Mechanical hand rotating gripper device

Abstract

The utility model belongs to material transportation technical field especially relates to a kind of mechanical hand rotary jaw device, comprising: lifting mechanism;First rotating mechanism includes first drive source and rotary plate, first drive source is located on lifting mechanism, and rotary plate is located on first rotating drive source;Second rotating mechanism includes second drive source, rotary shaft assembly and first pulley transmission component, second drive source, rotary shaft assembly are located on rotary plate, and first pulley transmission component is equipped between second drive source and rotary shaft assembly;Clamping jaw mechanism includes mounting seat, first half clamps, second half clamps and third drive source.This device is equipped with first rotating mechanism and second rotating mechanism, so that clamping jaw mechanism can adapt to the clamping demand of different positions, different postures, and additional rotating mechanism is not needed, which is conducive to reducing the overall layout complexity of equipment.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a robotic arm rotating gripper device. Background Technology

[0002] In the field of industrial automation, robotic arms are key actuators for material gripping, handling, and precision assembly. They are widely used in scenarios such as electronic component assembly, automotive parts processing, and medical device production. Their adaptability and operational stability directly determine the continuous operating efficiency of the production line.

[0003] In related technologies, robotic arms only possess basic gripping and linear transport functions, lacking the flexibility required for workpiece machining. Therefore, an additional independent rotating mechanism is necessary for workpiece angle adjustment. This additional rotating mechanism not only increases the overall size and layout complexity of the equipment but may also introduce positioning errors due to the gap between the gripper and the additional rotating mechanism, leading to decreased workpiece angle adjustment accuracy and consequently affecting machining quality. Furthermore, it increases manufacturing costs and the difficulty of subsequent maintenance.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] In view of at least one of the above technical problems, this application provides a robotic arm rotating gripper device.

[0006] This application provides a robotic arm rotating gripper device, comprising: Lifting mechanism; The first rotating mechanism includes a first driving source and a rotating plate. The first driving source is mounted on the lifting mechanism, and the rotating plate is mounted on the first driving source. The second rotating mechanism includes a second drive source, a rotating shaft assembly, and a first pulley transmission assembly. The second drive source and the rotating shaft assembly are both mounted on a rotating plate, and the first pulley transmission assembly is provided between the second drive source and the rotating shaft assembly. The gripper mechanism includes a mounting base, a first half-clamp, a second half-clamp, and a third drive source. The mounting base is sleeved on the rotating shaft assembly. The first half-clamp and the second half-clamp are both pivotally connected to the mounting base and mesh with each other. The third drive source is located on the first half-clamp, and the output end of the third drive source is connected to the second half-clamp.

[0007] This device, by setting a first rotating mechanism and a second rotating mechanism, enables the gripper mechanism to adapt to the gripping requirements of different positions and postures, and eliminates the need for additional rotating mechanisms, which helps to reduce the overall layout complexity of the equipment.

[0008] In some possible implementations, the rotating shaft assembly includes a housing, a bearing assembly, and a shaft body. The housing is disposed on a rotating plate, the bearing assembly is disposed within the housing, the shaft body is sleeved within the bearing assembly, the shaft body passes through the housing, and the shaft body is fixed to a mounting base.

[0009] In some possible implementations, a stop block is provided on the shaft, and two buffer screws that cooperate with the stop block are provided on the rotating plate.

[0010] In some possible implementations, the clamping end of the first half-clamp is provided with a first silicone tube, and the clamping end of the second half-clamp is provided with a second silicone tube, with the first silicone tube and the second silicone tube being staggered.

[0011] In some possible implementations, the lifting mechanism includes a base, a screw drive assembly, a second pulley drive assembly, a connecting plate, guide rods, a lifting seat, and a fourth drive source. The screw drive assembly is mounted on the base, the connecting plate is connected to the output end of the screw drive assembly, there are two guide rods respectively mounted on the connecting plate, the guide rods are located on both sides of the screw drive assembly and pass through the base, the lifting seat is connected to the guide rods, a first rotating mechanism is mounted on the lifting seat, and the fourth drive source is mounted on the base and connected to the screw drive assembly through the second pulley drive assembly.

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of the robotic arm rotating gripper device provided in this embodiment of the utility model; Figure 2 yes Figure 1 Exploded view of the central rotating shaft assembly; In the diagram: 100, lifting mechanism; 110, base; 120, screw drive assembly; 130, connecting plate; 140, guide rod; 150. Lifting seat; 160. Fourth drive source; 200, First rotating mechanism; 210, First drive source; 220, Rotating plate; 300, Second rotating mechanism; 310, Second drive source; 320, Rotating shaft assembly; 330, First pulley drive assembly; 321. Housing; 322. Bearing assembly; 323. Shaft; 400, gripper mechanism; 410, mounting base; 420, first half-clamp; 430, second half-clamp; 440, third drive source. Detailed Implementation

[0015] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0016] like Figure 1 and Figure 2 As shown, one embodiment provides a robotic arm rotating gripper device. This rotating gripper device is mounted on the output end of a linear drive source, which drives the robotic arm rotating gripper device to move along a preset direction. Specifically, the linear drive source can be a linear motor. The aforementioned robotic arm rotating gripper device includes: a lifting mechanism 100, a first rotating mechanism 200, a second rotating mechanism 300, and a gripper mechanism 400. The lifting mechanism 100 synchronously drives the first rotating mechanism 200, the second rotating mechanism 300, and the gripper mechanism 400 to move vertically. The first rotating mechanism 200 synchronously drives the second rotating mechanism 300 and the gripper mechanism 400 to rotate. The second rotating mechanism 300 drives the gripper mechanism 400 to rotate. The gripper mechanism 400 is used to grip the workpiece to be gripped.

[0017] The following is a detailed description of the structure of the rotating gripper device of the robotic arm.

[0018] The first rotating mechanism 200 includes a first drive source 210 and a rotating plate 220. The first drive source 210 is mounted on the lifting mechanism 100, and the rotating plate 220 is mounted on the first drive source. The second rotating mechanism 300 includes a second drive source 310, a rotating shaft assembly 320, and a first pulley transmission assembly 330. The second drive source 310 and the rotating shaft assembly 320 are both mounted on the rotating plate 220, and a first pulley is provided between the second drive source 310 and the rotating shaft assembly 320. The transmission assembly 330 and the gripper mechanism 400 include a mounting base 410, a first half-clamp 420, a second half-clamp 430 and a third drive source 440. The mounting base 410 is sleeved on the rotating shaft assembly 320. The first half-clamp 420 and the second half-clamp 430 are both pivotally connected to the mounting base 410. The first half-clamp 420 and the second half-clamp 430 are engaged. The third drive source 440 is disposed on the first half-clamp 420 and the output end of the third drive source 440 is connected to the second half-clamp 430.

[0019] The robotic arm's rotating gripper device, driven by a drive, moves to above the workpiece to be gripped. Driven by a lifting cylinder, the gripper mechanism 400 moves to a height position adapted to the workpiece. Simultaneously, driven by a third drive source 440, the first half-clamp 420 and the second half-clamp 430 grip the workpiece, and then the gripper mechanism 400 rises to its reset position. The robotic arm's rotating gripper device, driven by a drive, moves towards the next process. During this movement, the first drive source 210 drives the rotating plate 220 to rotate, while the second drive source 310 drives the gripper mechanism 400 to rotate, adapting the angle of the workpiece on the gripper mechanism 400 to the next process, thereby completing the workpiece transfer.

[0020] In existing technologies, robotic arms only possess basic grasping and linear transport functions, and cannot perform the flexible angle adjustment required for workpiece processing. Therefore, an additional independent rotating mechanism must be set up to adjust the workpiece angle. This method of adding an extra rotating mechanism not only increases the overall size and layout complexity of the equipment, but may also cause positioning errors due to the cooperation gap between the gripper and the extra rotating mechanism, resulting in a decrease in the accuracy of workpiece angle adjustment, which in turn affects the processing quality. It also increases the manufacturing cost of the equipment and the difficulty of subsequent maintenance.

[0021] This device, by setting up a first rotating mechanism 200 and a second rotating mechanism 300, enables the gripper mechanism 400 to adapt to gripping requirements in different positions and postures, without the need for additional rotating mechanisms, which helps to reduce the overall layout complexity of the equipment.

[0022] like Figure 1 and Figure 2 As shown, in some embodiments, the rotating shaft assembly 320 includes a housing 321, a bearing assembly 322, and a shaft 323. The housing 321 is disposed on the rotating plate 220, the bearing assembly 322 is disposed in the housing 321, the shaft 323 is sleeved in the bearing assembly 322, the shaft 323 passes through the housing 321, the shaft 323 is fixed to the mounting base 410, and the shaft 323 is connected to the second drive source 310 through the first pulley transmission assembly 330.

[0023] Driven by the second drive source 310, the shaft 323 can rotate smoothly around its own axis, thereby directly driving the gripper mechanism 400 to rotate.

[0024] like Figure 1 and Figure 2 As shown, in some embodiments, a stop block is provided on the shaft 323, and two buffer screws that cooperate with the stop block are provided on the rotating plate.

[0025] When the shaft 323 rotates, it synchronously drives the stop block to rotate. When the stop block rotates clockwise with the shaft 323 to a preset angle, one side of the stop block will contact the buffer screw on the rotating plate 220. The buffer screw blocks the stop block, restricting the shaft 323 from continuing to rotate clockwise. When the stop block rotates counterclockwise with the shaft 323 to a preset angle, the other side of the stop block will contact the buffer screw on the rotating plate 220, similarly blocking the shaft 323 from continuing to rotate counterclockwise. Through the cooperation of the stop block and the two buffer screws, the rotation angle of the shaft 323 is limited in both directions.

[0026] In this way, the rotation range of the shaft 323 is limited by the cooperation of the stop block and the buffer screw, so as to avoid the shaft 323 from rotating excessively due to the malfunction of the second drive source 310, the deviation of the control program or the load fluctuation, thereby preventing the gripper mechanism 400 from colliding with the surrounding equipment or the workpiece from being misaligned with the gripper and thus improving the safety of the device operation.

[0027] like Figure 1 and Figure 2 As shown, in some embodiments, the clamping end of the first half-clamp 420 is provided with a first silicone tube, and the clamping end of the second half-clamp 430 is provided with a second silicone tube, with the first silicone tube and the second silicone tube being staggered.

[0028] When the first half-clamp 420 and the second half-clamp 430 approach each other to clamp the workpiece under the drive of the third drive source 440, the first silicone tube at the clamping end of the first half-clamp 420 and the second silicone tube at the clamping end of the second half-clamp 430 directly contact the workpiece. Because the first and second silicone tubes are staggered, they can contact different areas of the workpiece during clamping, forming a complementary clamping mechanism. The staggered arrangement of the first and second silicone tubes increases the contact area between the jaws and the workpiece. Simultaneously, the higher coefficient of friction of silicone material compared to metal enhances the friction between the jaws and the workpiece, preventing the workpiece from slipping during clamping or transfer. This is particularly suitable for clamping cylindrical, curved, and other easily rolling workpieces.

[0029] like Figure 1 and Figure 2As shown, in some embodiments, the lifting mechanism 100 includes a base 110, a screw drive assembly 120, a second pulley drive assembly, a connecting plate 130, a guide rod 140, a lifting seat 150, and a fourth drive source 160. The screw drive assembly 120 is mounted on the base 110, and the connecting plate 130 is connected to the output end of the screw drive assembly 120. There are two guide rods 140, which are respectively mounted on the connecting plate 130. The guide rods 140 are located on both sides of the screw drive assembly 120 and pass through the base 110. The lifting seat 150 is connected to the guide rods 140, and a first rotating mechanism 200 is mounted on the lifting seat 150. The fourth drive source 160 is mounted on the base 110 and is connected to the screw drive assembly 120 through the second pulley drive assembly.

[0030] The fourth drive source 160 is activated, transmitting power to the lead screw drive assembly 120 via the second pulley transmission assembly. The nut of the lead screw drive assembly 120 is fixedly connected to the connecting plate 130. When the lead screw rotates, it drives the nut and the connecting plate 130 to move vertically. The connecting plate 130 is fixedly connected to two guide rods 140, which are respectively inserted into guide holes in the base 110. When the connecting plate 130 moves, it drives the two guide rods 140 to slide vertically synchronously along the guide holes. Since the lifting seat 150 is fixedly connected to the two guide rods 140, the guide rods 140 drive the lifting seat 150 to move smoothly vertically, thereby driving the first rotating mechanism 200, the second rotating mechanism 300, and the gripper mechanism 400 on the lifting seat 150 to rise and fall synchronously until the preset height is reached.

[0031] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "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 application 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 application.

[0032] In the description of this application, 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.

[0033] It should be noted that if 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. If 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. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0034] In the description of this application, it should be understood that 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "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. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0036] The above are merely preferred embodiments of this application and do not constitute any limitation on this application. Any person skilled in the art can make many possible variations and modifications to the technical solution of this application, or modify it into equivalent embodiments, without departing from the scope of the technical solution of this application. Therefore, all equivalent changes made based on the shape, structure, and principle of this application without departing from the content of the technical solution of this application should be covered within the protection scope of this application.

Claims

1. A robotic arm rotating gripper device, characterized in that, include: Lifting mechanism; A first rotating mechanism, comprising a first driving source and a rotating plate, wherein the first driving source is disposed on the lifting mechanism and the rotating plate is disposed on the first driving source; The second rotating mechanism includes a second drive source, a rotating shaft assembly, and a first pulley transmission assembly. The second drive source and the rotating shaft assembly are both disposed on the rotating plate, and the first pulley transmission assembly is disposed between the second drive source and the rotating shaft assembly. The gripper mechanism includes a mounting base, a first half-clamp, a second half-clamp, and a third drive source. The mounting base is sleeved on the rotating shaft assembly. The first half-clamp and the second half-clamp are both pivotally connected to the mounting base. The first half-clamp and the second half-clamp are engaged. The third drive source is disposed on the first half-clamp, and the output end of the third drive source is connected to the second half-clamp.

2. The robotic arm rotating gripper device according to claim 1, characterized in that, The rotating shaft assembly includes a housing, a bearing assembly, and a shaft. The housing is disposed on the rotating plate, the bearing assembly is disposed in the housing, the shaft is sleeved in the bearing assembly, the shaft passes through the housing, and the shaft is fixed to the mounting base.

3. The robotic arm rotating gripper device according to claim 2, characterized in that, A stop block is provided on the shaft, and two buffer screws that cooperate with the stop block are provided on the rotating plate.

4. The robotic arm rotating gripper device according to claim 1, characterized in that, The first half-clamp has a first silicone tube at its clamping end, and the second half-clamp has a second silicone tube at its clamping end. The first silicone tube and the second silicone tube are staggered.

5. The robotic arm rotating gripper device according to claim 1, characterized in that, The lifting mechanism includes a base, a lead screw drive assembly, a second pulley drive assembly, a connecting plate, guide rods, a lifting seat, and a fourth drive source. The lead screw drive assembly is mounted on the base. The connecting plate is connected to the output end of the lead screw drive assembly. There are two guide rods, each mounted on the connecting plate. The guide rods are located on both sides of the lead screw drive assembly and pass through the base. The lifting seat is connected to the guide rods. The lifting seat is equipped with a first rotating mechanism. The fourth drive source is mounted on the base and is connected to the lead screw drive assembly via the second pulley drive assembly.

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