Clamping and rotating device of manipulator

Abstract

The utility model relates to a clamping and rotating device of a manipulator. The electromagnetic clutch assembly comprises a motor, a transmission shaft and a clamping jaw device, the transmission shaft is sleeved with the electromagnetic clutch assembly, and the electromagnetic clutch assembly comprises a support, a rotation stopping plate, a magnet yoke, a coil, a rotating armature, an armature plate and a brake pad; the support and the motor are fixedly installed, and the rotation stopping plate, the static brake lining and the outer ring of the rolling bearing are installed on the support. The coil is installed in the magnet yoke, the brake pad is installed on the rotating armature, and the rotating armature is sleeved on the transmission shaft. The magnet yoke is installed on the rotation stopping plate through a screw. After a coil of the electromagnetic clutch is electrified, the armature plate and the rotating armature form a closed magnetic circuit, the armature plate and the rotating armature are attracted, and the armature plate and the clamping jaw device rotate synchronously. The clamping and rotating mechanism is compact in structure, space is saved, and the clamping and rotating actions can be completed through motor movement.

Description

Technical Field

[0001] This utility model relates to the technical field of gripping devices for robotic arms, and more specifically, to a gripping and rotating device for a robotic arm that simultaneously performs gripping and rotating functions. Background Art

[0002] Currently, while robotic arms in automated equipment on the market can perform actions such as gripping and rotation, typically a single motor can only perform one action. If two actions are required, two or more motors are needed, or a combination of motors and pneumatic devices is used. This results in a more complex structure, which reduces reliability, increases the probability of failure, and leads to higher maintenance costs and overall energy consumption. Furthermore, they may not achieve the required high precision in gripping and rotation operations, leading to inaccurate object positioning or deviations during rotation, resulting in unstable gripping force and potentially causing the gripped object to slip or be damaged. Due to their complex structure, they occupy a significant amount of workspace, or their rotation angle may be limited, or air tube constraints may prevent multi-circular rotation. The complex design and numerous components also result in higher manufacturing costs. Utility Model Content

[0003] To address the aforementioned shortcomings of existing technologies, this utility model provides a simple, compact, and space-saving clamping and rotating device. The specific technical solution is as follows:

[0004] The gripping and rotating device of the robotic arm includes a motor, a drive shaft, and a gripper assembly. The gripper assembly includes a gripper mounting plate, an adjusting block, a push-pull plate, an adjusting gripper head, and a connecting rod. The motor controls the gripper assembly to clamp or release via its drive shaft. An electromagnetic clutch assembly is also provided between the motor and the gripper assembly. The electromagnetic clutch assembly is mounted on the outside of the drive shaft and includes a bracket, an anti-rotation plate, a magnetic yoke, a coil, a rotating armature, an armature plate, and a brake pad. When the electromagnetic clutch assembly is energized, the clamped workpiece can rotate synchronously. When the electromagnetic clutch assembly is de-energized, the motor is energized and reverses, causing the gripper head to release the workpiece.

[0005] As a preferred embodiment, the gripper mounting plate and push-pull plate of the gripper device are disc-shaped with a hole in the center, and are fitted onto the outside of the drive shaft. The end of the drive shaft has a rotating thread and is screwed to the push-pull plate. The connecting rod is L-shaped, with one end hinged to the side of the push-pull plate and the middle bend of the connecting rod hinged to the adjusting block. The other end of the connecting rod is equipped with an adjusting claw head, and the other end of the adjusting block is installed on the side of the gripper mounting plate. The number of adjusting blocks, connecting rods, and adjusting claw heads is 3-6 sets, which are installed around the gripper mounting plate and the push-pull plate. The opening and closing of the adjusting claw heads is controlled by the rotation of the drive shaft.

[0006] As a preferred embodiment, the electromagnetic clutch assembly is mounted on the outside of the drive shaft, with its bracket installed at the output end of the motor. The anti-rotation plate, stationary brake pad, and rolling bearing are installed inside the bracket. The coil is installed inside the magnetic yoke, and the brake pad is installed on the rotating armature, which is mounted on the drive shaft. The magnetic yoke is installed on the anti-rotation plate by screws. After the coil of the electromagnetic clutch is energized, the armature plate and the rotating armature form a closed magnetic circuit, and the armature plate and the rotating armature are attracted to each other, realizing the synchronous rotation of the armature plate and the gripper device.

[0007] As a preferred embodiment, the armature plate is movably connected by a cylindrical head shoulder screw, which is installed inside the connecting block. A spring is installed between the cylindrical head shoulder screw and the connecting block. The connecting block is fixed to a rolling bearing, which is fixed to a bracket. An oil-impregnated bearing is fixed to the connecting block. The drive shaft slides through the center hole of the oil-impregnated bearing. When the coil is de-energized, the spring rebounds and drives the cylindrical head shoulder screw, which in turn drives the armature plate. The armature plate then comes into contact with the stationary bearing plate on the bracket, and the stationary bearing plate causes frictional connection between the armature plate and the connecting block. The gripper mounting plate is stopped by the cylindrical head shoulder screw. When the motor is energized again, it rotates in both directions. The motor output shaft drives the drive shaft to rotate, and the drive shaft thread engages with the push-pull plate thread, causing the push-pull plate to move axially. The push-pull plate drives the connecting rod to move, and the connecting rod drives the gripper head to grip or release the workpiece.

[0008] As a preferred embodiment, the clamping and rotating device further includes a system control module. This module connects to sensors, encoders, a motor drive module, and an electromagnetic clutch assembly. The system control module is electrically connected to the motor drive module, encoder, motor, coil, and sensors. When the system control module receives a reset command, it automatically and continuously activates the coil, causing the rotating armature to magnetically engage with the armature plate. This compresses the spring, and the system control module automatically activates the motor drive module. The motor drive module controls the motor to rotate, which in turn drives the rotating armature to rotate via a transmission shaft. Brake pads fixed to the rotating armature rotate the armature plate through friction, which in turn drives the connecting block to rotate via cylindrical head shoulder screws. The connecting block then drives the gripper mounting plate to rotate. When the sensor detects that the gripper mounting plate is at zero, it sends an electrical signal to the system control module. The system control module automatically controls the motor drive module to lock the motor and simultaneously disconnects the coil electrical connection. The spring returns, and through the cylindrical head shoulder screw, it drives the armature plate to contact the stationary brake pad. The friction of the stationary brake pad keeps the armature plate locked. When the system control module receives a workpiece clamping / releasing command, it automatically activates the motor drive module. The motor drive module controls the motor to rotate, which drives the drive shaft to rotate. The thread on the drive shaft rotates and engages with the push-pull block, pulling the push-pull block. The push-pull block drives the connecting rod, causing the gripper to move towards the center, thus clamping the workpiece. The motor reverses direction, pushing the push-pull block to release the workpiece.

[0009] As a preferred embodiment, when the system control module receives a workpiece rotation command, it automatically activates the coil and remains activated. The rotating armature and armature plate are magnetically attracted, the spring is compressed, and after current monitoring, the system control module automatically activates the motor drive module. The motor drive module controls the motor to rotate, and the motor drives the rotating armature to rotate via the transmission shaft. The brake pads fixed on the rotating armature drive the armature plate to rotate via friction, and the connecting block rotates via the cylindrical head shoulder screw. The connecting block drives the gripper mounting plate, adjusting block, connecting rod, gripper, and push-pull mechanism to rotate. The encoder rotates synchronously with the motor, and the encoder is electrically connected to the system control module.

[0010] Beneficial effects: This utility model has a compact structure that saves space. It can complete both clamping and rotation actions by using a motor. By adding an encoder, the rotation angle can be controlled. By monitoring the motor current during clamping, the clamping force can be calculated. A gearbox can also be added between the motor and the clamping and rotating device to change the speed and torque. Attached Figure Description

[0011] Figure 1 This is a perspective view of the present invention;

[0012] Figure 2 This is a perspective view of the present invention with part of the outer shell removed;

[0013] Figure 3 This is an exploded view of the present invention;

[0014] Figure 4 This is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0015] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings:

[0016] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0018] like Figures 1-3 As shown, the gripping and rotating device of the robotic arm provided by this utility model includes a motor 101, a transmission shaft 321, and a gripper device. The motor 101 controls the gripper device to clamp or release the workpiece through its transmission shaft 321. An electromagnetic clutch assembly is also provided between the motor and the gripper device. When the electromagnetic clutch assembly is energized, the clamped workpiece can rotate synchronously; when the electromagnetic clutch assembly is de-energized, the motor 101 is energized and reverses, and the gripper releases the workpiece.

[0019] The gripper device includes a gripper mounting plate 315, an adjusting block 316, a push-pull plate 317, an adjusting gripper head 319, and a connecting rod 318. The gripper mounting plate 315 and the push-pull plate 317 are disc-shaped with a central hole. The gripper mounting plate 315 is fitted onto the outside of the drive shaft 321. The drive shaft 321 has a rotating thread at its end, which is screwed to the push-pull plate 317. The connecting rod 318 is L-shaped, with one end hinged to the side of the push-pull plate 317. The middle bend of the 18 is hinged to the adjusting block 316. The other end of the connecting rod 318 is equipped with the adjusting claw head 319. The other end of the adjusting block 316 is installed on the side of the gripper mounting plate 315. The number of adjusting blocks 316, connecting rods 318 and adjusting claw heads 319 is 3-6 sets. They are installed around the gripper mounting plate 315 and the push-pull plate 317. The opening and closing of the adjusting claw head 319 is controlled by the rotation of the transmission shaft 321 to achieve the clamping and loosening of the clamped object.

[0020] The electromagnetic clutch assembly is mounted on the outside of the drive shaft. It includes a bracket 308, an anti-rotation plate 301, a magnetic yoke 302, a coil 303, a rotating armature 304, an armature plate 306, and a brake pad 305. The bracket 308 is fixedly mounted to the motor 101. The anti-rotation plate 301, the stationary brake pad 309, and the outer ring of the rolling bearing 310 are mounted to the bracket 308. The coil 303 is mounted inside the magnetic yoke 302, and the brake pad 305 is mounted on the rotating armature 304, which is mounted on the drive shaft 321. The magnetic yoke 302 is mounted on the anti-rotation plate 301 by screws. When the coil 303 of the electromagnetic clutch is energized, the armature plate 306 and the rotating armature 304 form a closed magnetic circuit, and the armature plate 306 and the rotating armature 304 are attracted to each other. The armature plate 306 rotates synchronously with the gripper device.

[0021] The armature plate 306 is movably connected via a cylindrical head shoulder screw 314. The cylindrical head shoulder screw 314 is installed inside the connecting block 311. A spring 313 is installed between the cylindrical head shoulder screw 314 and the connecting block 311. The connecting block 31 is fixed to the rolling bearing 310, which is fixed to the bracket 308. An oil-impregnated bearing 312 is fixed to the connecting block 311. The drive shaft 321 slides through the central hole of the oil-impregnated bearing 312. After the coil 303 is de-energized, the spring 313 rebounds and drives the cylindrical head shoulder screw 314. 4. The armature plate 306 is driven, and the armature plate 306 is in contact with the stationary bearing plate 309 on the bracket 308. The stationary bearing plate 309 makes the armature plate 306 frictionally connected. The connecting block 311 is restrained by the cylindrical head shoulder screw 314, and the gripper mounting plate 315 is stopped. At this time, the motor 101 is powered on again and rotates in both directions. The output shaft of the motor 101 drives the transmission shaft 321 to rotate. The thread of the transmission shaft 321 engages with the thread of the push-pull plate 317, causing the push-pull plate 317 to move axially. The push-pull plate 317 drives the connecting rod 318 to move. The connecting rod 318 drives the adjusting claw head 319 to clamp or release the workpiece.

[0022] As shown in Figures 1-4, the clamping and rotating device also includes a system control module 401. The system control module 401 is connected to the sensor 307, encoder 201, motor drive module 402, and electromagnetic clutch assembly. The system control module 401 is electrically connected to the motor drive module 402, encoder 201, motor 101, coil 303, and sensor 307. When the system control module 401 receives a reset command, it automatically connects coil 303 and remains connected, rotating... The rotating armature 304 and armature plate 306 are magnetically attracted, and the spring 313 is compressed. The system control module 401 automatically connects the motor drive module 402, which controls the motor 101 to rotate. The motor 101 drives the rotating armature 304 to rotate via the transmission shaft 321. The brake disc 305, fixed on the rotating armature 304, drives the armature plate 306 to rotate via friction. This rotation is achieved by the cylindrical head shoulder screw 314, which drives the connecting block 311 to rotate. The connecting block 311 then drives the gripper mounting plate 315 to rotate. When sensor 307 detects that the gripper mounting plate 315 is at zero, sensor 307 feeds back an electrical signal to system control module 401. System control module 401 automatically controls motor drive module 402 to lock motor 101, and simultaneously disconnects the electrical connection of coil 303. Spring 313 rebounds, and through cylindrical head shoulder screw 314, drives armature plate 306 to contact stationary brake pad 309. The friction of stationary brake pad 309 keeps armature plate 306 in a locked state. System control module 401 connects... When a workpiece clamping / releasing command is received, the system control module 401 automatically activates the motor drive module 402. The motor drive module 402 controls the motor 101 to rotate, which in turn drives the transmission shaft 321 to rotate. The thread on the transmission shaft 321 engages with the adjusting block 316, pulling the adjusting block 316. The adjusting block 316 then drives the connecting rod 318 to move, causing the adjusting claw 319 of the connecting rod 318 to move towards the center, thereby clamping the workpiece. The motor 101 then reverses direction, pushing the adjusting block 316 to release the workpiece.

[0023] When the system control module 401 receives a workpiece rotation command, it automatically connects coil 303 and keeps it connected. Rotating armature 304 and armature plate 306 are magnetically attracted, spring 313 is compressed, and after current monitoring, system control module 401 automatically connects motor drive module 402. Motor drive module 402 controls motor 101 to rotate. Motor 101 drives rotating armature 304 to rotate through transmission shaft 321. Brake pad 305 fixed on rotating armature 304 drives armature plate 306 to rotate through friction. It drives connecting block 311 to rotate through cylindrical head shoulder screw 314. Connecting block 311 drives jaw mounting plate 315, adjusting block 316, connecting rod 318, adjusting jaw head 319 and push-pull plate 317 to rotate. Encoder 201 rotates synchronously with motor 101 and is electrically connected to system control module 401.

[0024] This compact and space-saving structure uses a motor to complete both clamping and rotation actions. An encoder can be added to control the rotation angle; the clamping force can be calculated by monitoring the motor current during clamping; and a gearbox can be added between the motor and the clamping and rotating device to change the speed and torque. It has a wide range of applications, including robots, robotic arms, automated equipment, and power tools, and is suitable for situations requiring clamping followed by rotation.

[0025] The above description is a further detailed explanation of the present utility model in conjunction with specific preferred embodiments. It should not be considered that the specific implementation of the present utility model is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present utility model, and all such deductions or substitutions should be considered to fall within the protection scope of the present utility model.

Claims

1. A gripping and rotating device for a robotic arm, comprising a motor (101), a drive shaft (321), and a gripper device, characterized in that: The gripper device includes a gripper mounting plate (315), an adjusting block (316), a push-pull plate (317), an adjusting gripper head (319), and a connecting rod (318). The motor (101) controls the gripper device to clamp or release through its transmission shaft (321). An electromagnetic clutch assembly is also provided between the motor and the gripper device. The electromagnetic clutch assembly is fitted on the outside of the transmission shaft and includes a bracket (308), an anti-rotation plate (301), a magnetic yoke (302), a coil (303), a rotating armature (304), an armature plate (306), and a brake pad (305). When the electromagnetic clutch assembly is energized, the clamped workpiece can rotate synchronously. When the electromagnetic clutch assembly is de-energized, the motor is energized and reverses, and the gripper head can release the workpiece.

2. The gripping and rotating device of the robotic arm according to claim 1, characterized in that: The bracket (308) of the electromagnetic clutch assembly is installed at the output end of the motor (101). The anti-rotation plate (301), the stationary brake plate (309), and the rolling bearing (310) are installed inside the bracket (308). The coil (303) is installed inside the magnetic yoke (302). The brake plate (305) is installed on the rotating armature (304). The rotating armature (304) is mounted on the transmission shaft (321). The magnetic yoke (302) is installed on the anti-rotation plate (301) by screws. After the coil (303) of the electromagnetic clutch is energized, the armature plate (306) and the rotating armature (304) form a closed magnetic circuit. The armature plate (306) and the rotating armature (304) are attracted to each other, so that the armature plate (306) and the gripper device rotate synchronously.

3. The clamping and rotating device according to claim 1, characterized in that: The armature plate (306) is movably connected by a cylindrical head shoulder screw (314). The cylindrical head shoulder screw (314) is installed in the connecting block (311). A spring (313) is installed between the cylindrical head shoulder screw (314) and the connecting block (311). The connecting block (311) is fixed on the rolling bearing (310), the rolling bearing (310) is fixed on the bracket (308), and the oil-impregnated bearing (312) is fixed on the connecting block (311). The drive shaft (321) slides through the hole of the oil-impregnated bearing (312). After the coil (303) is de-energized, the cylindrical head shoulder screw (314) is driven by the spring (313). 4) Drive the armature plate (306), the armature plate (306) and the stationary brake plate (309) on the bracket (308) are in contact, the stationary brake plate (309) makes the armature plate (306) rub against each other, and the connecting block (311) is restrained by the cylindrical head shoulder screw (314), so that the gripper mounting plate (315) stops; at this time, the motor (101) is powered on again and rotates in both directions, the output shaft of the motor (101) drives the transmission shaft (321) to rotate, the thread of the transmission shaft (321) meshes with the thread of the push-pull plate (317), so that the push-pull plate (317) moves axially, the push-pull plate (317) drives the connecting rod (318) to move, and the connecting rod (318) drives the adjusting claw head (319) to release the workpiece.

4. The gripping and rotating device of the robotic arm according to claim 1, characterized in that: The clamping and rotating device is further provided with a system control module (401). The system control module (401) is electrically connected to the sensor (307), encoder (201), motor drive module (402), and electromagnetic clutch assembly. When the system control module (401) receives a reset command, the system control module (401) automatically turns on the coil (303) and keeps it on. The rotating armature (304) and the armature plate (306) are magnetically attracted, the spring (313) is compressed, and the system control module (401) automatically turns on the motor drive module (407). 02), the motor drive module (402) controls the rotation of the motor (101). The motor (101) drives the rotating armature (304) to rotate through the transmission shaft (321). The brake pad (305) fixed on the rotating armature (304) drives the armature plate (306) to rotate through friction. The connecting block (311) is driven to rotate through the cylindrical head shoulder screw (314). The connecting block (311) drives the gripper mounting plate (315) to rotate. When the sensor (307) detects that the gripper mounting plate (315) is at zero point, the sensor (307) The electrical signal is fed back to the system control module (401). The system control module (401) automatically controls the motor drive module (402) to lock the motor (101) and disconnect the electrical connection of the coil (303). The spring (313) rebounds and drives the armature plate (306) to contact the stationary brake pad (309) through the cylindrical head shoulder screw (314). The friction of the stationary brake pad (309) keeps the armature plate (306) in a locked state. When the system control module (401) receives the workpiece clamping and releasing action command, the system control module (401) controls the motor drive module (402) to lock the motor (101) and disconnect the coil (303) electrical connection. The spring (313) rebounds and drives the armature plate (306) to contact the stationary brake pad (309) through the friction of the stationary brake pad (309). The control module (401) automatically connects to the motor drive module (402), the motor drive module (402) controls the motor (101) to rotate, the motor (101) drives the transmission shaft (321) to rotate, the thread on the transmission shaft (321) rotates and engages with the adjusting block (316), pulling the adjusting block (316), the adjusting block (316) drives the connecting rod (318) to move, the adjusting claw (319) of the connecting rod (318) moves towards the center, thereby clamping the workpiece; the motor (101) reverses and pushes the adjusting block (316), thereby releasing the workpiece.

5. The gripping and rotating device of the robotic arm according to claim 4, characterized in that: When the system control module (401) receives a workpiece rotation command, it automatically connects the coil (303) and keeps it connected. The rotating armature (304) and the armature plate (306) are magnetically attracted, the spring (313) is compressed, and after current monitoring, the system control module (401) automatically connects the motor drive module (402). The motor drive module (402) controls the motor (101) to rotate, and the motor (101) rotates through the transmission shaft (321). The rotating armature (304) is driven to rotate. The brake pad (305) fixed on the rotating armature (304) drives the armature plate (306) to rotate through friction. The connecting block (311) is driven to rotate through the cylindrical head shoulder screw (314). The connecting block (311) drives the gripper mounting plate (315), adjusting block (316), connecting rod (318), adjusting claw head (319) and push-pull plate (317) to rotate. The encoder (201) rotates synchronously with the motor (101).

6. The gripping and rotating device of the robotic arm according to claim 1, characterized in that: The gripper mounting plate (315) and push-pull plate (317) of the gripper device are disc-shaped with a hole in the center. They are fitted on the outside of the drive shaft (321). The drive shaft (321) has a rotating thread at the end and is screwed to the push-pull plate (317). The connecting rod (318) is L-shaped. One end of the connecting rod (318) is hinged to the side of the push-pull plate (317). The middle bend of the connecting rod (318) is hinged to the adjusting block (316). The other end of the connecting rod (318) is equipped with the adjusting claw head (319). The other end of the adjusting block (316) is installed on the side of the gripper mounting plate (315). The number of the adjusting block (316), connecting rod (318), and adjusting claw head (319) is 3-6 sets. They are evenly installed around the gripper mounting plate (315) and the push-pull plate (317). The opening and closing of the adjusting claw head (319) is controlled by the rotation of the drive shaft (321).

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