A clamping jaw mechanism and a turnover assembly

Abstract

The utility model discloses a kind of clamping jaw mechanism and turnover subassembly, clamping jaw mechanism includes clamping jaw main body, clamping jaw main body includes push-pull piece, left and right connecting rods, clamping fixed seat, clamping power piece and the left and right clamping parts of relative arrangement, the interval space between left and right clamping parts constitutes clamping cavity, clamping fixed seat is equipped with left and right guide grooves, left clamping part is equipped with first, second left pivot joint part, first left pivot joint part is pivoted with the one end of left connecting rod through left pivot joint axle, and left pivot joint axle is movably arranged in left guide groove, second left pivot joint part is pivoted with the left side of clamping fixed seat, the other end of left connecting rod is pivoted with push-pull piece, right clamping part is equipped with first, second right pivot joint part, first right pivot joint part is pivoted with the one end of right connecting rod through right pivot joint axle, and right pivot joint axle is movably arranged in right guide groove, second right pivot joint part is pivoted with the right side of clamping fixed seat, the other end of right connecting rod is pivoted with push-pull piece. The utility model improves the versatility of clamping jaw mechanism.

Description

Technical Field

[0001] This utility model relates to the field of processing equipment technology, and in particular to a gripper mechanism and a flipping component. Background Technology

[0002] In the industrial production field, gripper mechanisms are used as key actuators in material handling and assembly processes, and are widely used in the clamping and transfer of cylindrical workpieces.

[0003] However, the mainstream gripper mechanisms currently on the market generally suffer from poor versatility when adapting to cylinders of different diameters. Specifically, existing gripper mechanisms mostly adopt a design structure with a fixed clamping spacing or a single compatible specification: Firstly, the relative positions between the left and right clamping parts of some gripper mechanisms are fixed, allowing them to clamp only cylinders of a specific diameter. When clamping cylinders with larger or smaller diameters, the entire gripper assembly must be replaced with one that matches the target cylinder diameter. This not only requires additional stock of gripper parts of various specifications, increasing equipment procurement and inventory costs, but also necessitates downtime for parts replacement, significantly extending production preparation time and reducing the continuous operation efficiency of the production line. Secondly, while a few gripper mechanisms with some adjustment capabilities can change the clamping spacing by manually adjusting bolts, shims, and other parts, the adjustment process relies on repeated manual debugging and calibration. This is not only cumbersome and time-consuming, but the adjustment accuracy is also easily affected by the operator's experience, making it difficult to guarantee the stability and consistency when clamping cylinders of different diameters. Especially when dealing with cylinders with large diameter differences, the adjustment range is limited, failing to meet diverse clamping needs.

[0004] Furthermore, existing gripper mechanisms often suffer from insufficient gripping reliability when adapting to cylinders of different diameters. Because their structural design fails to achieve synchronous and adaptive adjustment of the gripping part as the diameter changes, when gripping cylinders with smaller diameters, the contact area between the gripping part and the cylinder surface is too small, leading to concentrated gripping force and causing surface damage or deformation. When gripping cylinders with larger diameters, the insufficient opening of the gripping part may prevent effective containment of the cylinder, resulting in loose gripping and increasing the risk of the cylinder falling off during transport, thus affecting production safety and product quality. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a gripper mechanism and a flipping component.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On one hand, this utility model provides a gripper mechanism, including a gripper body. The gripper body includes a push-pull member, a left connecting rod, a right connecting rod, a gripping fixing seat, a gripper power member, and a left gripping part and a right gripping part arranged opposite to each other. The space between the left gripping part and the right gripping part forms a gripping cavity. The gripping fixing seat is provided with a left guide groove and a right guide groove. The left gripping part is provided with a first left pivot part and a second left pivot part. The first left pivot part is pivotally connected to one end of the left connecting rod through a left pivot shaft, and the left pivot shaft is movably configured... The second left pivot portion is pivotally connected to the left side of the clamping and fixing seat, and the other end of the left connecting rod is pivotally connected to the push-pull member. The right clamping portion is provided with a first right pivot portion and a second right pivot portion. The first right pivot portion is pivotally connected to one end of the right connecting rod through a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove. The second right pivot portion is pivotally connected to the right side of the clamping and fixing seat, and the other end of the right connecting rod is pivotally connected to the push-pull member. The gripper power member is drively connected to the push-pull member.

[0008] Furthermore, the clamping and fixing seat is provided with a movable cavity, and the push-pull member is movably disposed in the movable cavity, and the push-pull member has at least one degree of freedom to move in the front-back direction within the movable cavity.

[0009] Furthermore, the push-pull member is provided with a contact limiting member, the front side of which extends toward the direction of the clamping cavity. When the left clamping part and the right clamping part are in the clamping state, the contact limiting member contacts the outer surface of the object being clamped in the clamping cavity.

[0010] Furthermore, the clamping contact surface of the left clamping part is at least partially arc-shaped, and the clamping contact surface of the right clamping part is at least partially arc-shaped.

[0011] Furthermore, it also includes a centering mechanism, which includes a centering power component and a left clamping arm and a right clamping arm arranged opposite to each other, both of which are rotatably connected to the centering power component.

[0012] Furthermore, it also includes a centering bracket, the rear side of which is connected to the clamping and fixing seat, the front side of which extends toward the clamping cavity, and the centering power component is connected to the front side of the centering bracket.

[0013] On the other hand, the present invention also provides a flipping assembly, including a flipping mounting frame, a flipping power component and the aforementioned gripper mechanism. A rotating seat is rotatably disposed on the flipping mounting frame, the gripper mechanism is mounted on the rotating seat, the clamping fixing seat is connected to the rotating seat, and the output end of the flipping power component is connected to the rotating seat to drive the rotating seat to rotate.

[0014] Furthermore, the bottom of the flipping power component is rotatably connected to the flipping mounting bracket.

[0015] Furthermore, it also includes a first rotation limiting member and a second rotation limiting member. When the gripper mechanism rotates to the first target position, the first rotation limiting member contacts the rotating seat so that the first rotation limiting member limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member contacts the clamping fixing seat so that the second rotation limiting member limits the gripper mechanism at the second target position.

[0016] Furthermore, it also includes a lifting module, which includes a lifting frame and a lifting power component. The flip mounting frame is slidably disposed with the lifting frame, and the lifting power component is drively connected to the flip mounting frame.

[0017] The advantages of this utility model compared with the prior art are as follows: A gripper mechanism includes a gripper body, which includes a push-pull member, a left connecting rod, a right connecting rod, a gripping fixing seat, a gripper power member, and a left gripping part and a right gripping part arranged opposite to each other. The space between the left gripping part and the right gripping part forms a gripping cavity. The gripping fixing seat is provided with a left guide groove and a right guide groove. The left gripping part is provided with a first left pivot part and a second left pivot part. The first left pivot part is connected to one end of the left connecting rod through a left pivot. The shaft is pivotally connected, and the left pivot shaft is movably disposed in the left guide groove. The second left pivot part is pivotally connected to the left side of the clamping and fixing seat. The other end of the left connecting rod is pivotally connected to the push-pull member. The right clamping part is provided with a first right pivot part and a second right pivot part. The first right pivot part is pivotally connected to one end of the right connecting rod through the right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove. The second right pivot part is pivotally connected to the right side of the clamping and fixing seat. The other end of the right connecting rod is pivotally connected to the push-pull member. The gripper power member is connected to the push-pull member through transmission. When the gripper power component drives the push-pull component, the left and right connecting rods respectively drive the left and right gripping parts to rotate synchronously around the pivot point with the gripping fixed seat. At the same time, the left pivot shaft slides along the left guide groove and the right pivot shaft slides along the right guide groove, thereby realizing the adjustment of the opening and closing range of the gripping cavity between the left and right gripping parts. It can adapt to cylindrical objects of different diameters without replacing any parts, which greatly improves the versatility of the gripper mechanism and effectively avoids the increased cost and downtime caused by replacing gripper parts in the prior art. Moreover, the entire adjustment process is automatically completed by the gripper power component, without the need for manual adjustment. This not only simplifies the operation process and shortens the adaptation time, ensuring production efficiency, but also ensures the synchronicity and consistency of the adjustment of the left and right gripping parts, so that cylindrical objects of different diameters can be stably gripped.

[0018] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, it can be implemented according to the contents of the specification. In order to make the above and other objectives, features and advantages of this utility model more obvious and easy to understand, the following are preferred embodiments, which are described in detail below. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a flipping component provided in a specific embodiment of this utility model;

[0021] Figure 2 A schematic diagram of the structure of a gripper mechanism provided for a specific embodiment of this utility model;

[0022] Figure 3 An exploded view of a gripper mechanism provided for a specific embodiment of this utility model;

[0023] Figure 4 This is a partial structural diagram of a flipping component provided for a specific embodiment of the present utility model.

[0024] Figure Labels

[0025] 1. Flipping assembly; 11. Gripper body; 111. Push-pull component; 112. Left connecting rod; 113. Right connecting rod; 114. Gripper fixing seat; 1141. Movable cavity; 1142. Left guide groove; 1143. Right guide groove; 115. Gripper power component; 116. Left gripping part; 1161. First left pivot part; 1162. Second left pivot part; 117. Right gripping part; 1171. First right pivot part; 1172. 118. Right pivot joint; 119. Clamping cavity; 12. Contact limiting component; 12. Centering mechanism; 121. Centering power component; 122. Left clamping arm; 123. Right clamping arm; 124. Centering bracket; 13. Flip mounting frame; 131. Rotating seat; 14. Flipping power component; 15. Lifting module; 151. Lifting frame; 152. Lifting power component; 16. First rotation limiting component; 17. Second rotation limiting component; 100. Cylinder body. Detailed Implementation

[0026] The technical solution of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] This utility model embodiment provides a gripper mechanism, which is mainly used for gripping cylindrical items.

[0033] like Figures 1 to 4 As shown, a gripper mechanism includes a gripper body 11, which includes a push-pull member 111, a left connecting rod 112, a right connecting rod 113, a gripping fixing seat 114, a gripper power member 115, and a left gripping part 116 and a right gripping part 117 arranged opposite to each other. The space between the left gripping part 116 and the right gripping part 117 forms a gripping cavity 118. The gripping fixing seat 114 is provided with a left guide groove 1142 and a right guide groove 1143. The left gripping part 116 is provided with a first left pivot part 1161 and a second left pivot part 1162. The first left pivot part 1161 is pivotally connected to one end of the left connecting rod 112 through a left pivot shaft, and the left... The pivot shaft is movably disposed in the left guide groove 1142. The second left pivot part 1162 is pivotally connected to the left side of the clamping and fixing seat 114. The other end of the left connecting rod 112 is pivotally connected to the push-pull member 111. The right clamping part 117 is provided with a first right pivot part 1171 and a second right pivot part 1172. The first right pivot part 1171 is pivotally connected to one end of the right connecting rod 113 through the right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove 1143. The second right pivot part 1172 is pivotally connected to the right side of the clamping and fixing seat 114. The other end of the right connecting rod 113 is pivotally connected to the push-pull member 111. The gripper power member 115 is connected to the push-pull member 111 in a transmission connection.

[0034] The clamping and fixing base 114 can be a plate-shaped or block-shaped structure. The left guide groove 1142 and the right guide groove 1143 are respectively opened on the left and right sides of the clamping and fixing base 114. The left guide groove 1142 and the right guide groove 1143 are arranged symmetrically, and both of them are long strip-shaped through grooves (or semi-through grooves). The extension direction of the groove is adapted to the opening and closing direction of the clamping cavity 118. Specifically, it extends along the front and back direction of the clamping and fixing base 114 (here, the front and back direction is the side of the clamping cavity 118 facing the object to be clamped as the front and the side away from the object to be clamped as the back), which is used to provide a guide path for the subsequent sliding of the left pivot shaft and the right pivot shaft, and ensure that the rotation of the left clamping part 116 and the right clamping part 117 is stable and controllable.

[0035] The left clamping part 116 and the right clamping part 117 are the actuating components that directly contact and clamp objects. The two are completely symmetrical in structure, only differing in their installation positions. Taking the left clamping part 116 as an example, its overall structure is plate-like, which can be a single-layer plate or a combination of multiple layers of plates. The left clamping part 116 integrates two pivot parts with different functions, namely the first left pivot part 1161 and the second left pivot part 1162. The first left pivot part 1161 and the second left pivot part 1162 are arranged one after the other, with the first left pivot part 1161 located behind the second left pivot part 1162.

[0036] The second left pivot portion 1162 is pivotally connected to the left side of the clamping and fixing seat 114 via a pivot pin (such as a cylindrical pin, bolt and nut, or other standard connecting parts), so that the left clamping portion 116 can rotate around the pivot point between the second left pivot portion 1162 and the clamping and fixing seat 114. This rotation allows the left clamping portion 116 to move closer to or further away from the right clamping portion 117, thereby adjusting the opening and closing range of the clamping cavity 118.

[0037] The first left pivot part 1161 forms a pivotal engagement with one end of the left connecting rod 112 through a left pivot shaft. The two ends of the left pivot shaft pass through the shaft hole of the first left pivot part 1161 and the shaft hole at the end of the left connecting rod 112, respectively. The two ends of the left pivot shaft also extend into the left guide groove 1142, so that the left pivot shaft can slide along the extension direction of the left guide groove 1142. At the same time, the other end of the left connecting rod 112 is pivotally connected to the left side of the push-pull member 111 through another set of pivot structures (such as pins, spherical bearings, etc.), forming a movable transmission connection.

[0038] The structure of the right clamping part 117 is completely the same as that of the left clamping part 116. It is provided with a first right pivot part 1171 and a second right pivot part 1172. The first right pivot part 1171 and the second right pivot part 1172 are arranged front and rear, with the first right pivot part 1171 located behind the second right pivot part 1172.

[0039] The second right pivot part 1172 is pivotally connected to the right side of the clamping and fixing seat 114 via a pivot pin. The first right pivot part 1171 is pivotally connected to one end of the right connecting rod 113 via a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove 1143. The other end of the right connecting rod 113 is pivotally connected to the right side of the push-pull member 111. The overall connection logic is symmetrical with that of the left clamping part 116 and the left connecting rod 112.

[0040] The push-pull component 111 is an intermediate transmission component for transmitting power. The push-pull component 111 can be a plate-shaped or block-shaped structure. The left and right sides of the push-pull component 111 are pivotally connected to the ends of the left connecting rod 112 and the right connecting rod 113, respectively, and the pivoting positions are symmetrical to ensure that the left connecting rod 112 and the right connecting rod 113 can receive the power transmitted by the push-pull component 111 synchronously.

[0041] The gripper power component 115 is the power source that drives the push-pull component 111 to move. Its selection can be determined according to the actual clamping force requirements and installation space. Specifically, it can be a cylinder, an electric cylinder, or a linear motor. Taking a cylinder as an example, the cylinder body can be fixedly installed on the rear end of the clamping fixing seat 114 (on the side away from the clamping cavity 118) by bolts. The piston rod end of the cylinder is fixedly connected to the rear end of the push-pull component 111 by a flange or connecting pin. The extension or retraction of the cylinder piston rod directly drives the push-pull component 111 to move in the front-back direction.

[0042] In the initial state, the gripper power component 115 is in the retracted state, driving the push-pull component 111 to a position close to the rear end of the clamping fixed seat 114; at this time, under the pull of the push-pull component 111, the left connecting rod 112 and the right connecting rod 113 drive the left pivot shaft to slide backward along the left guide groove 1142 and the right pivot shaft to slide backward along the right guide groove 1143, thereby causing the left clamping part 116 to rotate outward around the second left pivot part 1162 and the right clamping part 117 to rotate outward around the second right pivot part 1172, and the clamping cavity 118 to be in the maximum opening and closing range, so that the cylinder 100 to be clamped can enter the clamping cavity 118;

[0043] During the clamping process, after the cylinder 100 enters the clamping cavity 118, the gripper power component 115 is vented, and the piston rod of the gripper power component 115 extends, pushing the push-pull component 111 forward in the front-back direction; when the push-pull component 111 moves forward, it simultaneously pushes the ends of the left connecting rod 112 and the right connecting rod 113 forward. The left connecting rod 112 drives the left pivot shaft to slide forward along the left guide groove 1142. Under the pushing of the left pivot shaft and the pivoting restriction of the second left pivot part 1162, the left clamping part 116 rotates around the second left pivot part 1142. The pivot part 1162 rotates inward (closer to the center of the clamping cavity 118); at the same time, the right connecting rod 113 drives the right pivot shaft to slide forward along the right guide groove 1143, and the right clamping part 117 rotates inward around the second right pivot part 1172 (closer to the center of the clamping cavity 118); until the clamping surfaces of the left clamping part 116 and the right clamping part 117 are in close contact with the outer surface of the cylinder 100, and the clamping force reaches the preset value (which can be achieved by adjusting the cylinder pressure or the electric cylinder torque feedback), the cylinder stops moving, and the clamping is completed.

[0044] During the release process, when it is necessary to release the cylinder 100, the piston rod of the gripper power component 115 retracts, pulling the push-pull component 111 to move backward. The left connecting rod 112 and the right connecting rod 113 drive the left pivot shaft and the right pivot shaft to slide backward along the left guide groove 1142 and the right guide groove 1143 respectively. The left clamping part 116 and the right clamping part 117 rotate outward respectively, and the opening and closing range of the clamping cavity 118 increases, so the cylinder 100 can be released from the clamping cavity 118.

[0045] Through the pivotal engagement of the left connecting rod 112 and the right connecting rod 113 with the left clamping part 116 and the right clamping part 117, and the sliding guidance of the left and right pivot shafts in the guide groove, the rotation amplitude of the left clamping part 116 and the right clamping part 117 can be adaptively adjusted according to the displacement of the push-pull member 111. This allows for the adaptation to various diameter cylindrical objects of type 100 without replacing any clamping components (such as different sizes of gripper heads). This effectively solves the problems of increased equipment costs and downtime during replacement caused by the need to replace gripper parts for objects of different diameters in existing technologies, greatly improving the applicability and flexibility of the gripper mechanism. Simultaneously, the entire opening and closing adjustment process of the clamping cavity 118 is automatically completed by the gripper power member 115, eliminating the need for manual adjustment of the clamping part's position or replacement of parts. This not only simplifies the operation steps and shortens the adaptation time before clamping the object, ensuring the continuous operation efficiency of the production line, but also avoids adjustment errors that may be caused by manual operation.

[0046] In one embodiment, such as Figure 2 As shown, the clamping and fixing base 114 is provided with a movable cavity 1141, and the push-pull member 111 is movably disposed in the movable cavity 1141. The push-pull member 111 has at least one degree of freedom to move in the front-back direction within the movable cavity 1141.

[0047] The movable cavity 1141 is a cavity structure opened inside the clamping and fixing seat 114. Its opening position needs to be adapted to the transmission logic of the gripper mechanism. Specifically, it is located in the middle area of ​​the clamping and fixing seat 114 along the front-back direction (with the side of the clamping cavity 118 facing the object to be clamped as the front and the side away from the object to be clamped as the back). The extension direction of the movable cavity 1141 is consistent with the preset movement direction of the push-pull member 111 (i.e., extending along the front-back direction).

[0048] The cross-sectional shape of the movable cavity 1141 must match the cross-sectional shape of the push-pull member 111 to guide and limit the push-pull member 111. It can be rectangular, square, or circular. The length of the movable cavity 1141 (along the front-back direction) must meet the maximum displacement requirement of the push-pull member 111 (i.e., when the push-pull member 111 moves forward to its limit position in the movable cavity 1141, it can drive the left clamping part 116 and the right clamping part 117 to fully close; when it moves backward to its limit position, it can drive the left clamping part 116 and the right clamping part 117 to fully open). In addition, a mounting hole can be opened at the rear end of the movable cavity 1141 for the gripper power member 115 (such as the piston rod of a cylinder) to extend into. The axis of the mounting hole coincides with the central axis of the movable cavity 1141 to ensure that the driving force transmitted by the power member is applied along the movement direction of the push-pull member 111, avoiding the generation of lateral forces that cause wear on the push-pull member 111.

[0049] The degree of freedom of movement of the push-pull member 111 within the movable cavity 1141 is limited to "at least the forward and backward direction". That is, the structural design of the movable cavity 1141 restricts other redundant degrees of freedom of the push-pull member 111 (such as left and right translation, up and down translation, rotation around the forward and backward axis, rotation around the left and right axis, and rotation around the up and down axis), and only retains the degree of freedom of translation in the forward and backward direction.

[0050] The movement of the push-pull component 111 is as follows: When the gripper power component 115 drives the push-pull component 111 to move forward, the push-pull component 111 moves smoothly forward in the front-back direction under the guidance of the movable cavity 1141, simultaneously pushing the left connecting rod 112 and the right connecting rod 113 to rotate the left clamping part 116 and the right clamping part 117 inward, thereby closing the clamping cavity 118; when the gripper power component 115 drives the push-pull component 111 to move backward, the push-pull component 111 moves smoothly backward along the movable cavity 1141, pulling the left connecting rod 112 and the right connecting rod 113 to rotate the left clamping part 116 and the right clamping part 117 outward, thereby opening the clamping cavity 118. Throughout the entire movement process, the movable cavity 1141 always plays a guiding and limiting role for the push-pull component 111, preventing the push-pull component 111 from shifting or jamming due to uneven force.

[0051] In one embodiment, such as Figure 2 As shown, the push-pull member 111 is provided with a contact limiting member 119. The front side of the contact limiting member 119 extends in the direction of the clamping cavity 118. When the left clamping part 116 and the right clamping part 117 are in the clamping state, the contact limiting member 119 contacts the outer surface of the object being clamped in the clamping cavity 118.

[0052] The contact limiting member 119 can be designed as a plate structure. The part of the contact limiting member 119 that contacts the outer surface of the cylinder 100 is an arc-shaped surface to adapt to the contour of the outer surface of the cylinder 100. In order to avoid damage to the surface of the object caused by rigid contact, an elastic and wear-resistant material can be provided on the arc-shaped surface.

[0053] The push-pull component 111 serves as the mounting carrier for the contact limiting component 119. Since the push-pull component 111 is installed in the movable cavity 1141 of the clamping and fixing seat 114, in order to avoid the clamping and fixing seat 114 interfering with the back-and-forth movement of the contact limiting component 119, the contact limiting component 119 is installed on the top and / or bottom of the push-pull component 111.

[0054] When the cylinder 100 is in the clamping cavity 118, the gripper power unit 115 drives the push-pull member 111 to move forward. At the same time, the contact limiting member 119 moves forward with the push-pull member 111, and the limiting head gradually approaches the outer surface of the cylinder 100. When the clamping surfaces of the left clamping part 116 and the right clamping part 117 are in close contact with the outer surface of the cylinder 100 (clamping state), the contact limiting member 119 is in close contact with the outer surface of the cylinder 100, thereby further improving the stability of clamping.

[0055] In one embodiment, the clamping contact surface of the left clamping portion 116 is at least partially arcuate, and the clamping contact surface of the right clamping portion 117 is at least partially arcuate. This design provides stability for clamping the cylinder 100.

[0056] In one embodiment, such as Figure 2 and Figure 3 As shown, the gripper mechanism also includes a centering mechanism 12, which includes a centering power member 121 and a left gripping arm 122 and a right gripping arm 123 arranged opposite to each other. Both the left gripping arm 122 and the right gripping arm 123 are rotatably connected to the centering power member 121. The gripper mechanism also includes a centering bracket 124, the rear side of which is connected to the clamping fixing seat 114, and the front side of which extends toward the clamping cavity 118. The centering power member 121 is connected to the front side of the centering bracket 124.

[0057] The centering mechanism 12 is used to position the clamped cylinder 100 at the center of the clamping cavity 118 and adjust the cylinder 100 placed in the clamping cavity 118 to the preset central axis.

[0058] The centering power component 121 is the power source for driving the left clamping arm 122 and the right clamping arm 123 to rotate. It needs to meet the requirement of synchronously driving the two clamping arms to move symmetrically. The centering power component 121 can be controlled by a motor or a cylinder.

[0059] The left clamping arm 122 and the right clamping arm 123 are structurally symmetrical. Taking the left clamping arm 122 as an example, the left clamping arm 122 includes a connecting section and a centering section. One end of the connecting section is rotatably connected to the output end of the centering power component 121 via a pivot shaft. The centering section is connected to the connecting section, and the inner side of the centering section is the centering contact surface. The centering bracket 124 is the fixed support carrier for the centering mechanism 12.

[0060] like Figures 1 to 4 As shown, this embodiment of the invention also provides a flipping assembly 1, including a flipping mounting frame 13, a flipping power component 14, and the aforementioned gripper mechanism. A rotating seat 131 is rotatably mounted on the flipping mounting frame 13, the gripper mechanism is mounted on the rotating seat 131, a clamping fixing seat 114 is connected to the rotating seat 131, and the output end of the flipping power component 14 is connected to the rotating seat 131 to drive the rotating seat 131 to rotate. The flipping power component 14 is a cylinder or an electric cylinder, and the bottom of the flipping power component 14 is rotatably connected to the flipping mounting frame 13.

[0061] The flip mounting bracket 13 is an overall vertical frame type. The flip mounting bracket 13 includes two side support arms and two side support plates. Deep groove ball bearings are embedded in the mounting holes near the bottom of the support plates. The rotating seat 131 has a fixing hole corresponding to the position of the inner ring of the deep groove ball bearing. The side of the clamping fixing seat 114 is provided with a rotating shaft, which passes through the fixing hole of the rotating seat 131 and connects to the inner ring of the deep groove ball bearing.

[0062] When it is necessary to perform a flipping operation on the cylinder 100 gripped by the gripper mechanism (refer to...) Figure 1 The cylinder 100 is shown in its initial gripping state. At this time, the cylinder 100 is in a vertical posture, and the position corresponding to this posture is defined as the first target position. After the flipping operation is started, the piston rod of the flipping power component 14 extends in a preset direction and is connected to the rotating seat 131 through its output end, driving the rotating seat 131 to rotate synchronously around the rotation fulcrum on the flipping mounting frame 13. Since the gripper mechanism is fixedly connected to the rotating seat 131 through the gripping fixing seat 114, the gripper mechanism rotates together with the rotating seat 131, thereby driving the gripped cylinder 100 to flip synchronously. When the flipping angle of the cylinder 100 reaches 90°, the cylinder 100 switches from the initial vertical posture to a horizontal posture. The position corresponding to this horizontal posture is defined as the second target position. At this time, the flipping power component 14 stops operating, completing one flipping process of the cylinder 100 from the first target position to the second target position.

[0063] In one embodiment, such as Figure 4 As shown, the flipping assembly 1 also includes a first rotation limiting member 16 and a second rotation limiting member 17. When the gripper mechanism rotates to the first target position, the first rotation limiting member 16 contacts the rotating seat 131 so that the first rotation limiting member 16 limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member 17 contacts the clamping fixing seat 114 so that the second rotation limiting member 17 limits the gripper mechanism at the second target position.

[0064] The core function of the first rotation limiter 16 and the second rotation limiter 17 is to limit the maximum rotation angle of the gripper mechanism by physically contacting the rotating seat 131 or the clamping fixed seat 114, so as to ensure that it stays stably at the first target position (the cylinder 100 is in a vertical state) and the second target position (the cylinder 100 is in a horizontal state), thereby ensuring the angular accuracy of the cylinder 100 when it stays, so as to improve the convenience and accuracy of subsequent operations.

[0065] It should be noted that if the first rotation limiter 16 and the second rotation limiter 17 are not set, and the rotation power component 14 is used to limit the rotation position, positional deviation is likely to occur, which is not conducive to the operation of subsequent processes.

[0066] The first rotation limiting member 16 and the second rotation limiting member 17 can adopt the same structure. Taking the first rotation limiting member 16 as an example, the first rotation limiting member 16 adopts a combination structure of a fixed rod and a contact head. The fixed rod is the mounting carrier to ensure the connection strength with the flip mounting bracket 13. The contact head is the component that directly contacts the rotating seat 131. The contact head can be made of hard material or elastic material. The contact head can be fixed to the end of the fixed rod by threaded connection or adhesive bonding.

[0067] In the initial state, the gripper mechanism is in the first target position (cylinder 100 is vertical). At this time, the buffer contact head of the first rotation limit member 16 is in close contact with the outer wall of the rotating seat 131, forming a physical barrier, so that the gripper mechanism is stably stationed in the first target position. When it is necessary to flip, the piston rod of the flipping power member 14 extends, driving the rotating seat 131 to drive the gripper mechanism to rotate around the rotation axis (cylinder 100 switches from vertical to horizontal). During this process, the rotating seat 131 gradually disengages from the contact head of the first rotation limit member 16, and the clamping fixed seat 114 moves towards the direction of the second rotation limit member 17. When the gripper mechanism rotates to the second target position (cylinder 100 is horizontal), the bottom of the clamping fixed seat 114 just contacts the contact head of the second rotation limit member 17. The second rotation limit member 17 forms a physical barrier to the clamping fixed seat 114, so that the gripper mechanism is stably stationed in the second target position.

[0068] In one embodiment, such as Figure 4 As shown, the flipping assembly 1 also includes a lifting module 15, which includes a lifting frame 151 and a lifting power component 152. The flipping mounting frame 13 is slidably disposed with the lifting frame 151, and the lifting power component 152 is connected to the flipping mounting frame 13 by transmission.

[0069] The lifting frame 151 serves as the fixed support and guide base for the lifting module 15, bearing the overall weight of the flipping mounting frame 13, the flipping power component 14, the gripper mechanism, and the object being gripped.

[0070] The lifting frame 151 can be a double-column frame structure. In order to achieve the sliding fit between the flip-mounting frame 13 and the lifting frame 151, guide rails are set on the relative inner side walls of the two columns of the lifting frame 151 along the height direction. The back of the flip-mounting frame 13 is provided with a sliding groove that matches the guide rail.

[0071] The lifting power component 152 is the power source that drives the tilting mounting bracket 13 to slide along the lifting frame 151. The lifting power component 152 can be a combination of a ball screw and a servo motor. The ball screw is arranged vertically along the middle of the lifting frame 151. The bottom end of the ball screw is mounted on the lifting frame 151 near the bottom via a deep groove ball bearing, and the top end of the ball screw is mounted in the bearing seat of the top connecting beam of the lifting frame 151 via an angular contact ball bearing to ensure stable rotation of the screw. The servo motor is connected to the top end of the ball screw via a coupling, and the motor is fixed to the lifting frame 151 via a bracket. The motor drives the ball screw to rotate in both directions. The transmission connection between the ball screw and the tilting mounting bracket 13 is achieved through a screw nut seat.

[0072] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A gripper mechanism, characterized in that, The gripper body includes a push-pull component, a left connecting rod, a right connecting rod, a gripping fixing seat, a gripper power component, and a left gripping portion and a right gripping portion arranged opposite to each other. The space between the left gripping portion and the right gripping portion forms a gripping cavity. The gripping fixing seat is provided with a left guide groove and a right guide groove. The left gripping portion is provided with a first left pivot portion and a second left pivot portion. The first left pivot portion is pivotally connected to one end of the left connecting rod through a left pivot shaft, and the left pivot shaft is movably disposed in the left guide groove. The second left pivot portion is pivotally connected to the left side of the clamping and fixing seat, and the other end of the left connecting rod is pivotally connected to the push-pull member. The right clamping portion is provided with a first right pivot portion and a second right pivot portion. The first right pivot portion is pivotally connected to one end of the right connecting rod through a right pivot shaft, and the right pivot shaft is movably disposed in the right guide groove. The second right pivot portion is pivotally connected to the right side of the clamping and fixing seat, and the other end of the right connecting rod is pivotally connected to the push-pull member. The gripper power member is connected to the push-pull member in a transmission connection.

2. The gripper mechanism according to claim 1, characterized in that, The clamping and fixing seat is provided with a movable cavity, and the push-pull member is movably disposed in the movable cavity. The push-pull member has at least one degree of freedom to move in the front-back direction within the movable cavity.

3. The gripper mechanism according to claim 1, characterized in that, The push-pull member is provided with a contact limiting member. The front side of the contact limiting member extends in the direction of the clamping cavity. When the left clamping part and the right clamping part are in the clamping state, the contact limiting member contacts the outer surface of the object being clamped in the clamping cavity.

4. A gripper mechanism according to claim 1, characterized in that, The clamping contact surface of the left clamping part is at least partially arc-shaped, and the clamping contact surface of the right clamping part is at least partially arc-shaped.

5. A gripper mechanism according to any one of claims 1-4, characterized in that, It also includes a centering mechanism, which includes a centering power component and a left clamping arm and a right clamping arm arranged opposite to each other, both of which are rotatably connected to the centering power component.

6. A gripper mechanism according to claim 5, characterized in that, It also includes a centering bracket, the rear side of which is connected to the clamping and fixing seat, the front side of which extends toward the clamping cavity, and the centering power component is connected to the front side of the centering bracket.

7. A flipping component, characterized in that, The invention includes a flip mounting frame, a flip power component, and a gripper mechanism as described in any one of claims 1-6. A rotating seat is rotatably mounted on the flip mounting frame, the gripper mechanism is mounted on the rotating seat, the clamping and fixing seat is connected to the rotating seat, and the output end of the flip power component is connected to the rotating seat to drive the rotating seat to rotate.

8. A flipping component according to claim 7, characterized in that, The bottom of the flipping power component is rotatably connected to the flipping mounting bracket.

9. A flipping component according to claim 7, characterized in that, It also includes a first rotation limiting member and a second rotation limiting member. When the gripper mechanism rotates to the first target position, the first rotation limiting member contacts the rotating seat so that the first rotation limiting member limits the gripper mechanism at the first target position. When the gripper mechanism rotates to the second target position, the second rotation limiting member contacts the clamping fixing seat so that the second rotation limiting member limits the gripper mechanism at the second target position.

10. A flipping assembly according to claim 7, characterized in that, It also includes a lifting module, which includes a lifting frame and a lifting power component. The flip mounting frame is slidably disposed with the lifting frame, and the lifting power component is drivenly connected to the flip mounting frame.

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