Grabbing device capable of swinging freely

Abstract

The utility model discloses a grabbing device capable of swinging freely, which is used for grabbing a product at a set position and comprises a swinging mechanism and a clamping mechanism, the swinging mechanism and the clamping mechanism are sequentially arranged from top to bottom by taking the direction vertical to the set position as a reference; a rotating shaft is arranged on the swinging mechanism; the clamping mechanism is in positioning connection with the rotating shaft, so that the clamping mechanism has a vertical state and an inclined state; the clamping mechanism comprises a connecting assembly, a pre-pressing assembly and a clamping assembly, the clamping assembly can freely swing through the cooperation of the rotating shaft, the pre-pressing assembly and the clamping assembly, the rotating angle of the rotating shaft is the swing angle of the clamping assembly in the swing process of the clamping assembly, and when the clamping assembly clamps a product, the clamping assembly can rotate around the rotating shaft, so that the clamping assembly can swing freely. When the product is placed in the placing space, force can be applied to the product through the pre-pressing assembly, so that the product is kept in the placing space, and even if the product shakes, the product is not prone to falling off.

Description

Technical Field

[0001] This utility model relates to the field of clamping device technology, specifically to a gripping device that can swing freely. Background Technology

[0002] A machining center is a highly efficient automated machine tool consisting of mechanical equipment and a CNC system, specifically designed to process structurally complex parts. As one of the world's most produced and widely used CNC machine tools, CNC machining centers play a vital role in manufacturing. To further improve production efficiency, a composite assembly-type automated production line has emerged, integrating multiple machining centers.

[0003] This production line combines multiple machining centers to create a work environment with multiple processing positions, each capable of independently completing part processing tasks. Due to the presence of multiple processing positions, effective material management of these positions is required, namely, the automation and coordination of loading and unloading operations, to ensure smooth production line operation and high-efficiency output.

[0004] During the loading and unloading process, mechanical grippers are often used to pick up products so that they can be loaded and unloaded.

[0005] Current mechanical grippers require the product's position to be determined first, and the product to be placed horizontally in the set position before the gripper will pick up the horizontally placed product.

[0006] However, this approach has certain limitations in practical implementation, as follows:

[0007] Because products on the assembly line are sometimes tilted in the set position (this is because some products are placed vertically on the assembly line, and during their transportation, the shaking caused by the conveyor belt can easily cause the product's center of gravity to become unbalanced, thus tilting in the set position). After that, when the grippers are loading and unloading, the operator needs to manually assist in correcting the product, which reduces work efficiency.

[0008] If the grippers are forced to hold the product, there is a risk that the grippers will not be able to pick up the product or the contact area between the grippers and the product will be too small, meaning that the product will not receive much restraining force. If the grippers shake even slightly, the product will shake and may fall off.

[0009] Therefore, how to overcome the shortcomings of the existing technology mentioned above has become the subject of this utility model. Utility Model Content

[0010] This invention provides a freely swingable gripping device, which aims to solve the technical problems mentioned in the background art.

[0011] To achieve the above objectives, the technical solution adopted by this utility model is: a freely swingable gripping device for gripping products in a set position, including a swinging mechanism and a clamping mechanism;

[0012] With a direction perpendicular to the set position as a reference, the swing mechanism and the clamping mechanism are arranged sequentially from top to bottom;

[0013] The swing mechanism has a rotating shaft;

[0014] The clamping mechanism is positioned and connected to the rotating shaft so that the clamping mechanism has a vertical state and an inclined state;

[0015] The clamping mechanism includes a connecting component, a pre-compression component, and a clamping component;

[0016] The connecting component acts between the clamping component and the rotating shaft to position the clamping component and the rotating shaft.

[0017] The clamping assembly is located below the connecting assembly, and the bottom of the clamping assembly has a placement space;

[0018] The bottom of the clamping assembly also has multiple clamping parts, which cooperate to position the product within the placement space.

[0019] The pre-compression assembly is positioned and connected to the connecting assembly, and the pre-compression assembly has a pre-compression portion located within the placement space; when the product is positioned within the placement space, the pre-compression portion is configured to abut against the surface of the product so that the product remains within the placement space.

[0020] The relevant content in the above plan is explained as follows:

[0021] In the above scheme, the clamping mechanism has a vertical state and an inclined state. This description is based on the direction perpendicular to the set position.

[0022] In the above scheme, at least two clamping parts are provided, and when the pre-compression part abuts against the surface of the product, it can abut against the upper surface of the product, or it can abut against the side or bottom, depending on the requirements.

[0023] In some specific embodiments, the swing mechanism includes a mounting frame with a downward-facing through slot, in which a first gear and a second gear are positioned and connected in a top-to-bottom order.

[0024] The first gear meshes with the second gear;

[0025] The rotating shaft passes through the center of the second gear and is positioned and connected to the mounting bracket;

[0026] The second gear is configured to guide the clamping mechanism to switch between a vertical and an inclined state by rotating the rotating shaft.

[0027] The above design allows the clamping mechanism to quickly switch between vertical and tilted states.

[0028] The first gear can be connected to a motor that is connected to a reducer; that is, the motor is connected to the reducer, and the reducer is connected to the first gear.

[0029] In some specific embodiments, the second gear includes a first mating gear plate, a second mating gear plate, and an elastic element;

[0030] Both the first mating gear plate and the second mating gear plate are positioned coaxially with the rotating shaft.

[0031] The first mating toothed disc and the second mating toothed disc abut against each other on opposite sides of their surfaces;

[0032] The elastic element acts on the first mating gear disk and the second mating gear disk.

[0033] Since the first gear and the second gear mesh with each other, but the second gear is equipped with a rotating shaft and a clamping mechanism, it is easy to wobble when the first gear and the second gear mesh and rotate. In order to solve this problem, the stability of the second gear meshing with the first gear is increased by the cooperation of the first mating gear plate and the second mating gear plate.

[0034] In some specific embodiments, the outer peripheral surface of the first mating toothed disc has a plurality of first tooth blocks;

[0035] The surface of the first mating gear disc has a first elongated hole, and the end of the first elongated hole has a first mounting block;

[0036] The outer peripheral surface of the second mating toothed disc has a plurality of second tooth blocks; the surface of the second mating toothed disc has a second elongated hole, and when the first mating toothed disc abuts against the second mating toothed disc, the second elongated hole is correspondingly set with the first elongated hole;

[0037] A second mounting block is provided inside the second elongated hole; the second mounting block is disposed at the other end of the second elongated hole opposite to the first mounting block;

[0038] One end of the elastic element is connected to the first mounting block, and the other end is connected to the second mounting block;

[0039] Viewed along the axis of rotation; each first tooth block and each second tooth block are misaligned.

[0040] In order to increase the stability of the second gear when it meshes with the first gear by cooperating with the first gear and the second gear, specifically, the first gear block and the second gear block are misaligned by the elastic element acting on the first mounting block and the second mounting block, so that when the first gear and the second gear mesh with each other, the gap between the gear blocks on the outer circumference of the first gear can be fully locked by the first gear block and the second gear block, and no gap will be generated.

[0041] In some specific embodiments, the connection assembly includes a socket and a connecting block;

[0042] There is a gap between the side of the second gear and the inner wall of the through groove;

[0043] The sleeve is located within the interval and is coaxially positioned with the rotating shaft;

[0044] The lower part of the socket is positioned and connected to the connecting block.

[0045] The above design ensures that the second gear will not collide with the inner wall of the through slot when it rotates.

[0046] In some specific embodiments, the pre-compression assembly includes a support plate that is positioned and connected to the connecting block.

[0047] In some specific embodiments, the clamping assembly includes a first mounting plate, a second mounting plate, and a driver that is positioned and connected to the support plate;

[0048] The driver has a movable end that acts on the first mounting plate and the second mounting plate to drive either the first mounting plate or the second mounting plate to move closer to or further away from the other.

[0049] Both the first mounting plate and the second mounting plate are provided with clamps on opposite sides;

[0050] The gripper is the clamping part.

[0051] The actuator can be a cylinder, an electric actuator, or a lead screw.

[0052] There are three scenarios when the first and second mounting plates move: 1. Only the first mounting plate moves, and clamping and releasing are accomplished by the mutual moving away or closer movement between the first and second mounting plates; 2. Only the second mounting plate moves, and the principle is the same as that of the first mounting plate; 3. Both move.

[0053] With the above design, the movable end on the driver can drive either the first mounting plate or the second mounting plate to move closer to or further away from the other, so that the product can complete the clamping and picking actions.

[0054] When either the first mounting plate or the second mounting plate moves closer to or further away from the other, for example, when only the first mounting plate moves, the first mounting plate moves away from the second mounting plate, causing the two grippers on the first mounting plate to move away from the two grippers on the second mounting plate. Then, the first mounting plate is moved towards the second mounting plate, so that the product can be clamped between the four grippers.

[0055] In some specific embodiments, the pre-tightening assembly further includes a guide rod, a spring-loaded component, and a pressure block;

[0056] The guide rod is inserted and positioned on the support plate, and the pressure block is positioned and connected to the bottom of the guide rod and located within the placement space;

[0057] The pressure block is the pre-compression section;

[0058] The spring-loaded element acts between the pressure block and the support plate, causing the pressure block to tend to move away from the support plate.

[0059] With the above design, when the product is first clamped between the four jaws, it has just entered the placement space. As the product fully enters the placement space, it pushes the pressure block to rise and compresses the spring. When the pressure block rises, the guide rod also rises, so that the spring will not bend during compression.

[0060] In some specific embodiments, a receiving groove is provided between the first mounting plate and the second mounting plate, the receiving groove being configured to guide the guide rod to extend into the placement space.

[0061] The above design ensures that the pressure block is not blocked by the first mounting plate and the second mounting plate.

[0062] In some specific embodiments, a sensing module is provided at the end of the rotating shaft, and the sensing module is configured to sense the angle of rotation of the rotating shaft.

[0063] The terms "first," "second," etc., used in this article do not specifically refer to order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0064] The terms "connection" or "positioning" as used in this article can refer to two or more components or devices making direct physical contact with each other, or making indirect physical contact with each other, or to two or more components or devices operating or moving with each other.

[0065] The terms “include,” “including,” and “have” used in this article are all open-ended, meaning they include but are not limited to.

[0066] Unless otherwise specified, the terms used herein generally have their ordinary meaning in the context of the art, the subject matter, and the specific context. Certain terms used to describe this case will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the case.

[0067] The terms “front,” “back,” “up,” “down,” “left,” and “right” used in this article are directional terms. In this case, they are only used to describe the positional relationship between the structures and are not intended to limit the specific direction of the protection scheme or its actual implementation.

[0068] The working principle and advantages of this utility model are as follows:

[0069] In this invention, the clamping component can swing freely through the cooperation of the rotating shaft, the pre-clamping component, and the clamping component. The rotation angle of the rotating shaft during the swinging process of the clamping component is the swing angle of the clamping component. When the clamping component clamps the product, the pre-clamping component can apply force to the product to keep the product in the placement space. Even if it shakes, it will not easily fall off. Attached Figure Description

[0070] Appendix Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present utility model;

[0071] Appendix Figure 2 This is a schematic diagram of the structure when the first gear and the second gear are connected in an embodiment of this utility model;

[0072] Appendix Figure 3 for Figure 2 Enlarged view of section A in the image;

[0073] Appendix Figure 4 This is a schematic diagram of the pre-compression component structure in an embodiment of this utility model.

[0074] In the above figures: 1. Swinging mechanism; 2. Clamping mechanism; 3. Rotating shaft; 4. Connecting assembly; 5. Pre-clamping assembly; 6. Clamping assembly; 7. Mounting bracket; 8. Through slot; 9. First gear; 10. Second gear; 11. First mating gear plate; 12. Second mating gear plate; 13. Elastic element; 14. First tooth block; 15. First elongated hole; 16. First mounting block; 17. Second tooth block; 18. Second elongated hole; 19. Second mounting block; 20. Socket joint; 21. Connecting block; 22. Support plate; 23. First mounting plate; 24. Second mounting plate; 25. Driver; 26. Gripper; 27. Guide rod; 28. Springback element; 29. ​​Pressure block; 30. Receiving groove; 31. Sensing module. Detailed Implementation

[0075] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0076] Example: The present invention will be clearly described below with illustrations and detailed description. Any person skilled in the art who understands the examples of the present invention can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0077] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the scope of this work. Singular forms such as “a,” “this,” “this,” “the,” and “the” as used herein also include plural forms.

[0078] See appendix Figures 1-4 As shown, a freely swingable gripping device is used to grip a product in a set position, including a swinging mechanism 1 and a clamping mechanism 2.

[0079] With a direction perpendicular to the set position as a reference, the swing mechanism 1 and the clamping mechanism 2 are arranged sequentially from top to bottom;

[0080] The swing mechanism 1 has a rotating shaft 3;

[0081] The clamping mechanism 2 is positioned and connected to the rotating shaft 3 so that the clamping mechanism 2 has a vertical state and an inclined state;

[0082] The clamping mechanism 2 includes a connecting component 4, a pre-compression component 5, and a clamping component 6;

[0083] The connecting component 4 acts between the clamping component 6 and the rotating shaft 3 to position the clamping component 6 and the rotating shaft 3 in a connected manner.

[0084] The clamping component 6 is located below the connecting component 4, and the bottom of the clamping component 6 has a placement space;

[0085] The bottom of the clamping assembly 6 also has multiple clamping parts, which cooperate to position the product within the placement space.

[0086] The pre-compression component 5 is positioned and connected to the connecting component 4. The pre-compression component 5 has a pre-compression part located in the placement space. When the product is positioned in the placement space, the pre-compression part is configured to abut against the surface of the product so that the product remains in the placement space.

[0087] In this embodiment, the clamping mechanism 2 has a vertical state and an inclined state. This description is based on the direction perpendicular to the set position.

[0088] In this embodiment, at least two clamping parts are provided, and when the pre-pressing part abuts against the surface of the product, it can abut against the upper surface of the product, or it can abut against the side or bottom, depending on the requirements.

[0089] In this invention, the clamping component 6 can swing freely through the cooperation of the rotating shaft 3, the pre-pressing component 5, and the clamping component 6. During the swinging process of the clamping component 6, the rotation angle of the rotating shaft 3 is the swing angle of the clamping component 6. When the clamping component 6 clamps the product, the pre-pressing component 5 can apply force to the product to keep the product in the placement space. Even if it shakes, it will not easily fall off.

[0090] Specifically, the clamping assembly 6 is switched between a vertical state and an inclined state by rotating the rotating shaft 3. Then, when the clamping assembly 6 swings to a suitable angle, the product is positioned in the placement space by the cooperation of multiple clamping parts. During the process of positioning the product in the placement space, the pre-pressing part abuts against the surface of the product to keep the product in the placement space.

[0091] In some specific embodiments, the swing mechanism 1 includes a mounting frame 7, which has a downward-facing through slot 8, in which a first gear 9 and a second gear 10 are positioned and connected in a top-to-bottom order.

[0092] The first gear 9 meshes with the second gear 10;

[0093] The rotating shaft 3 passes through the center of the second gear 10 and is positioned and connected to the mounting bracket 7;

[0094] The second gear 10 is configured to guide the clamping mechanism 2 to switch between a vertical state and an inclined state by driving the rotating shaft 3 to rotate.

[0095] With the above design, the clamping mechanism 2 can quickly switch between vertical and tilted states.

[0096] The first gear 9 can be connected to a motor that is connected to a reducer, that is, the motor is connected to the reducer, and the reducer is connected to the first gear 9.

[0097] In some specific embodiments, the second gear 10 includes a first mating gear 11, a second mating gear 12, and an elastic element 13;

[0098] Both the first mating gear 11 and the second mating gear 12 are coaxially positioned with the rotating shaft 3.

[0099] The first mating toothed disc 11 and the second mating toothed disc 12 abut against each other on opposite sides.

[0100] The elastic element 13 acts on the first mating toothed disc 11 and the second mating toothed disc 12.

[0101] Since the first gear 9 and the second gear 10 mesh with each other, but the second gear 10 is provided with a rotating shaft 3 and a clamping mechanism 2, it is easy to shake when the first gear 9 and the second gear 10 mesh and rotate. In order to solve this problem, the stability of the second gear 10 meshing with the first gear 9 is increased by the cooperation of the first mating gear disk 11 and the second mating gear disk 12.

[0102] In some specific embodiments, the outer peripheral surface of the first mating toothed disc 11 has a plurality of first tooth blocks 14;

[0103] The surface of the first mating gear 11 has a first elongated hole 15, and the end of the first elongated hole 15 has a first mounting block 16;

[0104] The outer peripheral surface of the second mating toothed disk 12 has a plurality of second tooth blocks 17; the surface of the second mating toothed disk 12 has a second elongated hole 18, and when the first mating toothed disk 11 abuts against the second mating toothed disk 12, the second elongated hole 18 is correspondingly set with the first elongated hole 15.

[0105] A second mounting block 19 is provided inside the second elongated hole 18; the second mounting block 19 is disposed at the other end of the second elongated hole 18 opposite to the first mounting block 16.

[0106] One end of the elastic element 13 is connected to the first mounting block 16, and the other end is connected to the second mounting block 19;

[0107] Viewed along the axis of rotation 3, the first tooth block 14 and the second tooth block 17 are misaligned.

[0108] In order to increase the stability of the second gear 10 when meshing with the first gear 9 by cooperating with the first gear 11 and the second gear 12, specifically, the first tooth block 14 and the second tooth block 17 are misaligned by the elastic element 13 acting on the first mounting block 16 and the second mounting block 19, so that when the first gear 9 and the second gear 10 mesh with each other, the gap between the tooth blocks on the outer circumference of the first gear 9 can be fully locked by the first tooth block 14 and the second tooth block 17, and no gap will be generated.

[0109] Specifically, such as Figure 2 and Figure 3 Two elongated holes 15 are provided, therefore two elongated holes 18 are also provided. The positions of the first mounting block 16 and the second mounting block 19 are not fixed, as long as they meet the following requirements: Figure 3 The misalignment shown is acceptable. In this case, once the elastic element 13 (spring) is fixed, the first mating gear 11 and the second mating gear 12 are misaligned, that is, when viewed along the axis of rotation 3; each first tooth block 14 and each second tooth block 17 are misaligned. In this case, the gap between the tooth blocks on each first gear 9 is simultaneously filled by one first tooth block 14 and one second tooth block 17.

[0110] In some specific embodiments, the connecting assembly 4 includes a socket 20 and a connecting block 21;

[0111] There is a gap between the side of the second gear 10 and the inner wall of the through groove 8;

[0112] The sleeve 20 is located within the interval and is coaxially positioned with the rotating shaft 3;

[0113] The lower part of the socket 20 is positioned and connected to the connecting block 21.

[0114] With the above design, the second gear 10 will not collide with the inner wall of the through groove 8 when it rotates.

[0115] In some specific embodiments, the pre-compression assembly 5 includes a support plate 22 that is positioned and connected to the connecting block 21.

[0116] In some specific embodiments, the clamping assembly 6 includes a first mounting plate 23, a second mounting plate 24, and a driver 25 that is positioned and connected to the support plate 22;

[0117] The driver 25 has a movable end that acts on the first mounting plate 23 and the second mounting plate 24 to drive either the first mounting plate 23 or the second mounting plate 24 to move closer to or further away from the other.

[0118] Both the first mounting plate 23 and the second mounting plate 24 are provided with grippers 26 on opposite sides;

[0119] The gripper 26 is the clamping part.

[0120] The actuator 25 can be selected from a cylinder, an electric actuator, or a lead screw.

[0121] There are three scenarios when the first mounting plate 23 and the second mounting plate 24 move: 1. Only the first mounting plate 23 moves, and clamping and releasing are completed by the mutual moving away or moving closer between the first mounting plate 23 and the second mounting plate 24; 2. Only the second mounting plate 24 moves, and the principle is the same as the movement of the first mounting plate 23; 3. Both move.

[0122] With the above design, the movable end on the driver 25 can drive either the first mounting plate 23 or the second mounting plate 24 to move closer to or further away from the other, so that the product can complete the clamping and picking actions.

[0123] When either the first mounting plate 23 or the second mounting plate 24 moves closer to or further away from the other, for example, when only the first mounting plate 23 moves, the first mounting plate 23 moves away from the second mounting plate 24, causing the two grippers 26 on the first mounting plate 23 to move away from the two grippers 26 on the second mounting plate 24. Then, the first mounting plate 23 is moved towards the second mounting plate 24, so that the product can be clamped between the four grippers 26.

[0124] In some specific embodiments, the pre-compression assembly 5 further includes a guide rod 27, a spring-loaded component 28, and a pressure block 29;

[0125] The guide rod 27 is inserted and positioned on the support plate 22, and the pressure block 29 is positioned and connected to the bottom of the guide rod 27 and located within the placement space;

[0126] The pressure block 29 is the pre-compression part;

[0127] The spring-loaded element 28 acts between the pressure block 29 and the support plate 22, so that the pressure block 29 has a tendency to move away from the support plate 22.

[0128] With the above design, when the product is first clamped between the four jaws 26, the product has just entered the placement space. As the product fully enters the placement space, it will push the pressure block 29 to rise and push the spring 28 (spring) to compress. When the pressure block 29 rises, the guide rod 27 will also rise, so that the spring 28 will not bend when compressed.

[0129] In some specific embodiments, a receiving groove 30 is provided between the first mounting plate 23 and the second mounting plate 24, the receiving groove 30 being configured to guide the guide rod 27 to extend into the placement space.

[0130] The above design ensures that the pressure block 29 is not blocked by the first mounting plate 23 and the second mounting plate 24.

[0131] In some specific embodiments, a sensing module 31 is provided at the end of the rotating shaft 3, and the sensing module 31 is configured to sense the angle of rotation of the rotating shaft 3.

[0132] Working principle:

[0133] The first gear 9 driven by the motor can drive the rotating shaft 3 on the second gear 10 to rotate.

[0134] Since the first gear 9 and the second gear 10 mesh with each other, but the second gear 10 is provided with a rotating shaft 3 and a clamping mechanism 2, it is easy to shake when the first gear 9 and the second gear 10 mesh and rotate. Therefore, by the elastic element 13 acting on the first mounting block 16 and the second mounting block 19, the first tooth block 14 and the second tooth block 17 are misaligned, so that when the first gear 9 and the second gear 10 mesh with each other, the tooth block gap on the outer circumference of the first gear 9 can be fully locked by the first tooth block 14 and the second tooth block 17, and no gap will be generated.

[0135] Then, the first mounting plate 23 can be driven to move away from the second mounting plate 24, so that the two grippers 26 on the first mounting plate 23 move away from the two grippers 26 on the second mounting plate 24. Then, the first mounting plate 23 can be moved towards the second mounting plate 24, so that the product can be clamped between the four grippers 26.

[0136] When the product is first clamped between the four jaws 26, it enters the placement space. As the product fully enters the placement space, it pushes the pressure block 29 to rise and pushes the spring 28 (spring) to compress. That is, the spring 28 pushes the pressure block 29 to apply pressure to the upper surface of the product, so as to make the product more stable.

[0137] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A freely swingable gripping device for gripping a product in a set position, characterized in that: It includes a swing mechanism (1) and a clamping mechanism (2); With the direction perpendicular to the set position as a reference, the swing mechanism (1) and the clamping mechanism (2) are arranged in order from top to bottom; The swing mechanism (1) has a rotating shaft (3); The clamping mechanism (2) is positioned and connected to the rotating shaft (3) so that the clamping mechanism (2) has a vertical state and an inclined state; The clamping mechanism (2) includes a connecting assembly (4), a pre-compression assembly (5), and a clamping assembly (6); The connecting component (4) acts between the clamping component (6) and the rotating shaft (3) to position the clamping component (6) and the rotating shaft (3); The clamping assembly (6) is located below the connecting assembly (4), and the bottom of the clamping assembly (6) has a placement space; The bottom of the clamping assembly (6) also has multiple clamping parts, which cooperate to position the product in the placement space. The pre-compression assembly (5) is positioned and connected to the connecting assembly (4). The pre-compression assembly (5) has a pre-compression part located in the placement space. When the product is positioned in the placement space, the pre-compression part is configured to abut against the surface of the product so that the product remains in the placement space.

2. The freely swingable gripping device according to claim 1, characterized in that: The swing mechanism (1) includes a mounting frame (7), which has a downward-facing through slot (8). A first gear (9) and a second gear (10) are positioned and connected in the through slot (8) in a top-to-bottom order. The first gear (9) meshes with the second gear (10); The rotating shaft (3) passes through the center of the second gear (10) and is positioned and connected to the mounting bracket (7); The second gear (10) is configured to guide the clamping mechanism (2) to switch between a vertical state and an inclined state by driving the rotating shaft (3) to rotate.

3. The freely swingable gripping device according to claim 2, characterized in that: The second gear (10) includes a first mating gear plate (11), a second mating gear plate (12), and an elastic element (13); Both the first mating gear plate (11) and the second mating gear plate (12) are coaxially positioned with respect to the rotating shaft (3); The first mating toothed disc (11) and the second mating toothed disc (12) abut on opposite sides of their surfaces; The elastic element (13) acts on the first mating toothed disc (11) and the second mating toothed disc (12).

4. The freely swingable gripping device according to claim 3, characterized in that: The outer peripheral surface of the first mating toothed disc (11) has a plurality of first tooth blocks (14); The surface of the first mating gear plate (11) has a first elongated hole (15), and the end of the first elongated hole (15) has a first mounting block (16). The outer peripheral surface of the second mating toothed disc (12) has a plurality of second tooth blocks (17); the surface of the second mating toothed disc (12) has a second elongated hole (18), and when the first mating toothed disc (11) abuts against the second mating toothed disc (12), the second elongated hole (18) is correspondingly set with the first elongated hole (15); A second mounting block (19) is provided inside the second elongated hole (18); the second mounting block (19) is located at the other end of the second elongated hole (18) opposite to the first mounting block (16); One end of the elastic element (13) is connected to the first mounting block (16), and the other end is connected to the second mounting block (19); Observed along the axis of rotation (3), each first tooth block (14) and each second tooth block (17) are misaligned.

5. The freely swingable gripping device according to claim 3, characterized in that: The connecting assembly (4) includes a socket (20) and a connecting block (21); There is a gap between the side of the second gear (10) and the inner wall of the through groove (8); The socket (20) is located within the gap and is coaxially positioned with the rotating shaft (3); The lower part of the socket (20) is positioned and connected to the connecting block (21).

6. The freely swingable gripping device according to claim 5, characterized in that: The pre-compression assembly (5) includes a support plate (22) that is positioned and connected to the connecting block (21).

7. The freely swingable gripping device according to claim 6, characterized in that: The clamping assembly (6) includes a first mounting plate (23), a second mounting plate (24), and a driver (25) that is positioned and connected to the support plate (22). The driver (25) has a movable end that acts on the first mounting plate (23) and the second mounting plate (24) to drive either the first mounting plate (23) or the second mounting plate (24) to move closer to or further away from the other. The first mounting plate (23) and the second mounting plate (24) are both provided with clamps (26) on opposite sides. The gripper (26) is the clamping part.

8. The freely swingable gripping device according to claim 7, characterized in that: The pre-compression assembly (5) also includes a guide rod (27), a spring-loaded component (28), and a pressure block (29); The guide rod (27) is inserted and positioned on the support plate (22), and the pressure block (29) is positioned and connected to the bottom of the guide rod (27) and located within the placement space; The pressure block (29) is the pre-compression part; The spring-loaded element (28) acts between the pressure block (29) and the support plate (22) to give the pressure block (29) a tendency to move away from the support plate (22).

9. The freely swingable gripping device according to claim 8, characterized in that: A receiving groove (30) is provided between the first mounting plate (23) and the second mounting plate (24), the receiving groove (30) being configured to guide the guide rod (27) to extend into the placement space.

10. The freely swingable gripping device according to claim 1, characterized in that: A sensing module (31) is provided at the end of the rotating shaft (3), and the sensing module (31) is configured to sense the angle of rotation of the rotating shaft (3).

Images