Rotary gripper

Abstract

The utility model relates to a kind of rotary clamping jaw, including rotary clamping mechanism, the rotary clamping mechanism includes fixed base, the side of fixed base is connected with rotary motor, the output shaft of rotary motor is connected with rotary shaft, the side of rotary motor is connected with the limiting pin of four in number, the outside of limiting pin is connected with the fixed cover located the outside of rotary shaft.This rotary clamping jaw, through rotary motor and limit structure cooperation, support arbitrary or specific angle rotation, greatly improve operation angle flexibility, adapt multiple scene steering demand, drive assembly borrow cylinder and switchable gas path, drive symmetrical control clamping jaw flexible opening and closing, combine with the design of through-hole to adapt different size object, enhance clamping versatility, non-contact magnetic switch real-time detection clamping jaw state, improve control accuracy and operation safety, connecting seat multidirectional thread hole supports multidirectional installation, reduce scene adaptation limit, reduce installation cost.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically a rotary gripper. Background Technology

[0002] In the field of automated manufacturing, rotary grippers, as core actuators for connecting material handling, precision assembly and machining positioning, are widely used in scenarios such as electronic component packaging, automotive precision parts assembly, medical device production and precision instrument manufacturing. In these scenarios, grippers not only need to stably hold workpieces of various sizes, but also need to precisely rotate the workpieces to a preset angle to achieve precise connection of subsequent assembly alignment, welding positioning or machining processes.

[0003] An investigation revealed that most existing similar products use ordinary stepper motors in conjunction with mechanical limit blocks to achieve angle control. Angle adjustment requires manual disassembly and adjustment of the limit block position. Although some are equipped with angle encoders, they lack real-time closed-loop feedback and error correction mechanisms. During rotation, angle drift is easily caused by changes in workpiece load and mechanical transmission clearance, resulting in deviations in the rotation angle of the same batch of workpieces. Therefore, this application proposes an alternative technical solution to address this problem. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a rotary gripper that supports rotation at any or specific angle through the cooperation of a rotary motor and a limiting structure, significantly improving the flexibility of the working angle and adapting to the turning requirements of multiple scenarios. The drive component utilizes a cylinder and a switchable air circuit to drive symmetrical control of the gripper's flexible opening and closing. This solves the problem that some grippers, although equipped with angle encoders, lack real-time closed-loop feedback and error correction mechanisms, and are prone to angle drift during rotation due to changes in workpiece load and mechanical transmission clearance.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rotating gripper, comprising a rotating clamping mechanism, wherein the rotating clamping mechanism includes a fixed base, and a rotating motor is connected to one side of the fixed base;

[0006] The output shaft of the rotary motor is connected to a rotating shaft. Four limiting pins are connected to one side of the rotary motor. A fixing cover located outside the rotating shaft is connected to the outer side of the limiting pins. A drive assembly is connected to one side of the rotating shaft. A control gripper is provided on the inner side of the drive assembly. A connecting seat connected to the drive assembly is connected to one side of the fixing cover.

[0007] In one embodiment of this utility model, a positioning shaft connected to a connecting seat is rotatably connected to the outer side of the rotating shaft, and the number of the positioning shafts is two.

[0008] To achieve the above technical solution, two positioning axes connect the rotating shaft and the connecting seat, providing double support to enhance rotational stability, reduce swaying and offset, ensure the accuracy of the rotation angle, and improve the reliability of the gripper operation and the overall durability of the structure.

[0009] In one embodiment of this utility model, wiring is provided on the outside of the rotary motor.

[0010] By implementing the above technical solution, the wiring on the outside of the rotary motor can stably transmit power and control signals, ensuring the operation of the motor and the command interaction of the drive components, and providing reliable energy and control support for the rotation and clamping action of the gripper.

[0011] In one embodiment of this utility model, a limiting groove is provided inside the fixing cover, and the limiting pin is inserted into the interior of the fixing cover through the limiting groove.

[0012] To achieve the above technical solution, the limiting groove and the limiting pin inside the fixed cover are precisely matched, guiding the limiting pin to slide stably along the groove. This effectively limits the rotation range of the rotating shaft, avoids excessive rotation, ensures that the rotation angle of the gripper is precisely controllable, and further improves the overall stability and reliability of the operation.

[0013] In one embodiment of this utility model, threaded holes are provided on all four outer sides of the connector and on the side near the drive assembly, and a mounting plate can be connected to the outer side of the connector through the threaded holes.

[0014] To achieve the above technical solution, the multi-directional threaded holes on the four sides of the outer side of the connector and the side near the drive component provide diverse connection points for the mounting plate, adapting to different equipment installation layouts. No additional adapter holes are required, reducing installation and adjustment time and significantly improving the adaptability and scenario flexibility of the gripper installation.

[0015] In one embodiment of this utility model, the number of control grippers is two, and they are arranged symmetrically on the drive assembly. Each of the two control grippers has two through holes inside.

[0016] To achieve the above technical solution, the two control grippers are symmetrically arranged on the drive assembly, which can exert uniform force on the object during clamping, preventing the object from tilting or shifting. In addition, the two through holes inside can be adapted to positioning parts of different specifications, further expanding the clamping and adaptation range for objects of different sizes.

[0017] In one embodiment of this utility model, the drive assembly is internally provided with a cylinder and a switchable air circuit structure, the control gripper is connected to the drive assembly through the switchable air circuit structure, and a contactless magnetic switch can be provided internally in the drive assembly.

[0018] To achieve the above technical solution, the cylinder provides driving force, the switchable air circuit structure flexibly adjusts and controls the opening and closing action of the gripper, and the contactless magnetic switch provides real-time feedback on the status. The three work together to improve the gripper's action response speed and control accuracy, and enhance operational stability and safety.

[0019] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0020] This rotary gripper, through the cooperation of a rotary motor and a limiting structure, supports rotation at any or specific angle, greatly improving the flexibility of the working angle and adapting to the turning needs of multiple scenarios. The drive component uses a cylinder and a switchable air circuit to drive the symmetrical control of the gripper to open and close flexibly. Combined with the through-hole design, it can adapt to objects of different sizes, enhancing the versatility of gripping. The contactless magnetic switch detects the status of the gripper in real time, improving control accuracy and operational safety. The multi-directional threaded hole of the connecting seat supports multi-directional installation, reducing scene adaptation limitations, lowering installation costs, facilitating installation in multiple scenarios, and providing status monitoring functions, effectively improving work efficiency and adaptability. Attached Figure Description

[0021] Figure 1 This is an exploded view of the structure of this utility model;

[0022] Figure 2 This is a three-dimensional structural schematic diagram of the present utility model;

[0023] Figure 3 This is a front view schematic diagram of the structure of this utility model.

[0024] In the diagram: 1. Fixed base; 2. Rotary motor; 3. Rotary shaft; 4. Limit pin; 5. Fixed cover; 6. Drive assembly; 7. Control gripper; 8. Connecting base; 9. Positioning shaft; 10. Wiring; 11. Mounting plate. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1-3 In this embodiment, a rotating gripper includes a rotating clamping mechanism, which includes a fixed base 1, and a rotating motor 2 is connected to one side of the fixed base 1.

[0027] In this embodiment, the output shaft of the rotary motor 2 is connected to the rotary shaft 3. Four limiting pins 4 are connected to one side of the rotary motor 2. A fixing cover 5 located outside the rotary shaft 3 is connected to the outside of the limiting pins 4. A limiting groove is opened inside the fixing cover 5. The limiting pins 4 are inserted into the inside of the fixing cover 5 through the limiting groove. The limiting groove inside the fixing cover 5 is precisely matched with the limiting pins 4, guiding the limiting pins 4 to slide stably along the groove. This can effectively limit the rotation range of the rotary shaft 3, avoid excessive rotation, ensure that the rotation angle of the gripper is accurately controllable, and further improve the stability and reliability of the overall operation.

[0028] The rotating shaft 3 is connected to a drive assembly 6 on one side. The four outer sides of the connecting seat 8 and the side near the drive assembly 6 are provided with threaded holes. The outer side of the connecting seat 8 can be connected to the mounting plate 11 through the threaded holes. The multi-directional threaded holes on the four outer sides of the connecting seat 8 and the side near the drive assembly 6 provide diverse connection points for the mounting plate 11, adapting to different equipment installation layouts. No additional adapter holes are required, reducing installation and adjustment time and greatly improving the adaptability and scenario flexibility of the gripper installation.

[0029] In this embodiment, the inner side of the drive component 6 is provided with control grippers 7. There are two control grippers 7, which are symmetrically arranged on the drive component 6. Each of the two control grippers 7 has two through holes. The two control grippers 7 are symmetrically arranged on the drive component 6, which can form a uniform force on the object when clamping, and prevent the object from tilting or shifting. The two through holes inside can be adapted to positioning parts of different specifications, further expanding the clamping adaptation range for objects of different sizes. One side of the fixing cover 5 is connected to a connecting seat 8 that is connected to the drive component 6.

[0030] The drive assembly 6 is equipped with a cylinder and a switchable air circuit structure. The control gripper 7 is connected to the drive assembly 6 through the switchable air circuit structure. The drive assembly 6 can be equipped with a contactless magnetic switch. The cylinder provides driving force, and the switchable air circuit structure flexibly controls the opening and closing of the gripper 7. Combined with the contactless magnetic switch, the status is fed back in real time. The three work together to improve the gripper's action response speed and control accuracy, and enhance the stability and safety of operation.

[0031] In this embodiment, a positioning shaft 9 connected to the connecting seat 8 is rotatably connected to the outer side of the rotating shaft 3. There are two positioning shafts 9, which connect the rotating shaft 3 and the connecting seat 8. The double support enhances the rotational stability, reduces swaying and offset, ensures the accuracy of the rotation angle, and improves the reliability of the gripper operation and the overall durability of the structure. A wiring 10 is provided on the outer side of the rotating motor 2. The wiring 10 on the outer side of the rotating motor 2 can stably transmit power and control signals, ensure the operation of the motor and the command interaction of the drive component 6, and provide reliable energy and control support for the rotation and gripping action of the gripper.

[0032] The working principle of the above embodiments is as follows:

[0033] When in use, the rotary gripper uses wiring 10 to power the rotary motor 2 and drive assembly 6. When the rotary motor 2 starts, the output shaft drives the rotary shaft 3 to rotate. The limit pin 4 slides along the limit groove of the fixed cover 5. With the support of the positioning shaft 9 and the connecting seat 8, the rotation angle is limited to support any or specific angle rotation, ensuring that the rotation process is stable and without deviation. The drive assembly 6 has a built-in cylinder and a switchable air circuit structure. By switching the air circuit, it drives the two symmetrically arranged control grippers 7 to open and close. The gripper through holes are used to adapt to objects of different sizes and achieve stable clamping.

[0034] Meanwhile, the contactless magnetic switch in the drive assembly 6 detects and controls the opening and closing status of the gripper 7 in real time, and provides feedback signals for precise control. The threaded holes on the outside and sides of the connector 8 support the installation of the mounting plate 11 from four sides and the side, flexibly adapting to different equipment installation layout scenarios. The coordinated structure enables the gripper to have functions of rotation adjustment, multi-directional installation, clamping adaptation and status detection, meeting diverse operational needs.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotating gripper, characterized in that: It includes a rotary clamping mechanism, which includes a fixed base, and a rotary motor is connected to one side of the fixed base; The output shaft of the rotary motor is connected to a rotating shaft. Four limiting pins are connected to one side of the rotary motor. A fixing cover located outside the rotating shaft is connected to the outer side of the limiting pins. A drive assembly is connected to one side of the rotating shaft. A control gripper is provided on the inner side of the drive assembly. A connecting seat connected to the drive assembly is connected to one side of the fixing cover.

2. A rotary gripper according to claim 1, characterized in that: The outer side of the rotating shaft is rotatably connected to a positioning shaft that is connected to a connecting seat, and there are two positioning shafts.

3. A rotary gripper according to claim 1, characterized in that: Wiring is provided on the outside of the rotary motor.

4. A rotating gripper according to claim 1, characterized in that: The fixed cover has a limiting groove inside, and the limiting pin is inserted into the fixed cover through the limiting groove.

5. A rotary gripper according to claim 1, characterized in that: The connector has threaded holes on all four sides of its outer side and on the side closest to the drive assembly. A mounting plate can be connected to the outer side of the connector through the threaded holes.

6. A rotary gripper according to claim 1, characterized in that: The number of control grippers is two, and they are arranged symmetrically on the drive assembly. Each of the two control grippers has two through holes inside.

7. A rotating gripper according to claim 1, characterized in that: The drive assembly is internally equipped with a cylinder and a switchable air circuit structure. The control gripper is connected to the drive assembly through the switchable air circuit structure. The drive assembly can be internally equipped with a contactless magnetic switch.

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