Multi-unit rotary actuator gripper

Abstract

The utility model relates to a kind of multi-unit rotary execution mechanical claw, including mounting plate, adapter shaft and synchronous motor, the top of mounting plate erects a synchronous motor, the bottom of synchronous motor is equipped with a driving wheel, the middle position of mounting plate is fixedly connected with an adapter shaft, the top of mounting plate two corners is respectively equipped with a first driven wheel and a second driven wheel, driving wheel is equipped with multiple third driven wheels between second driven wheel, first driven wheel, driving wheel and each driven wheel are connected by synchronous belt transmission, third driven wheel is fixedly connected with a rotary claw by driven shaft, the side of first driven wheel is equipped with limit sheet metal, and first photoelectric sensor is erected around second driven wheel.The multi-unit rotary execution mechanical claw has the advantages of multifunction, efficiency improvement, precise operation, flexible adjustment, etc.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a multi-unit rotary actuator mechanical gripper. Background Technology

[0002] Currently, industrial robots are increasingly widely used in modern industrial production, especially in precision machining and high-efficiency manufacturing. Traditional industrial robot end effectors mostly employ a fixed design, which cannot be flexibly adjusted to meet different task requirements, limiting their adaptability in diverse production environments. At the same time, existing gripping devices are mostly single-function, making it difficult to meet the dual demands of high-efficiency production and precision operation.

[0003] To address these issues, we developed a multi-unit rotary actuator. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art by providing a multi-unit rotary actuator with advantages such as multifunctionality, improved efficiency, precise operation, and flexible adjustment.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a multi-unit rotary actuator claw, comprising a mounting plate, a synchronous motor mounted at one top end of the mounting plate, and a transfer shaft fixedly connected at the middle position; a first driven wheel and a second driven wheel respectively provided at two corners of the other top end of the mounting plate; a driving wheel provided at the bottom end of the synchronous motor; at least one third driven wheel provided between the driving wheel and the second driven wheel and the first driven wheel, and connected by a synchronous belt drive; a rotating claw fixedly connected to the third driven wheel through a driven shaft; a limiting sheet metal provided on one side of the first driven wheel; and a first photoelectric sensor mounted around the second driven wheel.

[0006] Preferably, the rotating claw includes an adapter plate and a back plate connected by guide posts. A cylinder is fixedly connected to the bottom end of the back plate, a slider is slidably connected to the bottom end of the cylinder, an L-shaped pneumatic claw fingertip is fixedly connected to the bottom end of the slider, and a rubber pad is fixedly connected to the inner wall of the pneumatic claw fingertip.

[0007] Preferably, a bushing is fixedly connected to the top of the back plate, and a rectangular spring is pressed between the adapter plate and the bushing.

[0008] Preferably, the second driven wheel is provided with a driven shaft, the top end of the driven shaft is engaged with a buckle, and the top end of the limiting sheet metal is provided with multiple baffles, the buckle abutting against the baffles.

[0009] Preferably, a light-shielding plate is snapped onto the top of the first driven wheel, a bracket is fixedly connected to the top of the mounting plate, the top of the bracket is fixedly connected to the first photoelectric sensor, and the light-shielding plate is rotatably inserted into the first photoelectric sensor.

[0010] Preferably, a fixing plate is fixedly connected to the top of the mounting plate, the synchronous motor and the air pipe bracket are fixedly connected to the top of the fixing plate, and the air pipe bracket is fixedly connected to the air pipe.

[0011] Preferably, an idler pulley is provided between the driving pulley and the third driven pulley, between two adjacent third driven pulleys, between the third driven pulley and the second driven pulley, and between the third driven pulley and the first driven pulley, and the idler pulley meshes with the synchronous belt.

[0012] Preferably, a flange is fixedly connected to the top of the adapter shaft, and the flange is fixedly connected to the robot arm.

[0013] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: 1. High efficiency: The synchronous motor drives 6 independent rotating claws to rotate via a synchronous belt, which greatly improves the efficiency of operation by working synchronously.

[0014] 2. Precision clamping: The pneumatic gripper's fingertips precisely clamp the object, protecting the product from damage.

[0015] 3. Flexible angle: The first photoelectric sensor and baffle structure enable the angle movement structure to adjust the angle by 270 degrees, adapting to complex working environments.

[0016] 4. Stable equipment: The use of high-strength components such as mounting plates and adapter shafts, as well as reliable transmission structures, ensures long-term stable operation of the equipment. Attached Figure Description

[0017] Figure 1 This is a perspective view of the multi-unit rotary actuator described in this utility model.

[0018] Figure 2 This is a schematic diagram of the bottom structure of the multi-unit rotary actuator described in this utility model. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Figures 1 to 2A multi-unit rotary actuator includes a mounting plate 1. A synchronous motor 26 is mounted on one end of the top of the mounting plate 1, and a transition shaft 3 is fixedly connected to the middle position. A first driven wheel 221 and a second driven wheel 222 are respectively provided at the two corners of the other end of the top of the mounting plate 1. A driving wheel 27 is provided at the bottom of the synchronous motor 26. At least one third driven wheel 22 is provided between the driving wheel 27, the second driven wheel 222, and the first driven wheel 221, and is connected by a synchronous belt 25. The third driven wheel 22 is fixedly connected to a rotating claw 14 through a driven shaft 6. A limiting sheet metal 44 is provided on one side of the first driven wheel 221, and a first photoelectric sensor 410 is mounted around the second driven wheel 222. A fixing plate 28 is fixedly connected to the top of the mounting plate 1. The synchronous motor 26 and an air pipe bracket 43 are fixedly connected to the top of the fixing plate 28. The air pipe bracket 43 is fixedly connected to an air pipe 35, which supplies air to a cylinder 9. A flange 4 is fixedly connected to the top of the adapter shaft 3, and an adapter rib 5 is provided on one side of the adapter shaft 3. The flange 4 is fixedly connected to the robot arm. The first driven wheel 221 drives the rotating claw to rotate through the driven shaft, and the driven shaft is movably connected to the mounting plate 1 through the bearing 2. The robot arm drives the mounting plate to rotate through the adapter shaft 3.

[0021] The rotating gripper 14 includes an adapter plate 13 and a back plate 8 connected by guide posts. A cylinder 9 is fixedly connected to the bottom end of the back plate 8, and a slider 10 is slidably connected to the bottom end of the cylinder 9. An L-shaped pneumatic gripper fingertip 18 is fixedly connected to the bottom end of the slider 10, and a rubber pad 19 is fixedly connected to the inner wall of the pneumatic gripper fingertip 18. A bushing 12 is fixedly connected to the top end of the back plate 8, and a rectangular spring 16 is pressed between the adapter plate 13 and the bushing 12. A second photoelectric sensor 17 is provided at the top end of the back plate 8, and a cover plate 20 is provided on one side of the adapter plate 13. The second photoelectric sensor 17 detects the rotation angle of the pneumatic gripper fingertip 18 to achieve precise control. The rectangular spring 16 prevents damage to the product during the clamping process. The cylinder 9 drives the pneumatic gripper fingertip 18 to precisely clamp the product through the slider 10, and the rubber pad 19 prevents damage to the product surface.

[0022] The second driven wheel 222 is provided with a driven shaft 21. A buckle 211 is engaged at the top of the driven shaft 21. Two baffles 42 are provided at the top of the limiting sheet metal 44. The included angle between the two baffles 42 is 90 degrees. The buckle 211 abuts against the baffles 42. The buckle can rotate 270 degrees. At 0° and 270°, the buckle abuts against the baffle. At the corresponding position, the light-shielding plate 40 is inserted into the first photoelectric sensor 410.

[0023] A light-shielding plate 40 is snapped onto the top of the first driven wheel 221. A bracket 41 is fixedly connected to the top of the mounting plate 1. The top of the bracket 41 is fixedly connected to the first photoelectric sensor 410. The light-shielding plate 40 is rotatably inserted into the first photoelectric sensor 410. There are three first photoelectric sensors 410, which are evenly distributed on a semicircle.

[0024] An idler pulley 23 is provided between the driving pulley 27 and the third driven pulley 22, between two adjacent third driven pulleys 22, between the third driven pulley 22 and the second driven pulley 222, and between the third driven pulley 22 and the first driven pulley 221. The idler pulley 23 meshes with the timing belt 25 and tensions the timing belt. Preferably, the driving pulley 27, the third driven pulley 22, the second driven pulley 222, and the first driven pulley 221 have the same structure and size, and each has a rotating pawl at its bottom. The driving pulley 27 drives the rotating pawl to rotate through each driven pulley, which helps to reduce costs and increase efficiency.

[0025] A synchronous motor controls the synchronous rotation of six independent rotating jaws via a synchronous belt and driven pulley, realizing the rotational action of the mechanical gripper. The fingertips of the cylinder-mounted pneumatic gripper are controlled by the cylinder to extend and retract, clamping the object. The synchronous motor drives the synchronous belt to rotate, which in turn drives the driven pulley to rotate within a 270-degree range. During the rotation of the latch 211, it abuts against the baffle 42. The light-shielding plate 40 is in the same direction as the latch 211, enabling the angle adjustment of the gripper to meet the operational needs of different angles.

[0026] The above are merely specific application examples of this utility model and do not constitute any limitation on the scope of protection of this utility model. All technical solutions formed by equivalent transformations or equivalent substitutions fall within the scope of protection of this utility model.

Claims

1. A multi-unit rotary actuator, characterized in that: The system includes a mounting plate (1), on which a synchronous motor (26) is mounted and a connecting shaft (3) is fixedly connected in the middle. At the other end of the mounting plate (1), a first driven wheel (221) and a second driven wheel (222) are respectively provided at the two corners. At the bottom of the synchronous motor (26), a driving wheel (27) is provided. At least one third driven wheel (22) is provided between the driving wheel (27) and the second driven wheel (222) and the first driven wheel (221), and is connected by a synchronous belt (25). The third driven wheel (22) is fixedly connected to a rotating claw (14) through a driven shaft (6). A limiting sheet metal (44) is provided on one side of the first driven wheel (221), and a first photoelectric sensor (410) is mounted around the second driven wheel (222).

2. The multi-unit rotary actuator according to claim 1, characterized in that, The rotating claw (14) includes a transition plate (13) and a back plate (8) connected by a guide post. The bottom end of the back plate (8) is fixedly connected to a cylinder (9). The bottom end of the cylinder (9) is slidably connected to a slider (10). The bottom end of the slider (10) is fixedly connected to an L-shaped pneumatic claw fingertip (18). The inner wall of the pneumatic claw fingertip (18) is fixedly connected to a rubber pad (19).

3. The multi-unit rotary actuator according to claim 2, characterized in that, The top of the back plate (8) is fixedly connected to the bushing (12), and a rectangular spring (16) is pressed between the adapter plate (13) and the bushing (12).

4. The multi-unit rotary actuator according to claim 1, characterized in that, The second driven wheel (222) is provided with a driven shaft (21), and the top end of the driven shaft (21) is engaged with a buckle (211). The top end of the limiting sheet metal (44) is provided with multiple baffles (42), and the buckle (211) abuts against the baffles (42).

5. The multi-unit rotary actuator according to claim 1, characterized in that, The top of the first driven wheel (221) is snapped with a light shield (40), the top of the mounting plate (1) is fixedly connected to a bracket (41), the top of the bracket (41) is fixedly connected to the first photoelectric sensor (410), and the light shield (40) is rotatably inserted into the first photoelectric sensor (410).

6. The multi-unit rotary actuator according to claim 1, characterized in that, The top of the mounting plate (1) is fixedly connected to the fixing plate (28), the top of the fixing plate (28) is fixedly connected to the synchronous motor (26) and the air tube support (43), and the air tube support (43) is fixedly connected to the air tube (35).

7. The multi-unit rotary actuator according to claim 1, characterized in that, An idler pulley (23) is provided between the driving pulley (27) and the third driven pulley (22), between two adjacent third driven pulleys (22), between the third driven pulley (22) and the second driven pulley (222), and between the third driven pulley (22) and the first driven pulley (221). The idler pulley (23) meshes with the synchronous belt (25).

8. The multi-unit rotary actuator according to claim 1, characterized in that, The top of the adapter shaft (3) is fixedly connected to the flange (4), and the flange (4) is fixedly connected to the robot arm.

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