Rotary clamping device

Abstract

The utility model belongs to product transfer technical field discloses a rotary clamping device. Rotary clamping device includes the casing, clamping drive part, clamping subassembly and rotary drive motor. Clamping drive part rotation is connected in the casing and forms the installation space between casing inner wall, clamping subassembly is connected with clamping drive part and is driven by clamping drive part to be used for clamping product, rotary drive motor sets up in the installation space, and the rotor of rotary drive motor is fixedly arranged on the outside wall of clamping drive part to drive clamping drive part and clamping subassembly synchronous rotation. The rotor of rotary drive motor is fixedly connected with clamping drive part, then rotary drive motor can directly drive clamping drive part rotation, and need not set up the transmission structure of rotation again, not only can effectively improve rotary transmission ratio, still can effectively reduce the part quantity in the casing inside, simplify the complexity of structure, reduce manufacturing cost while, still can reduce the difficulty of subsequent maintenance and maintenance.

Description

Technical Field

[0001] This utility model relates to the field of product transfer technology, and in particular to a rotary clamping device. Background Technology

[0002] Rotary grippers, as an important end effector, can simultaneously perform the two key actions of clamping and rotating products, playing an irreplaceable role in many production scenarios. For example, in the assembly of electronic products, precise positioning and installation of small and delicate components are required. Rotary grippers can hold the components while rotating them to the appropriate angle according to installation requirements, ensuring installation accuracy. In the field of machining, for workpieces with complex curved surfaces, rotary grippers can rotate the workpiece, working in conjunction with machining tools to complete all-around machining operations, greatly improving machining flexibility and efficiency.

[0003] In existing technologies, the rotary gripper drive unit mainly employs a two-part motor structure, with two separate transmission systems to achieve gripping and rotation functions. Specifically, one part of the motor serves as the gripping power source, converting the motor's rotational motion into the linear motion of the gripper through a transmission system (such as gear transmission, lead screw transmission, etc.), thereby achieving the action of clamping or releasing the product; the other part of the motor serves as the rotation power source, transmitting power to the rotating components of the gripper through another transmission system (such as worm gear transmission, synchronous belt transmission, etc.), driving the gripped product to rotate.

[0004] However, the use of a two-part motor structure and two transmission systems significantly increases the number of parts in the gripper. This increased number of parts not only leads to a substantial rise in cost but also increases design complexity. This is especially true in end effectors with limited internal installation space, where the complex structure significantly increases the difficulty of maintenance and repair. If a part fails, it may require considerable time and effort to troubleshoot and replace, further increasing operating costs. Utility Model Content

[0005] The purpose of this invention is to provide a rotary clamping device to solve the problem that in the prior art, a large number of parts need to be arranged in a limited space, which not only leads to high overall cost, but also significantly increases the difficulty of maintenance and repair.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This utility model provides a rotary clamping device, which includes:

[0008] case;

[0009] The clamping drive component is rotatably connected to the housing and forms an installation space between itself and the inner wall of the housing.

[0010] A clamping assembly, connected to and driven by the clamping drive to clamp a product;

[0011] A rotary drive motor is disposed within the installation space. The rotor of the rotary drive motor is fixedly disposed on the outer side wall of the clamping drive component to drive the clamping drive component and the clamping assembly to rotate synchronously.

[0012] Optionally, the outer wall of the clamping drive member has at least one mounting platform, and one end face of the rotor is positioned and connected to one end face of the mounting platform.

[0013] Optionally, it also includes at least one bearing, one end face of which is positioned and connected to one end face of the mounting platform.

[0014] Optionally, the rotary clamping device further includes:

[0015] A bushing is provided at the tail end of the clamping drive member, and a receiving space is provided on the side of the bushing away from the clamping drive member;

[0016] A clamping detection component is disposed within the accommodating space of the bushing and connected to the tail end of the clamping drive component, and is used to detect the operation of the clamping drive component;

[0017] A rotating detection component includes a rotating detection unit and a rotating detection unit that rotate relative to each other. The rotating detection unit is fixedly connected to the bushing. The rotating detection unit is disposed on the housing and is used to detect the rotation data of the rotating detection unit.

[0018] Optionally, the bushing has multiple weight-reducing grooves extending through its side.

[0019] Optionally, the bushing includes multiple sleeve segments, with adjacent end sleeves detachably connected to adjust the axial length of the bushing.

[0020] Optionally, the rotary clamping device further includes:

[0021] A fixing base is disposed within the housing;

[0022] A slip ring is inserted through the fixed base and electrically connected to the clamping drive component, and the slip ring is coaxially arranged with the bushing.

[0023] Optionally, the clamping assembly includes:

[0024] Guide rail base, disposed on the housing;

[0025] A guide rail assembly is disposed on the guide rail base. The guide rail assembly is slidably connected to two opposing sliders. Each slider is provided with a clamping member. The clamping drive member is connected to the slider through a transmission assembly so that the two clamping members move closer or further apart from each other through the slider.

[0026] Optionally, the guide rail base is connected to the clamping drive via fasteners located at the edge or inside of the guide rail assembly.

[0027] Optionally, an interface board, a communication board, and a drive board are distributed axially at intervals inside the housing. The interface board and the drive board are both electrically connected to the communication board, and the drive board is electrically connected to the rotary drive motor.

[0028] The beneficial effects of this utility model are:

[0029] When clamping a product, the clamping drive unit moves the clamping assembly to clamp the product. When rotation is required, the rotary drive motor is activated to drive the clamping drive unit and the clamping assembly to rotate synchronously, thus adjusting the angle and position of the product. The clamping and rotation actions can be performed separately or simultaneously, as long as the product clamping and rotation can be completed quickly. An installation space is formed between the clamping drive unit and the housing, allowing the rotary drive motor to be directly mounted on the outside of the clamping drive unit and fixedly connected to it via a rotor. This direct connection allows the rotary drive motor to directly drive the clamping drive unit to rotate without the need for a separate rotation transmission structure. This not only effectively improves the rotational transmission ratio but also reduces the number of parts inside the housing, simplifying the structural complexity. This reduces manufacturing costs, lowers the difficulty of subsequent maintenance and repair, and also reduces the overall weight of the device. Attached Figure Description

[0030] Figure 1 This is a structural cross-sectional view of the rotary clamping device in an embodiment of this utility model;

[0031] Figure 2 This is a schematic diagram of the structure of the clamping drive component of the rotary clamping device in an embodiment of this utility model;

[0032] Figure 3 This is a schematic diagram of the structure of the clamping drive and the rotating drive of the rotating clamping device in the embodiment of this utility model;

[0033] Figure 4 This is a schematic diagram of the structure of the clamping drive component, the rotating drive component, and the bushing of the rotating clamping device in this embodiment of the utility model;

[0034] Figure 5This is a cross-sectional view of the structure of the rotary clamping device in this embodiment of the present invention when only one mounting platform is provided for the clamping drive component.

[0035] Figure 6 This is a schematic diagram of the structure of the rotary clamping device in this embodiment of the invention when only one mounting platform is provided for the clamping drive component.

[0036] In the picture:

[0037] 1. Housing; 11. Interface board; 12. Communication board; 13. Drive board; 2. Clamping drive component; 21. Mounting platform; 3. Clamping assembly; 31. Guide rail seat; 4. Rotary drive motor; 41. Rotor; 42. Stator; 5. Bearing; 6. Bushing; 61. Weight reduction groove; 7. Clamping detection component; 71. Clamping detection unit; 72. Clamping the unit under test; 8. Rotating detection component; 81. Rotating detection unit; 82. Rotating the unit under test; 9. Fixing seat; 91. Slip ring. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0039] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0042] This utility model discloses a rotary clamping device.

[0043] Reference Figures 1 to 4 The rotary clamping device includes a housing 1, a clamping drive component 2, a clamping assembly 3, and a rotary drive motor 4. The clamping drive component 2 is rotatably connected to the housing 1 and forms an installation space between it and the inner wall of the housing 1. The clamping assembly 3 is connected to the clamping drive component 2 and is driven by the clamping drive component 2 to clamp the product. The rotary drive motor 4 is disposed in the installation space, and the rotor 41 of the rotary drive motor 4 is fixedly disposed on the outer wall of the clamping drive component 2 to drive the clamping drive component 2 and the clamping assembly 3 to rotate synchronously.

[0044] When clamping a product, the clamping drive 2 drives the clamping assembly 3 to clamp the product. When rotation is required, the rotary drive motor 4 is activated to drive the clamping drive 2 and the clamping assembly 3 to rotate synchronously, thereby adjusting the angle and position of the product. The clamping and rotation actions can be performed separately or simultaneously, allowing for quick clamping and rotation of the product. An installation space is formed between the clamping drive 2 and the housing 1, allowing the rotary drive motor 4 to be directly mounted on the outside of the clamping drive 2 and fixedly connected to it via a rotor 41. This direct connection allows the rotary drive motor 4 to directly drive the clamping drive 2 to rotate without the need for a separate rotation transmission structure. This not only effectively improves the rotational transmission ratio but also reduces the number of parts inside the housing 1, simplifying the structural complexity. This reduces manufacturing costs, lowers the difficulty of subsequent maintenance and repair, and reduces the overall weight of the device.

[0045] Specifically, the housing 1 is cylindrical and has an internal installation cavity. One end of the housing 1 is provided with a clamping assembly 3, and the other end is provided with a bottom shell to enclose the installation space. The clamping drive 2 can be a motor or an electric cylinder as a power source, and is connected to the clamping assembly 3 in conjunction with a transmission structure (such as a rack and pinion, gear, etc.). The clamping assembly 3 is set on the housing 1 and has a structure for clamping products, such as fingers, and can clamp the corresponding products under the action of the clamping drive 2.

[0046] The clamping drive component 2 is elongated in shape. At least one bearing 5 is provided on its outer side to form a rotatable connection with the inner wall of the housing 1. In order to improve the stability of the clamping drive component 2, a bearing 5 is provided at both the upper and lower ends of the clamping drive component 2. The two bearings 5 ​​are respectively a cross roller bearing 5 and a deep groove ball bearing 5. An elastic retaining ring can also be provided on the outer side of the bearing 5 for fixation. The inner side of the bearing 5 is engaged and positioned with the step of the outer wall of the clamping drive component 2.

[0047] The aforementioned mounting space is formed between the upper and lower bearings 5. The rotary drive motor 4 is located within this mounting space. The rotary drive motor 4 is a frameless motor, with its rotor 41 directly fixedly connected to the clamping drive component 2, and its stator 42 directly fixed to the inner wall of the housing 1.

[0048] Optionally, the outer side wall of the clamping drive member 2 has at least one mounting platform 21, one end face of the rotor 41 is positioned and connected to one end face of the mounting platform 21, and the rotor 41 is bonded and fixed to the clamping drive member 2.

[0049] Specifically, an annular mounting platform 21 is protruded from the outer wall of the clamping drive component 2. The end wall of the rotor 41 is engaged with the platform surface of the mounting platform 21, and the inner wall of the rotor 41 is fixed to the outer wall of the clamping drive component 2 by adhesive, thereby forming a strong fixed connection between the rotor 41 and the outer wall of the clamping drive component 2. In this embodiment, two mounting platforms 21 are provided, one above the other. The upper mounting platform 21 is used to install the bearing 5, and the lower mounting platform 21 is located in the middle of the clamping drive component 2 and is used to position the rotor 41.

[0050] Reference Figure 5 and Figure 6 In other embodiments, in order to further shorten the length of the device, only one mounting platform 21 can be provided. The upper end face of the mounting platform 21 is positioned and connected to the lower end face of the bearing 5, and the lower end face of the mounting platform 21 is positioned and connected to the rotor 41.

[0051] Continue to refer to Figures 1 to 4 In order to align the stator 42 with the rotor 41, a groove can be formed on the inner wall of the housing 1. The stator 42 of the rotary drive motor 4 is embedded in the groove and is also fixed by adhesive, so that the entire rotary drive motor 4 can be stably fixed in the installation space.

[0052] Optionally, an interface board 11, a communication board 12, and a drive board 13 are distributed axially within the housing 1. The interface board 11 and the drive board 13 are both electrically connected to the communication board 12, and the drive board 13 is electrically connected to the rotary drive motor 4.

[0053] Specifically, a connector is provided at the tail end of the housing 1, and the inner side of the connector is electrically connected to the interface plate 11. The drive plate 13 and the communication plate 12 are distributed at intervals at the tail end of the housing 1 through sheet metal structures. The three-phase wires of the rotary drive motor 4 are welded to the drive plate 13 through grooves inside the housing 1. The specific circuit connections and corresponding structural models can be selected according to requirements, which is not the inventive point of this utility model and will not be described in detail here. By arranging the drive plate 13, the communication plate 12, and the interface plate 11 at intervals along the axial direction of the housing 1, the circumferential dimension of the device can be further reduced, thereby effectively improving the compactness of each structure.

[0054] Optionally, the rotary clamping device further includes a bushing 6, a clamping detection element 7, and a rotary detection unit 8. The bushing 6 is disposed at the tail end of the clamping drive element 2, and a receiving space is provided on the side of the bushing 6 away from the clamping drive element 2; the clamping detection element 7 is disposed in the receiving space of the bushing 6 and connected to the tail end of the clamping drive element 2, and is used to detect the operation of the clamping drive element 2; the rotary detection element 8 includes a rotary detection unit 81 and a rotary detection unit 82 that rotate relative to each other, the rotary detection unit 82 is fixedly connected to the bushing 6, and the rotary detection unit 81 is disposed in the housing 1 and is used to detect the rotation data of the rotary detection unit 82.

[0055] Specifically, the bushing 6 is fixed to the clamping drive component 2 by set screws, so that the bushing 6 can rotate synchronously with the clamping drive component 2, and the bushing 6 can also be positioned by the aforementioned mounting platform 21 during installation. A rotating detection unit 82 is embedded in the inner ring of the bushing 6 and positioned by the steps inside the bushing 6, so that it can rotate synchronously with the bushing 6. The rotating detection unit 81 can be an encoder, which is fixed in the housing 1 by a support column or other structure and corresponds to the rotating detection unit 82. The rotating drive motor 4 is electrically connected to the rotating detection unit 81 through a wiring harness.

[0056] Similarly, a clamping detection element 7 is fixedly installed in the bearing 5 set by a support column. It can also be an encoder, including a clamping detection unit 71 and a clamping detection unit 72. The clamping detection unit 72 is fixedly connected to the tail end shaft of the clamping drive 2 and rotates with the tail end shaft of the clamping drive 2. The clamping detection unit 71 and the clamping detection unit 72 are arranged opposite to each other and fixed relative to the housing 1. The clamping detection unit 71 is used to detect the rotation data of the clamping detection unit 72 to detect the operating status of the clamping drive 2.

[0057] The clamping drive unit 2 can also be electrically connected to the clamping encoder via a wiring harness. The clamping device 71 is set at the output end of the clamping drive unit 2 to clamp the measured element, and the clamping back element corresponds to the clamping detection element 7, so that the operating status of the clamping drive unit 2 can be detected.

[0058] By separately setting up the clamping detection component 7 and the rotation detection unit 8, the clamping action and rotation action can be accurately detected separately. Compared with the overall detection in the prior art, the separate detection is more accurate and can more accurately reflect the situation of the product being gripped and rotated.

[0059] Optionally, the side of the bushing 6 is provided with multiple weight-reducing grooves 61.

[0060] Specifically, the weight-reducing groove 61 can be rectangular, and its size can be designed according to the actual size of the bushing 6 and the strength of the overall structure. This utility model does not impose any limitations on this design. By setting the weight-reducing groove 61, the weight of the bushing 6 can be effectively reduced, thereby reducing the overall weight of the device. In this embodiment, the weight-reducing groove 61 is rectangular and relatively large so that it can serve as an observation window, facilitating the observation of the operation of the output end of the clamping drive 2 and the clamping detection 7, while also facilitating the soldering of internal cables and the installation and fixation of internal parts.

[0061] Optionally, the bushing 6 includes multiple sleeves, with adjacent end sleeves detachably connected to adjust the axial length of the bushing 6.

[0062] Specifically, the length of the bushing 6 can be adjusted according to the actual length of the clamping drive component 2. Different lengths can be formed by splicing different numbers of sleeves. Adjacent sleeves can be detachably connected by snap-fit ​​or by screw connection. The specific length of the bushing 6 is not limited in this utility model.

[0063] Optionally, the rotary clamping device further includes a slip ring assembly, which includes a fixed base 9 and a slip ring 91. The rotating end of the slip ring 91 is connected to the clamping drive 2 via a cable and remains relatively stationary with the clamping drive 2. That is, the rotating end of the slip ring 91 moves with the rotation of the clamping drive 2, and the stationary end of the slip ring 91 is electrically connected to the drive plate 13 and is relatively stationary with respect to the housing 1. By cooperating with the rotating end and the stationary end of the slip ring 91, the cable at the tail end of the clamping drive 2 can be prevented from getting tangled during rotation, thereby enabling the infinite rotation of the clamping drive 2.

[0064] Specifically, the fixed base 9 is fixedly installed through a sheet metal structure within the housing 1. A slip ring 91 is threaded through the fixed base 9, with one end of the slip ring 91 extending into the bushing 6 and coaxially arranged with it. The rotating end of the slip ring 91 extending into the bushing 6 is electrically connected to the clamping drive component 2, while the stationary end of the slip ring 91 can be connected to the drive plate 13, enabling high-speed transmission of both detection and control signals. Furthermore, coaxial arrangement of the slip ring 91 and the bushing 6 further reduces the circumferential dimensions of the device and improves the compactness of the layout between various structures.

[0065] Optionally, the clamping assembly 3 includes a guide rail base 31 and a guide rail assembly. The guide rail base 31 is disposed on the housing 1; the guide rail assembly is disposed on the guide rail base 31, and the guide rail assembly is slidably connected to two opposing sliders. The sliders are provided with clamping elements (not shown in the figure), and the clamping drive 2 is connected to the sliders through a transmission assembly so that the sliders drive the two clamping elements to move closer or further apart from each other.

[0066] In other embodiments, a brake assembly is also provided at the tail end of the clamping drive member 2 to maintain the current state of the guide rail assembly when the clamping drive member is de-energized. Specifically, the brake assembly is disposed within the accommodating space of the bushing 6 and is located between the clamping drive member 2 and the clamping detection member 7.

[0067] Specifically, the guide rail base 31 is block-shaped with a concave cavity in its center. Two symmetrically arranged sliders are housed within this cavity. Each slider has a pair of crossed roller guide rails on each side, forming a guide rail assembly. Each pair of crossed roller guide rails consists of two sets of crossed roller bearings 5. One guide rail from each pair is fixed to the slider, while the other is fixed to the guide rail base 31. The two sliders move closer or further apart due to the relative proximity of the guide rails on their respective sides. Clamping components are mounted on the sliders. The type of clamping component depends on the product to be clamped. The clamping component and slider can be detachably connected via screws or snap-fit ​​connections for easy replacement. The transmission assembly can be connected to the output end of the clamping drive 2. It can be a gear and rack transmission or other transmission structures, designed according to the actual installation space and transmission requirements.

[0068] To facilitate disassembly and maintenance, the guide rail base 31 is fixed to the clamping drive component 2 by fasteners. The fasteners are located on the edge or inside of the guide rail assembly so that the guide rail assembly can be quickly removed in the event of product jamming.

[0069] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A rotary clamping device, characterized in that, include: Shell (1); The clamping drive (2) is rotatably connected to the housing (1) and forms an installation space between it and the inner wall of the housing (1); A clamping assembly (3) is connected to and driven by the clamping drive (2) for clamping a product; A rotary drive motor (4) is disposed in the installation space. The rotor (41) of the rotary drive motor (4) is fixedly disposed on the outer side wall of the clamping drive member (2) to drive the clamping drive member (2) and the clamping assembly (3) to rotate synchronously.

2. The rotary clamping device according to claim 1, characterized in that, The outer side wall of the clamping drive (2) has at least one mounting platform (21), and one end face of the rotor (41) is positioned and connected to one end face of the mounting platform (21).

3. The rotary clamping device according to claim 2, characterized in that, It also includes at least one bearing (5), one end face of which is positioned and connected to one end face of the mounting platform (21).

4. The rotary clamping device according to claim 1, characterized in that, Also includes: A bushing (6) is provided at the tail end of the clamping drive member (2), and the bushing (6) has a accommodating space on the side away from the clamping drive member (2); A clamping detection component (7) is disposed in the accommodating space of the bushing (6) and connected to the tail end of the clamping drive component (2) for detecting the operation of the clamping drive component (2); The rotating detection component (8) includes a rotating detection unit (81) and a rotating detection unit (82) that rotate relative to each other. The rotating detection unit (82) is fixedly connected to the bushing (6). The rotating detection unit (81) is disposed on the housing (1) and is used to detect the rotation data of the rotating detection unit (82).

5. The rotary clamping device according to claim 4, characterized in that, The bushing (6) has multiple weight-reducing grooves (61) through its side.

6. The rotary clamping device according to claim 4, characterized in that, The bushing (6) includes multiple sleeves, and the adjacent end sleeves are detachably connected to adjust the axial length of the bushing (6).

7. The rotary clamping device according to claim 4, characterized in that, Also includes: A fixing seat (9) is disposed inside the housing (1); A slip ring (91) is inserted through the fixed base (9) and electrically connected to the clamping drive (2), and the slip ring (91) is coaxially arranged with the bushing (6).

8. The rotary clamping device according to any one of claims 1 to 7, characterized in that, The clamping assembly (3) includes: A guide rail seat (31) is disposed on the housing (1); A guide rail assembly is provided on the guide rail base (31). The guide rail assembly is slidably connected to two opposing sliders. The sliders are provided with clamping members. The clamping drive member (2) is connected to the sliders through a transmission assembly so that the two clamping members can be driven to move closer or further apart from each other through the sliders.

9. The rotary clamping device according to claim 8, characterized in that, The guide rail base (31) is connected to the clamping drive (2) by fasteners located at the edge or inside of the guide rail assembly.

10. The rotary clamping device according to any one of claims 1 to 7, characterized in that, An interface board (11), a communication board (12), and a drive board (13) are distributed axially within the housing (1). The interface board (11) and the drive board (13) are both electrically connected to the communication board (12), and the drive board (13) is electrically connected to the rotary drive motor (4).

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