding base (2) comprises two guide rails (21), side panels (24) respectively fixedly connected to the guide rails (21), and a left side panel (23). The side surface of the left side panel (23) is fixedly connected to a sensor guide rail (213). A slot-shaped photoelectric device (26) is provided on the sensor guide rail (213). One end of the side panel (24) is fixedly connected to an end corresponding to the left side panel (23) via a screw plate (28), and the other end of the side panel (24) is fixedly connected to the other end corresponding to the left side panel (23) via an end plate (27).

8. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 6, characterized in that: The sliding base (2) further comprises a screw (210), a screw connecting plate (25), a control motor (22), and a motor plate (214), wherein one end of the screw (210) is coaxially connected to the screw fixing seat (212), the other end of the screw (210) is coaxially connected to the screw support seat (211), the middle of the screw (210) is coaxially connected to the screw connecting plate (25), the screw fixing seat (212) is fixedly connected to the screw plate (28), the screw support seat (211) is fixedly connected to the end plate (27), the control motor (22) is fixed on the motor plate (214), the motor plate (214) is fixed on the side plate (24) and the left side plate (23), the output shaft of the control motor (22) is coaxially connected to one end of the coupling (29), and the other end of the coupling (29) is coaxially connected to the screw (210).

9. The infinitely rotatable clamping platform capable of moving forward and backward according to claim 8, characterized in that: The upper portion of the screw rod connecting plate (25) is inserted into the sliding sleeve (18).

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