Floating jaw of a movable plate

Abstract

The utility model relates to chuck clamping jaw technical field relates to a floating chuck clamping jaw of dynamic disc, including connecting rod, base and three groups of clamping jaw mechanism, three groups of clamping jaw mechanism are fixed on the three outer surfaces of base one to one correspondence respectively, and the side end fixed connection of connecting rod is in base side end, three groups of clamping jaw mechanism include two groups of fixed clamping jaw module and a group of floating clamping jaw module, and floating clamping jaw module includes rotating assembly, clamping jaw assembly and buffer assembly, and rotating assembly includes pivot, rotating chamber and bearing, and the lower end of pivot penetrates bearing and is fixedly connected with the upper end of clamping jaw assembly, and buffer assembly includes buffer stand, connecting stand and buffer spring. The clamping jaw floating module of the utility model can adjust the angle with the workpiece posture self -adaptation, and buffer spring provides the sustained close spring force, avoids the loosening skew, and does not need manual adjustment, can be compatible with the various rules workpiece, does not need to change the clamping jaw or adjust the parameter, reduces the purchase cost and downtime.

Description

Technical Field

[0001] This utility model relates to the field of chuck gripper technology, and specifically to a moving disk floating gripper. Background Technology

[0002] In industrial scenarios such as automated assembly and machining loading / unloading, grippers are the core actuators for workpiece gripping and transfer, and their performance directly determines production efficiency and workpiece processing quality. Currently, the conventional grippers widely used in the industry mostly adopt a rigid fixed structure design, with multiple sets of fixed grippers simultaneously clamping as the core working method. While this can meet the basic gripping requirements of standardized workpieces, as production lines increase their demands for workpiece compatibility, gripping accuracy, and automation, the technical shortcomings of conventional grippers are gradually becoming apparent, making them unsuitable for complex production scenarios. Specific problems are as follows: Conventional grippers typically have their gripper assemblies rigidly connected to the base, lacking a floating adjustment structure. When workpieces exhibit slight morphological differences due to machining errors, or minor angular or positional shifts due to workstation placement, rigid grippers cannot adaptively adjust their gripping angle and position according to the workpiece's condition. This can easily lead to problems such as misaligned gripping, incomplete gripping, or even workpiece detachment. If forced clamping is attempted, excessive localized force may damage the workpiece surface (especially for soft materials), requiring repeated manual adjustments to the workpiece's posture or gripper position, severely impacting production efficiency. Utility Model Content

[0003] This invention provides a floating gripper with a moving disc to solve the problems of the prior art.

[0004] The objective of this utility model can be achieved through the following technical solution: a moving disk floating gripper, comprising a connecting rod, a base, and three sets of gripper mechanisms. The base has a triangular cross-section. The three sets of gripper mechanisms are respectively fixed on the three outer surfaces of the base. The side end of the connecting rod is fixedly connected to the side end of the base. The three sets of gripper mechanisms include two sets of fixed gripper modules and one set of floating gripper modules. The floating gripper module includes a rotating component, a gripper component, and a buffer component. The rotating component includes a rotating shaft rotatably disposed within the base, a rotating chamber disposed on the outer surface of the base, and a bearing embedded in the rotating chamber. The lower end of the rotating shaft passes through the bearing and is fixedly connected to the upper end of the gripper component. The buffer component includes a buffer column fixed to the top of the base, a connecting column disposed on the upper end of the rotating shaft, and a buffer spring disposed between the buffer column and the connecting column. The two ends of the buffer spring abut against the top of the base and the top of the connecting column, respectively.

[0005] In a further improvement, the rotating shaft is provided with an annular shoulder in the middle, the upper end of the inner ring of the bearing abuts against the annular shoulder and the lower end of the outer ring abuts against the bottom step of the rotating chamber, forming a bidirectional axial limiting.

[0006] In a further improvement, the bearing is provided in two sets, which are distributed at intervals along the axial direction of the shaft and are separated by a partition sleeve.

[0007] As a further improvement, a position sensor is provided on the outer side of the rotating cavity. The position sensor is a proximity switch used to detect the rotational position of the shaft.

[0008] In a further improvement, the gripper assembly includes a rotating base fixedly disposed at the lower end of the rotating shaft, an adjusting block slidably disposed at the lower end of the rotating base, and a gripper arm detachably connected to the adjusting block. The inner sidewall of the gripper arm is provided with a contour groove adapted to the workpiece.

[0009] As a further improvement, the adjusting block and the part of the gripper arm that abuts are both provided with limit grooves.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. The floating gripper of this utility model can adaptively adjust its angle according to the workpiece posture, and the buffer spring provides continuous contact elasticity to ensure that the gripper is in close contact with the workpiece to avoid loosening or tilting. There is no need to manually adjust the angle or position of the gripper throughout the process, reducing manual steps and operational errors, and reducing reliance on the operator's skills. 2. This utility model eliminates the need to replace grippers or adjust parameters for workpieces with slight differences, and is compatible with a variety of regular workpieces, reducing gripper procurement costs and equipment downtime for adjustment. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is the front view of the present invention; Figure 3 This is a cross-sectional view of the present invention; Figure 4 This is a structural schematic diagram from another perspective of the present invention; Figure 5 This utility model Figure 1 A magnified view of part A in the middle.

[0012] In the diagram, 1 is the connecting rod; 2 is the base; 3 is the gripper mechanism; 31 is the fixed gripper module; 32 is the floating gripper module; 321 is the rotating assembly; 3211 is the rotating shaft; 32111 is the annular shoulder; 3212 is the rotating chamber; 3213 is the bearing; 322 is the gripper assembly; 3221 is the rotating base; 3222 is the adjusting block; 3223 is the gripper arm; 32231 is the contour groove; 323 is the buffer assembly; 3231 is the buffer column; 3232 is the connecting column; 3233 is the buffer spring; 41 is the separator sleeve; 42 is the positioning sensor; and 43 is the limiting groove. Detailed Implementation

[0013] In the description of this utility model, it should be noted that the terms center, up, down, left, right, vertical, horizontal, inner, and outer, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0014] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms installation, connection, and linking should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0015] The following describes the embodiments and appendices. Figures 1-5 The technical solution of this utility model will be further described below.

[0016] Example 1 A floating gripper for a moving disk includes a connecting rod 1, a base 2, and three sets of gripper mechanisms 3. The base 2 has a triangular cross-section. The three sets of gripper mechanisms 3 are respectively fixed to the three outer surfaces of the base 2. The side end of the connecting rod 1 is fixedly connected to the side end of the base 2. The three sets of gripper mechanisms 3 include two sets of fixed gripper modules 31 and one set of floating gripper modules 32. The floating gripper module 32 includes a rotating component 321, a gripper component 322, and a buffer component 323. The rotating component 321 includes a rotating shaft 3211 rotatably disposed within the base 2 and a buffer component 323 disposed on the base 2. The base 2 has a rotating chamber 3212 on its outer surface and a bearing 3213 embedded in the rotating chamber 3212. The lower end of the rotating shaft 3211 passes through the bearing 3213 and is fixedly connected to the upper end of the gripper assembly 322. The buffer assembly 323 includes a buffer column 3231 fixed to the top of the base 2, a connecting column 3232 disposed at the upper end of the rotating shaft 3211, and a buffer spring 3233 disposed between the buffer column 3231 and the connecting column 3232. The two ends of the buffer spring 3233 abut against the top of the base 2 and the top of the connecting column 3232, respectively.

[0017] like Figures 1-5As shown, in actual use, the present invention first fixes the connecting rod 1 to the external drive mechanism (such as a robotic arm), adjusts the gripper to the open state to ensure that the gripper spacing is adapted to the size of the workpiece to be gripped, then drives the gripper to move to the workpiece, so that the two sets of fixed gripper modules 31 first contact the outer wall of the workpiece to complete the initial positioning, then the drive mechanism continues to feed, the workpiece deviation pushes the gripper assembly 322 of the floating gripper module 32, drives the rotating shaft 3211 to rotate along the bearing 3213, the buffer spring 3233 stores force until the gripper assembly 322 fits the workpiece to form a three-point clamping, then drives the gripper to move the workpiece to the target station, the buffer spring 3233 absorbs the vibration, the bearing 3213 limits the deviation and maintains the stability of the workpiece, finally, the drive mechanism moves in the opposite direction, the fixed gripper module 31 first disengages from the workpiece, the buffer spring 3233 resets and drives the gripper assembly 322 back to its position, the gripper leaves the station and enters the next gripping.

[0018] This utility model has the following beneficial effects: 1. The floating gripper of this utility model can adaptively adjust its angle according to the workpiece posture, and the buffer spring provides continuous contact elasticity to ensure that the gripper is in close contact with the workpiece to avoid loosening or tilting. There is no need to manually adjust the angle or position of the gripper throughout the process, reducing manual steps and operational errors, and reducing reliance on the operator's skills. 2. This utility model eliminates the need to replace grippers or adjust parameters for workpieces with slight differences, and is compatible with a variety of regular workpieces, reducing gripper procurement costs and equipment downtime for adjustment.

[0019] As a further preferred embodiment, the rotating shaft 3211 is provided with an annular shoulder 32111 in the middle, the upper end of the inner ring of the bearing 3213 abuts against the annular shoulder 32111 and the lower end of the outer ring abuts against the bottom step of the rotating chamber 3212, forming an axial bidirectional limiting.

[0020] Specifically, the axial bidirectional limiting prevents the shaft from shifting vertically when rotating or under clamping force, ensuring the stable clamping position of the gripper assembly 322 and preventing workpiece skew due to axial offset; at the same time, it prevents gap collisions between the bearing and the rotating chamber and the shaft, reducing component wear, while ensuring the bearing rotation accuracy and maintaining the smoothness of the gripper's adaptive adjustment.

[0021] As a further preferred embodiment, the bearing 3213 is provided in two sets, the two sets of bearing 3213 are distributed at intervals along the axial direction of the rotating shaft 3211 and a partition sleeve 41 is provided between the two sets of bearing 3213.

[0022] Specifically, the dual-bearing design enhances the radial support force on the shaft, enabling it to withstand greater clamping loads and preventing the shaft from bending due to unilateral force, thus accommodating heavier workpieces. The separator sleeve 41 can precisely control the spacing between the two sets of bearings, preventing the bearings from squeezing or shifting against each other, ensuring that they rotate synchronously and are subjected to balanced force, further improving the rotation accuracy of the shaft.

[0023] As a further preferred embodiment, a position sensor 42 is provided on the outside of the rotating chamber 3212. The position sensor 42 is a proximity switch used to detect the rotational position of the rotating shaft 3211.

[0024] Specifically, a positioning sensor 42 is installed on the outside of the rotating chamber 3212 to detect the positioning status of the rotating shaft 3211, thereby achieving automated and precise control of the clamping process: there is no need for manual observation to judge whether the gripper is adapted to the workpiece deviation, the sensor can automatically identify whether the rotating shaft is in position and feed back a signal to the drive system; if it is not in position, the system can adjust the feed in time to avoid the workpiece falling off due to incomplete clamping; at the same time, it reduces the number of manual intervention steps, improves the efficiency of automated production, and reduces the risk of clamping failure caused by human misjudgment.

[0025] As a further preferred embodiment, the gripper assembly 322 includes a rotating base 3221 fixedly disposed at the lower end of the rotating shaft 3211, an adjusting block 3222 slidably disposed at the lower end of the rotating base 3221, and a gripper arm 3223 detachably connected to the adjusting block 3222. The inner sidewall of the gripper arm 3223 is provided with a contour groove 32231 adapted to the workpiece.

[0026] Specifically, the modular and adaptable design of the gripper assembly 322 greatly improves the versatility and practicality of the gripper: the sliding adjustment block 3222 can slide along the lower end of the rotating base 3221 to flexibly adjust the position of the gripper arm 3223 to adapt to workpieces of different sizes without replacing the gripper body; the detachable gripper arm 3223 is easy to replace. When the gripper arm is worn or needs to be adapted to special workpieces, only the gripper arm needs to be replaced, reducing maintenance costs and downtime; the contour groove 32231 on the inner side of the gripper arm 3223 can fit the shape of the workpiece, increasing the contact area, which not only prevents the workpiece surface from being crushed due to excessive local force, but also enhances the gripping friction and prevents the workpiece from slipping during transfer.

[0027] As a further preferred embodiment, the portions of the adjusting block 3222 and the gripper arm 3223 that abut are both provided with limiting grooves 43.

[0028] Specifically, the limiting groove 43 at the contact part between the adjusting block 3222 and the gripper arm 3223 effectively enhances the stability of their connection: the groove structure can increase the friction between the adjusting block and the gripper arm, preventing relative sliding due to force or vibration when gripping the workpiece, ensuring the gripper arm is fixed in position and avoiding workpiece displacement; at the same time, after adjusting the position of the gripper arm, the groove can assist in positioning, reduce the position deviation after adjustment, and further ensure gripping accuracy, especially suitable for high-frequency gripping or transfer scenarios with large vibrations.

[0029] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A floating gripper with a moving disk, characterized in that, The device includes a connecting rod, a base, and three sets of gripper mechanisms. The base has a triangular cross-section. The three sets of gripper mechanisms are fixed to the three outer surfaces of the base, respectively. The side end of the connecting rod is fixedly connected to the side end of the base. The three sets of gripper mechanisms include two sets of fixed gripper modules and one set of floating gripper modules. The floating gripper module includes a rotating assembly, a gripper assembly, and a buffer assembly. The rotating assembly includes a rotating shaft rotatably disposed within the base, a rotating chamber disposed on the outer surface of the base, and a bearing embedded in the rotating chamber. The lower end of the rotating shaft passes through the bearing and is fixedly connected to the upper end of the gripper assembly. The buffer assembly includes a buffer column fixed to the top of the base, a connecting column disposed on the upper end of the rotating shaft, and a buffer spring disposed between the buffer column and the connecting column. The two ends of the buffer spring abut against the top of the base and the top of the connecting column, respectively.

2. The floating gripper with a moving disk according to claim 1, characterized in that, The rotating shaft has an annular shoulder in the middle. The upper end of the inner ring of the bearing abuts against the annular shoulder, and the lower end of the outer ring abuts against the bottom step of the rotating chamber, forming a bidirectional axial limit.

3. A floating gripper with a moving disk according to claim 1 or 2, characterized in that, The bearing is provided in two sets, which are distributed at intervals along the axial direction of the shaft and are separated by a partition sleeve.

4. A floating gripper with a moving disk according to claim 1, characterized in that, A position sensor, which is a proximity switch, is installed on the outer side of the rotating cavity to detect the rotational position of the shaft.

5. A floating gripper with a moving disk according to claim 1, characterized in that, The gripper assembly includes a rotating base fixedly disposed at the lower end of the rotating shaft, an adjusting block slidably disposed at the lower end of the rotating base, and a gripper arm detachably connected to the adjusting block. The inner sidewall of the gripper arm is provided with a contour groove adapted to the workpiece.

6. A floating gripper with a moving disk according to claim 5, characterized in that, Limit grooves are provided on both the adjusting block and the part that abuts the gripper arm.

Images