A multi-head rotating mechanical claw

Abstract

This utility model relates to the field of mechanical grippers, and discloses a multi-head rotary mechanical gripper, including a mounting base, a body, and a gripper assembly for grasping workpieces. The mounting base is used to connect to external equipment to fix the installation position. The body and the mounting base are rotatably connected to form a first rotating axis, and the body and the gripper assembly are rotatably connected to form a second rotating axis. The first rotating axis is perpendicular or nearly perpendicular to the second rotating axis. The gripper assembly includes a first gripper and a second gripper, which move closer to and further away from each other. The body can rotate in the horizontal plane, enhancing operational flexibility and workspace coverage. The gripper assembly performs pitch movement in the vertical plane, further expanding the adaptability of the grasping posture. The first and second grippers are symmetrically arranged and can simultaneously perform opposite or forward movements, achieving rapid and stable grasping and release of workpieces, as well as adjusting the posture and position of the workpieces. The structure is simple, stable, reliable, and low in cost.

Description

Technical Field

[0001] This utility model relates to the field of mechanical claw technology, and more specifically, to a multi-head rotating mechanical claw. Background Technology

[0002] A robotic gripper is an automated device that mimics certain movements of a human hand to grasp, move, or manipulate objects or tools according to a fixed program. With the increasing maturity of automation technology, robotic grippers are also being applied in fields such as biomedicine, precision electronics manufacturing, and intelligent robotics. Currently, commercially available robotic grippers have complex rotating structures, are costly, and typically can only grasp a single workpiece for rotation and movement, resulting in relatively low efficiency. Utility Model Content

[0003] To address at least one of the aforementioned problems, this utility model first provides a multi-head rotary mechanical gripper, comprising a mounting base, a body, and a gripper assembly for grasping workpieces. The mounting base is used to connect to an external device to fix the installation position. The body and the mounting base are rotatably connected to form a first rotating shaft, and the body and the gripper assembly are rotatably connected to form a second rotating shaft. The first rotating shaft is perpendicular or nearly perpendicular to the second rotating shaft. The gripper assembly includes a first gripper and a second gripper, which move closer to and further away from each other.

[0004] Optionally, it also includes a drive device and a transmission component. The drive device is mounted on the machine body and has a retractable push rod. The transmission component is rotatably connected to the push rod and fixedly connected to the claw assembly. When the push rod extends or retracts, the transmission component drives the claw assembly to rotate in both directions.

[0005] Optionally, the transmission component includes a rotating wheel portion and a connecting portion, the connecting portion being connected to the outer side wall of the rotating wheel portion, the push rod and the connecting portion being rotatably connected to form a third rotating shaft, the third rotating shaft being parallel or nearly parallel to the second rotating shaft, and the rotating wheel portion and the claw assembly being fixedly connected.

[0006] Optionally, the machine body is provided with a first limiting block, and the claw assembly includes a second limiting block. The first limiting block is provided with a first limiting member, which is adapted to abut against the second limiting block to limit the forward rotation position of the claw assembly.

[0007] Optionally, the gripper assembly includes a fixed base, which is rotatably connected to the machine body. The first gripper and the second gripper are slidably connected to the fixed base. The fixed base is provided with a T-shaped groove, and the first gripper and the second gripper are provided with T-shaped blocks. The T-shaped blocks are slidably connected to the T-shaped groove.

[0008] Optionally, the machine body is provided with a third limiting block, and the third limiting block is provided with a second limiting member, which is adapted to abut against the fixed seat to limit the reverse rotation position of the claw assembly.

[0009] Optionally, the first jaw clamp is provided with a first arc-shaped groove, and the second jaw clamp is provided with a second arc-shaped groove, and a clamping opening for clamping the bar is formed between the first arc-shaped groove and the second arc-shaped groove.

[0010] Optionally, both the mounting base and the housing are provided with interconnected wiring holes.

[0011] Optionally, the bottom of the mounting base is provided with a first connecting member, and the body is provided with a second connecting member. The first connecting member and the second connecting member are rotatably connected. The bottom of the first connecting member is provided with a mating plate, and the second connecting member is provided with a fourth limiting block. The mating plate and the fourth limiting block are rotatably connected. Both ends of the fourth limiting block are adapted to abut against the mating plate to limit the rotational position of the body.

[0012] Optionally, the rotation range of the gripper assembly is 0-90°, and the rotation range of the machine body relative to the mounting base is 0-180°.

[0013] Compared to existing technologies, the multi-head rotary manipulator of this invention features a mounting base that ensures overall structural stability during continuous operation, making it suitable for various automated production lines or robot end-effector scenarios. The body and mounting base are rotatably connected via precision bearings, forming a first axis of rotation. This structure allows the body to rotate and adjust within a wide range in the horizontal plane, enhancing the manipulator's operational flexibility and workspace coverage. The body and gripper assembly are rotatably connected, forming a second axis of rotation, enabling the gripper assembly to pitch in the vertical plane, further expanding the adaptability of the gripping posture. The first axis of rotation is perpendicular or nearly perpendicular to the horizontal plane, ensuring smooth and reliable rotation of the body and reducing unnecessary vibration; the second axis of rotation is parallel or nearly parallel to the horizontal plane, giving the gripper assembly excellent opening, closing, and posture-holding capabilities. The first and second grippers are symmetrically arranged, allowing for synchronous opposite or forward movements, enabling rapid and stable gripping and release of workpieces, as well as posture and position adjustments. It is particularly suitable for assembly or handling tasks with high alignment requirements, featuring a simple, stable, reliable, and low-cost structure. Attached Figure Description

[0014] Figure 1 The structure of the multi-head rotary mechanical claw in this embodiment of the utility model Figure 1 ;

[0015] Figure 2 for Figure 1 Enlarged view of section A in the middle;

[0016] Figure 3 This is a top view of the multi-head rotating mechanical claw according to an embodiment of the present invention;

[0017] Figure 4 This is a structural diagram of the fixing base according to an embodiment of the present utility model;

[0018] Figure 5 This is a structural diagram of the transmission component according to an embodiment of the present utility model;

[0019] Figure 6 The structure of the multi-head rotary mechanical claw in this embodiment of the utility model Figure 2 ;

[0020] Figure 7 for Figure 6 Enlarged view of section B in the middle.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Mounting base; 2. Body; 3. First claw; 31. First arc groove; 4. Second claw; 41. Second arc groove; 5. T-block; 6. Fixed base; 61. T-groove; 7. Drive device; 71. Push rod; 8. Transmission component; 81. Rotary wheel; 82. Connecting part; 821. First plate; 822. Second plate; 9. Connecting shaft; 10. First limiting block; 101. Threaded hole; 11. Second limiting block; 12. Third limiting block; 13. Mating plate; 14. Wiring hole; 15. First connecting piece; 16. Second connecting piece; 17. Fourth limiting block. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] The accompanying drawings of the embodiments of this utility model provide a coordinate system XYZ, where the positive direction of the X-axis represents the left and the negative direction of the X-axis represents the right, the positive direction of the Y-axis represents the front and the negative direction of the Y-axis represents the back, the positive direction of the Z-axis represents the top and the negative direction of the Z-axis represents the bottom.

[0025] This utility model embodiment provides a multi-head rotating mechanical gripper, combined with Figures 1 to 5 As shown, the device includes a mounting base 1, a body 2, and a gripper assembly for gripping workpieces. The mounting base 1 is used to connect to an external device to fix the installation position. The body 2 and the mounting base 1 are rotatably connected to form a first rotating shaft. The body 2 and the gripper assembly are rotatably connected to form a second rotating shaft. The first rotating shaft is perpendicular or nearly perpendicular to the second rotating shaft. The gripper assembly includes a first gripper 3 and a second gripper 4. The first gripper 3 and the second gripper 4 move closer to and further away from each other.

[0026] Mounting base 1 ensures the overall structure remains stable during continuous operation, making it suitable for various automated production lines or robot end effector scenarios. The body 2 and mounting base 1 are rotatably connected by precision bearings, forming the first pivot. This structure allows the body 2 to rotate and adjust within a wide range in the horizontal plane, enhancing the manipulator's operational flexibility and workspace coverage.

[0027] like Figure 1 As shown, when the first rotating shaft is installed at an angle perpendicular to the horizontal plane, the second rotating shaft is parallel to the horizontal plane. The machine body 2 and the gripper assembly are rotatably connected to form the second rotating shaft, allowing the gripper assembly to perform pitching motion in the vertical plane, further expanding the adaptability of the gripping posture. The first rotating shaft is perpendicular or nearly perpendicular to the horizontal plane, ensuring smooth and reliable rotation of the machine body 2 and reducing unnecessary vibration; the second rotating shaft is parallel or nearly parallel to the horizontal plane, giving the gripper assembly good opening and closing and posture maintenance capabilities. The first gripper 3 and the second gripper 4 adopt a symmetrical layout, which can simultaneously perform opposite or reverse movements, realizing rapid and stable gripping and release of workpieces, as well as posture and position adjustment of workpieces. It is especially suitable for assembly or handling tasks with high alignment requirements, with a simple structure, stable and reliable performance, and low cost. In other embodiments, the first rotating shaft can also be installed at an angle parallel to the horizontal plane or at other angles inclined to the horizontal plane, thereby adapting to various gripping angle requirements.

[0028] like Figure 1 and Figure 2 As shown, optionally, it also includes a drive device 7 and a transmission component 8. The drive device 7 is mounted on the body 2. The drive device 7 is provided with a retractable push rod 71. The transmission component 8 is rotatably connected to the push rod 71. The transmission component 8 is fixedly connected to the claw assembly. When the push rod 71 extends or retracts, the transmission component 8 drives the claw assembly to rotate in both directions.

[0029] The drive device 7 is preferably an electric push rod 71 or a pneumatic push rod 71, which is installed on the outside or inside of the machine body 2. It has high response speed and positioning accuracy, and smooth movement. When the push rod 71 moves forward and backward, the transmission component 8 converts the linear motion into rotational motion, thereby driving the gripper assembly to rotate forward and backward around the second rotating axis, realizing precise control of the gripping angle and meeting the picking and placing needs under complex placement postures.

[0030] like Figure 2 and Figure 5 As shown, optionally, the transmission component 8 includes a rotating wheel portion 81 and a connecting portion 82. The connecting portion 82 is connected to the outer side wall of the rotating wheel portion 81. The push rod 71 and the connecting portion 82 are rotatably connected to form a third rotating shaft. The third rotating shaft is parallel or nearly parallel to the second rotating shaft. The rotating wheel portion 81 and the claw assembly are fixedly connected.

[0031] The rotating wheel 81 has high torque carrying capacity and smooth movement. The connecting part 82 extends radially towards the rotating wheel 81, and the extension length can be adjusted according to the actual movement range requirements. The transmission component 8 is integrally formed. The rotating wheel 81 is fixed to the jaw assembly to ensure synchronous movement of the two, improving overall rigidity and repeatability.

[0032] Optionally, the body 2 is provided with a first limiting block 10, and the claw assembly includes a second limiting block 11. The first limiting block 11 is provided with a first limiting member (not shown), which is adapted to abut against the second limiting block 12 to limit the forward rotation position of the claw assembly.

[0033] The first limiting element is a bolt. The first limiting block 11 has a threaded hole 101 for mounting the bolt. The bolt is mounted on the first limiting block 11 and partially protrudes from it. The protruding end of the bolt abuts against the second limiting block 12. The bolt can be rotated to adjust its extension length, thereby adjusting the rotational limiting angle of the second limiting block 12. Figure 1 In the embodiment shown, the first limiting block 11 is located above the body 2, and the forward rotation is upward rotation.

[0034] like Figure 2 and Figure 5 As shown, optionally, the connecting portion 82 includes a first plate 821 and a second plate 822 spaced apart. The push rod 71 is positioned between the first plate 821 and the second plate 822 and is rotatably connected to the first plate 821 and the second plate 822. A space is formed between the first plate 821 and the second plate 822 to accommodate the end of the push rod 71, which can effectively limit the displacement of the push rod 71 in the non-moving direction, improve motion stability, enhance the durability and wear resistance of the transmission structure, and is suitable for high-frequency, high-load applications.

[0035] like Figure 2 As shown, optionally, the gripper assembly includes a fixed base 6, which is rotatably connected to the body 2, and the first gripper 3 and the second gripper 4 are slidably connected to the fixed base 6.

[0036] The fixed base 6 is a cylinder seat, and a connecting shaft 9 is rotatably connected between the fixed base 6 and the machine body 2. The rotating wheel 81 is fixedly connected to the connecting shaft 9. The first jaw 3 and the second jaw 4 both slide on the fixed base 6, and are powered by a driving component, which is located inside the fixed base 6 or inside the machine body 2.

[0037] like Figure 2 and Figure 4As shown, optionally, the fixing base 6 is provided with a T-shaped groove 61, and the first claw clamp 3 and the second claw clamp 4 are both provided with T-shaped blocks 5, and the T-shaped blocks 5 are slidably connected to the T-shaped groove 61.

[0038] The T-shaped block 5 slides within the T-shaped groove 61, providing limiting in both vertical and horizontal directions. Its compact structure and good guiding properties allow the first claw 3 and the second claw 4 to slide in the front-back direction, effectively preventing the claws from detaching or tilting during movement.

[0039] Optionally, the body 2 is provided with a third limiting block 12, and the third limiting block 12 is provided with a second limiting member, which is adapted to abut against the fixed seat 6 to limit the reverse rotation position of the claw assembly.

[0040] The second limiting component is also a bolt, and the third limiting block 12 is also provided with a threaded hole 101 for installing the bolt. The bolt is installed on the third limiting block 12 and partially protrudes from the third limiting block 12. The protruding end of the bolt is used to abut against the fixing seat 6. The bolt can be rotated to adjust the extension length, thereby adjusting the rotation limiting angle of the fixing seat. In this embodiment, the third limiting block 12 is located below the machine body 2, and the reverse rotation is downward rotation.

[0041] like Figure 2 As shown, optionally, the first claw clamp 3 is provided with a first arc-shaped groove 31, and the second claw clamp 4 is provided with a second arc-shaped groove 41, and a clamping opening for clamping the bar is formed between the first arc-shaped groove 31 and the second arc-shaped groove 41.

[0042] When the first arc-shaped groove 31 and the second arc-shaped groove 41 are closed or nearly closed, they together form a complete circular or elliptical clamping opening, suitable for clamping cylindrical workpieces such as shafts and tubes. Knurled patterns or soft pads can be added inside the arc-shaped grooves to increase friction and prevent damage to the workpiece surface, making it particularly suitable for precision workpieces with high surface quality requirements.

[0043] Optionally, both the mounting base 1 and the body 2 are provided with interconnected wiring holes 14. The wiring holes 14 store the wires inside the mounting base 1 and the body 2, reducing external space occupation, making the wires neater, and reducing the mess of external wires.

[0044] like Figure 6 and Figure 7As shown, optionally, the bottom of the mounting base 1 is provided with a first connecting member 15, and the body 2 is provided with a second connecting member 16. The first connecting member 15 and the second connecting member 16 are rotatably connected. The bottom of the first connecting member 15 is provided with a mating plate 13, and the second connecting member 16 is provided with a fourth limiting block 18. The mating plate 13 and the fourth limiting block 18 are rotatably connected. Both ends of the fourth limiting block 18 are adapted to abut against the mating plate 13 to limit the rotational position of the body 2.

[0045] Mounting base 1 is a rotary cylinder. The side wall of mating plate 13 that abuts against the fourth limiting block 18 is a straight wall. The front and rear ends of the straight wall abut against the left and right sides of the fourth limiting block 18, respectively, to limit the rotation position of the machine body 2.

[0046] like Figure 1 and Figure 3 As shown, optionally, there are two gripper assemblies, each located at one end of the body 2. In other embodiments, there can be four gripper assemblies, and the body 2 can be cross-shaped, with the four gripper assemblies respectively located at the four ends of the cross-shaped body. Furthermore, there can be multiple gripper assemblies, which will not be elaborated further here.

[0047] The multi-head structure can achieve simultaneous gripping, synchronous feeding, or alternating operation, significantly improving production efficiency. It is especially suitable for multi-station collaborative operation scenarios, such as production line transfer and machine tool loading and unloading.

[0048] Optionally, the rotation range of the gripper assembly is 0-90°.

[0049] It can meet most gripping posture requirements, such as switching the bar stock between being parallel to and perpendicular to the horizontal plane. At the same time, the mechanical limiting structure can avoid interference or cable entanglement caused by excessive rotation, thus improving system reliability and service life.

[0050] Optionally, the range of rotation of the body 2 relative to the mounting base 1 is 0-180°.

[0051] This range covers common operating areas, effectively reducing the idle travel of the robotic gripper and improving cycle efficiency. At the same time, it can achieve precise positioning at any angle through program control.

[0052] Similarly, the components included in the "components," "mechanisms," and "devices" of this disclosure can also be flexibly combined. They can be modularly produced according to actual needs and assembled as an independent module; or they can be assembled separately to form a module in this device. The division of the above-mentioned components in this disclosure is only one embodiment for ease of reading and is not intended to limit the scope of protection of this disclosure. Any technical solution that includes the above-mentioned components and has the same function should be understood as an equivalent technical solution of this disclosure.

[0053] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, 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 disclosure.

[0054] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this disclosure, unless otherwise expressly 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 expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0056] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact 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.

[0057] It should be noted that when a component is referred to as "fixed to," "set on," "fixed to," or "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to another component," it can be directly connected to the other component or there may be an intervening component. Furthermore, when a component is considered to be "fixedly connected" to another component, the connection can be detachable or non-detachable, such as through socketing, snap-fitting, integral molding, welding, etc., which are achievable in conventional technologies and will not be elaborated upon here.

[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above embodiments are merely illustrative of several implementation methods of this disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A multi-head rotary mechanical gripper, characterized in that, The device includes a mounting base (1), a body (2), and a gripper assembly for gripping workpieces. The mounting base (1) is used to connect to an external device to fix the installation position. The body (2) and the mounting base (1) are rotatably connected to form a first rotating shaft. The body (2) and the gripper assembly are rotatably connected to form a second rotating shaft. The first rotating shaft is perpendicular or nearly perpendicular to the second rotating shaft. The gripper assembly includes a first gripper (3) and a second gripper (4). The first gripper (3) and the second gripper (4) move closer to and further away from each other.

2. The multi-head rotary mechanical gripper according to claim 1, characterized in that, It also includes a drive device (7) and a transmission component (8). The drive device (7) is mounted on the body (2). The drive device (7) is provided with a telescopic push rod (71). The transmission component (8) is rotatably connected to the push rod (71). The transmission component (8) is fixedly connected to the claw assembly. When the push rod (71) extends or retracts, the transmission component (8) drives the claw assembly to rotate in both directions.

3. The multi-head rotary mechanical gripper according to claim 2, characterized in that, The transmission component (8) includes a rotating wheel portion (81) and a connecting portion (82). The connecting portion (82) is connected to the outer side wall of the rotating wheel portion (81). The push rod (71) and the connecting portion (82) are rotatably connected to form a third rotating shaft. The third rotating shaft is parallel or nearly parallel to the second rotating shaft. The rotating wheel portion (81) and the claw assembly are fixedly connected.

4. The multi-head rotary mechanical gripper according to claim 1, characterized in that, The body (2) is provided with a first limiting block (10), and the claw assembly includes a second limiting block (11). The first limiting block (10) is provided with a first limiting member, which is adapted to abut against the second limiting block (11) to limit the forward rotation position of the claw assembly.

5. The multi-head rotary mechanical gripper according to claim 1, characterized in that, The gripper assembly includes a fixed base (6), which is rotatably connected to the body (2). The first gripper (3) and the second gripper (4) are slidably connected to the fixed base (6). The fixed base (6) is provided with a T-shaped groove (61). The first gripper (3) and the second gripper (4) are provided with T-shaped blocks (5), which are slidably connected to the T-shaped groove (61).

6. The multi-head rotary mechanical gripper according to claim 5, characterized in that, The body (2) is provided with a third limiting block (12), and the third limiting block (12) is provided with a second limiting member. The second limiting member is adapted to abut against the fixed seat (6) to limit the reverse rotation position of the claw assembly.

7. The multi-head rotary mechanical gripper according to claim 1, characterized in that, The first claw clamp (3) is provided with a first arc-shaped groove (31), and the second claw clamp (4) is provided with a second arc-shaped groove (41). A clamping opening for clamping bar stock is formed between the first arc-shaped groove (31) and the second arc-shaped groove (41).

8. The multi-head rotary mechanical gripper according to claim 1, characterized in that, Both the mounting base (1) and the body (2) are provided with interconnected wiring holes (14).

9. The multi-head rotary mechanical gripper according to claim 1, characterized in that, The mounting base (1) has a first connector (15) at its bottom and a second connector (16) on its body (2). The first connector (15) and the second connector (16) are rotatably connected. The first connector (15) has a mating plate (13) at its bottom and a fourth limiting block (17) on its second connector (16). The mating plate (13) and the fourth limiting block (17) are rotatably connected. Both ends of the fourth limiting block (17) are adapted to abut against the mating plate (13) to limit the rotation position of the body (2).

10. The multi-head rotary mechanical gripper according to any one of claims 1-9, characterized in that, The rotation range of the claw assembly is 0-90°, and the rotation range of the body (2) relative to the mounting base (1) is 0-180°.

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