Rotary clamping jaw
By designing rotary jaws, the combination of cross beams, linear modules and pneumatic jaws is used to solve the problem of insufficient flexibility in moving the jaws in a small space, and efficient transfer and large-scale movement of parts are achieved.
Patent Information
- Application Number
- CN202422646639.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-10-31
AI Technical Summary
The existing jaws are not flexible enough when moving parts in a small space, making it difficult to achieve efficient transfer of parts.
A rotating jaw is designed, including cross beams, linear modules, cylinders, electric bearings and pneumatic jaws, and the flexible grasping and transfer of parts is achieved through the cylinder driving linear modules and electric bearings.
It realizes flexible movement and large-scale transfer of parts in small spaces, has good applicability, and meets processing needs under space limitations.
Smart Images
Figure CN223265698U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of clamping jaws, in particular to a rotating clamping jaw. Background Art
[0002] In the production and processing of many parts, a robot is needed to transfer parts between various processes to achieve automated processing. The robot is equipped with a gripper to hold the parts. The distances over which parts are transferred between different processes are large, and parts often need to be moved over a small range within the same process. Due to space limitations, the movement of the robot is often restricted by space and cannot meet the needs of part movement. Therefore, there is an urgent need to design a gripper that can be installed on the robot and facilitate the transfer of parts within a small space. Utility Model Content
[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a rotating gripper installed on a robot arm, which can realize the large-scale transfer of parts while also being able to flexibly move parts in a small space with good applicability.
[0004] The utility model provides a rotating clamp, comprising a crossbeam, wherein the bottom of the crossbeam is provided with an embedding groove along its length direction; a linear module is detachably embedded in the embedding groove; a cylinder is fixedly provided on the top of the crossbeam above one end of the linear module, and the piston rod of the cylinder extends into the embedding groove in a vertical direction and is rotatably connected to the linear module through a first electric bearing; the bottom of the linear module is transmission-connected to a movable plate, and the bottom of the movable plate is rotatably connected to a pneumatic clamp via a second electric bearing.
[0005] Furthermore, a through hole is provided from the top of the crossbeam to the embedding groove for the piston rod to pass through, a limit key is fixedly provided on the side wall of the piston rod along its length direction, and a limit groove is provided on the inner wall of the through hole corresponding to the limit key.
[0006] Furthermore, the pneumatic clamp includes a three-jaw cylinder and three clamping blocks that are transmission-connected to the bottom of the three-jaw cylinder, and anti-slip teeth are provided on the inner wall surfaces of the three clamping blocks.
[0007] Furthermore, a mounting flange is fixedly provided on one end of the crossbeam.
[0008] Compared with the prior art, the beneficial effects of the present invention are:
[0009] The rotary gripper of the present invention is provided with a crossbeam, a linear module, a cylinder, a first electric bearing, a second electric bearing and a pneumatic gripper. When moving a part within a small range, the piston rod of the cylinder is first controlled to extend so that the linear module moves down to the outside of the slot, and then the linear module is driven to rotate to the top of the part through the first electric bearing. Then, the linear module drives the pneumatic gripper to move and align with the part through the moving plate. The piston rod continues to extend and grabs the part through the pneumatic gripper, and then moves it to the target position, completing the transfer of the part within a small range. The rotary gripper of the present application is installed on a manipulator, which can realize the large-scale transfer of parts while also being able to flexibly move parts in a small space, and has good applicability.
[0010] It should be understood that the contents described in the summary of the utility model are not intended to limit the key or important features of the embodiments of the utility model, nor are they intended to limit the scope of the utility model. Other features of the utility model will become easier to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments made with reference to the following drawings:
[0012] Figure 1 It is a structural diagram of the rotating clamp;
[0013] Figure 2 It is a schematic diagram of the structure of the rotating clamping jaw from a bottom view;
[0014] Figure 3 Schematic diagram of the cross-sectional structure of the rotating clamp;
[0015] Figure 4 This is a schematic diagram of the cross-sectional structure of the rotating clamping jaw when the linear module is moved out of the embedded groove.
[0016] Numbers in the figure: 1, beam; 2, linear module; 3, cylinder; 4, first electric bearing; 5, second electric bearing; 6, pneumatic gripper.
[0017] 11. Embedded groove; 12. Through hole; 13. Limiting groove; 14. Mounting flange;
[0018] 21. Mobile board;
[0019] 31. Piston rod; 32. Limit key;
[0020] 61. Three-claw cylinder; 62. Clamping block; 63. Anti-slip teeth. DETAILED DESCRIPTION
[0021] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant utility model and are not intended to limit the scope of the utility model. It should also be noted that, for ease of description, only the portions relevant to the utility model are shown in the accompanying drawings.
[0022] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
[0023] Please refer to Figures 1 to 4 An embodiment of the utility model provides a rotary clamp, comprising a crossbeam 1, wherein a groove 11 is provided at the bottom of the crossbeam 1 along its length direction; a linear module 2 is detachably embedded in the groove 11; a cylinder 3 is fixedly provided on the top of the crossbeam 1 above one end of the linear module 2, and a piston rod 31 of the cylinder 3 extends into the groove 11 in the vertical direction and is rotatably connected to the linear module 2 through a first electric bearing 4; a movable plate 21 is transmission-connected to the bottom of the linear module 2, and a pneumatic clamp 6 is rotatably connected to the bottom of the movable plate 21 through a second electric bearing 5.
[0024] In this embodiment, the crossbeam 1 is fixedly mounted on the end of the manipulator, and the parts are grasped by the pneumatic gripper 6, thereby moving the parts over a large range between different processes.
[0025] When a part needs to be moved within a small range during the same process, the manipulator first drives the crossbeam 1 to move above the part, then controls the piston rod 31 of the cylinder 3 to extend, causing the linear module 2 to move down to below the slot 11. The first electric bearing 4 then drives the linear module 2 to rotate above the part. The linear module 2 drives the pneumatic gripper 6 via the movable plate 21 to move and align with the part. At this time, the piston rod 31 continues to extend, and the pneumatic gripper 6 grabs the part.
[0026] Then the piston rod 31 contracts to lift the part, and then drives the linear module 2 to rotate above the target position through the first electric bearing 4, and drives the pneumatic clamp 6 to rotate through the second electric bearing 5, thereby adjusting the placement angle of the part. Then the piston rod 31 extends and the pneumatic clamp 6 puts down the part, ensuring that the part is accurately placed in the target position and completing the transfer of the part within a small range.
[0027] The rotating gripper of the present application is installed on a robot arm, which can realize the large-scale transfer of parts while also flexibly moving parts in a small space, and has good applicability.
[0028] In a preferred embodiment, if Figure 3 and Figure 4As shown, a through hole 12 is provided from the top of the beam 1 to the embedding groove 11 for the piston rod 31 to pass through, a limit key 32 is fixedly provided on the side wall of the piston rod 31 along its length direction, and a limit groove 13 is provided on the inner wall of the through hole 12 corresponding to the limit key 32.
[0029] In this embodiment, when the piston rod 31 is telescopically moved, the limit key 32 slides up and down along the limit slot 13, which does not affect the telescopic movement of the piston rod 31 and prevents the piston rod 31 from rotating circumferentially, thereby ensuring accurate transfer of parts.
[0030] In a preferred embodiment, if Figure 1 and Figure 2 As shown, the pneumatic gripper 6 includes a three-jaw cylinder 61 and three clamping blocks 62 connected to the bottom of the three-jaw cylinder 61. The inner wall surfaces of the three clamping blocks 62 are all provided with anti-slip teeth 63. The three-jaw cylinder 61 drives the three clamping blocks 62 to contract or expand synchronously, achieving the grasping or placement of parts, with stable clamping and good grasping effect.
[0031] In a preferred embodiment, if Figure 1 and Figure 2 As shown, a mounting flange 14 is fixedly provided at one end of the beam 1, and the beam 1 is fixedly connected to the manipulator via the mounting flange 14, providing a stable connection. Preferably, the mounting flange 14 is provided at the end of the beam 1 away from the cylinder 3, so as not to affect the 360° rotation of the linear module 2, and to provide a large range of movement for part grasping.
[0032] In this specification, the terms "connect," "install," and "fix" should be understood broadly. For example, "connect" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.
[0033] Throughout this specification, terms such as "one embodiment" or "some embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
[0034] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.
Claims
1. A rotary clamp, characterized in that: The invention comprises a crossbeam (1), wherein the bottom of the crossbeam (1) is provided with an embedding groove (11) along its length direction; a linear module (2) is detachably embedded in the embedding groove (11); a cylinder (3) is fixedly provided at the top of the crossbeam (1) above one end of the linear module (2); a piston rod (31) of the cylinder (3) extends into the embedding groove (11) in a vertical direction and is rotatably connected to the linear module (2) through a first electric bearing (4); a movable plate (21) is transmission-connected to the bottom of the linear module (2), and a pneumatic clamp (6) is rotatably connected to the bottom of the movable plate (21) through a second electric bearing (5).
2. The rotary clamp according to claim 1, characterized in that: A through hole (12) is provided from the top of the crossbeam (1) to the embedding groove (11) for the piston rod (31) to pass through, a limit key (32) is fixedly provided on the side wall of the piston rod (31) along its length direction, and a limit groove (13) is provided on the inner wall of the through hole (12) corresponding to the limit key (32).
3. The rotary clamp according to claim 1, wherein: The pneumatic clamp (6) comprises a three-claw cylinder (61) and three clamping blocks (62) connected to the bottom of the three-claw cylinder (61) in a transmission manner, and anti-slip teeth (63) are provided on the inner wall surfaces of the three clamping blocks (62).
4. The rotary clamp according to claim 1, wherein: A mounting flange (14) is fixedly provided at one end of the crossbeam (1).