Gantry connection material taking and placing gripper

Abstract

The utility model relates to a gantry connection material taking and placing gripper which comprises a gantry frame. An X-axis moving assembly; the Z-axis moving assembly is connected with the X-axis moving assembly; the gripper mounting plate is connected with the Z-axis moving assembly; the first clamping assembly is used for pre-clamping a product; and the centering and clamping assembly is used for centering, positioning and clamping the product. According to the gantry connection material taking and placing gripper, after a robot grabs a product to move to a designated position, the X-axis moving assembly and the Z-axis moving assembly reach a material taking position, at the moment, the first clamping assembly stretches out to drag the product, then the centering clamping assembly conducts centering positioning and clamping on the product, and then the product is clamped through the second clamping assembly; and finally, the X-axis moving assembly and the Z-axis moving assembly act to drive the clamping jaw assembly to ascend and move to the material placing position, secondary positioning clamping is conducted on the product needing to be taken and placed, the problem that force generated between primary clamping and a robot gripper is inconsistent is avoided, and meanwhile the secondary positioning clamping guarantees the consistency precision of material taking.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to a gantry connection material taking and releasing gripper. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. It can replace heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0003] In the automated machining process of many products, the application of material handling manipulators is very extensive. Its main functions are to clamp the workpiece, put it into the processing position, and take out the workpiece after processing. It can perfectly replace manual operations, not only significantly improving production efficiency, but also ensuring a high degree of production safety.

[0004] However, the existing gripper structure usually adopts direct centering gripping when connecting with the robot to pick up materials, which will cause the risk of inconsistent force directions between the material picking clamp and the robot clamp, thereby affecting the service life of the mechanism. Utility Model Content

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the problem in the prior art that when the robot and the gripper cooperate to grab materials, the force direction between the material grabbing gripper and the robot gripper is inconsistent, which reduces the use effect of the machine.

[0006] In order to solve the above technical problems, the utility model provides a gantry docking grabber for picking up and unloading materials, including: a gantry frame, which serves as a supporting component; an X-axis moving assembly, which is arranged on the crossbeam of the gantry frame; a Z-axis moving assembly, which is connected to the X-axis moving assembly; a gripper mounting plate, which is connected to the Z-axis moving assembly; a clamping assembly one, which is two symmetrically arranged, and the clamping assembly one is installed on the gripper mounting plate, and the clamping assembly one is used to pre-clamp the product; a centering clamping assembly, which is installed on the gripper mounting plate, and the centering clamping assembly is located between the two clamping assemblies one, and the centering clamping assembly is used to center, position and clamp the product.

[0007] In one embodiment of the utility model, the clamping assembly includes a Z-axis cylinder, a support plate and two relatively arranged clamping cylinders, the Z-axis cylinder is fixedly set on the gripper mounting plate, the support plate is connected to the piston rod of the Z-axis cylinder, the two relatively arranged clamping cylinders are both set on the support plate, the clamping plate is connected to the piston rod of the clamping cylinder, and a clamping pad is provided on the clamping surface of the clamping plate relative to the product.

[0008] In one embodiment of the utility model, a guide column is connected to the support plate, a guide sleeve is provided on the gripper mounting plate, the guide column passes through the guide sleeve, and the guide column can slide along the axial direction of the guide sleeve.

[0009] In one embodiment of the utility model, the centering clamping assembly includes a driving motor, a driving wheel, a driven wheel, a gear belt, a screw, jaw 1 and jaw 2, the driving motor is arranged on the gripper mounting plate, the driving wheel is connected to the rotating shaft of the driving motor, the gear belt is sleeved on the driving wheel and the driven wheel to realize transmission, the driven wheel is connected to one end of the screw, the jaw 1 and jaw 2 are both connected to the screw, and the jaw 1 and jaw 2 are arranged opposite to each other, and the rotation of the screw drives the jaw 1 and jaw 2 to move closer to or away from each other.

[0010] In one embodiment of the utility model, the screw rod is provided with a forward thread and a reverse thread, and the threads of the forward thread and the reverse thread are reversed, the first clamping jaw is connected to the forward thread, and the second clamping jaw is connected to the reverse thread.

[0011] In one embodiment of the utility model, a linear guide rail 1 and a linear guide rail 2 are provided on the gripper mounting plate, a slider 1 is connected to the clamping jaw 1, and the slider 1 is slidably connected to the linear guide rail 1, and a slider 2 is connected to the clamping jaw 2, and the slider 2 is slidably connected to the linear guide rail 2.

[0012] In one embodiment of the utility model, the X-axis moving assembly includes a mounting plate 1, an X-axis spur rack, an X-axis drive motor, an X-axis slide plate and an X-axis drive gear, the mounting plate 1 is fixedly arranged on the crossbeam of the gantry, the X-axis spur rack is arranged on the mounting plate 1, the X-axis slide plate and the mounting plate 1 are slidably connected, the X-axis drive motor is arranged on the X-axis slide plate, and the X-axis drive motor and the X-axis drive gear are connected, and the X-axis drive gear and the X-axis spur rack are meshed.

[0013] In one embodiment of the utility model, two parallel X-axis guide rails are provided on the mounting plate, the X-axis guide rails are parallel to the X-axis spur rack, the X-axis slide plate is connected to an X-axis slider, and the X-axis slider is slidably connected to the X-axis guide rails.

[0014] In one embodiment of the utility model, the Z-axis moving assembly includes a Z-axis drive motor, a Z-axis rack, a Z-axis frame and a Z-axis drive gear, the Z-axis drive motor is installed on the X-axis slide, and the Z-axis drive motor and the Z-axis drive gear are connected, the Z-axis drive gear and the Z-axis rack are meshed, the Z-axis rack is set on the Z-axis frame, and the Z-axis frame and the X-axis slide are slidably connected.

[0015] In one embodiment of the utility model, the X-axis slide plate is provided with a Z-axis guide rail, the Z-axis frame is provided with a Z-axis slider, and the Z-axis slider and the Z-axis guide rail are slidably connected.

[0016] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0017] The gantry-connected material picking and unloading gripper described in the utility model, when the robot grabs the product and moves it to the specified position, the X-axis moving component and the Z-axis moving component move to the material picking position, and then the cylinder on the clamping component is actuated to drive the clamping claws on both sides to descend, at this time the clamping component is extended to drag the product, and then the centering clamping component is actuated to drive the centering clamping claw to center, position and clamp the product, and finally the X-axis moving component and the Z-axis moving component drive the clamping claw assembly to rise and move to the material unloading position, and perform secondary positioning and clamping on the products that need to be picked up and unloaded, thereby avoiding the problem of inconsistent force between the primary clamping and the robot gripper, and at the same time the secondary positioning and clamping ensures the consistency and accuracy of material picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0019] Figure 1 It is a schematic diagram of the overall structure of the gantry docking material picking and unloading gripper in the preferred embodiment of the utility model;

[0020] Figure 2 It is a structural schematic diagram of a clamping assembly 1 and a centering clamping assembly in a preferred embodiment of the utility model;

[0021] Figure 3 The structure of the centering clamping assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0022] Figure 4 The structure of the centering clamping assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0023] Figure 5 The structure of the X-axis moving assembly and the Z-axis moving assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0024] Figure 6 The structure of the X-axis moving assembly and the Z-axis moving assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 .

[0025] Description of the accompanying drawings: gantry 1, X-axis moving assembly 2, mounting plate 1 21, X-axis guide rail 211, X-axis spur rack 22, X-axis drive motor 23, X-axis slide plate 24, X-axis slider 241, Z-axis guide rail 242, X-axis drive gear 25, Z-axis moving assembly 3, Z-axis drive motor 31, Z-axis rack 32, Z-axis frame 33, Z-axis slider 331, Z-axis drive gear 34, gripper mounting plate 4, Guide sleeve 41, linear guide rail 1 42, linear guide rail 2 43, clamping assembly 1 5, Z-axis cylinder 51, support plate 52, guide column 521, clamping cylinder 53, clamping plate 54, rectangular protrusion 541, clamping pad 55, centering clamping assembly 6, drive motor 61, active wheel 62, driven wheel 63, gear belt 64, screw 65, clamping claw 1 66, slider 1 661, clamping claw 2 67, slider 2 671. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0027] Reference Figure 1 As shown, the gantry docking grabber for picking up and releasing materials of the utility model comprises: a gantry 1, an X-axis moving component 2, a Z-axis moving component 3, a gripper mounting plate 4, a clamping component 5 and a centering clamping component 6 and the like; the gantry 1, which serves as a supporting component; the X-axis moving component 2, which is arranged on the crossbeam of the gantry 1; the Z-axis moving component 3, which is connected to the X-axis moving component 2; the gripper mounting plate 4, which is connected to the Z-axis moving component 3; the clamping components 5, which are two symmetrically arranged, and the clamping components 5 are installed on the gripper mounting plate 4, and the clamping components 5 are used for pre-clamping the product; the centering clamping component 6, which is installed on the gripper mounting plate 4, and the centering clamping component 6 is located between the two clamping components 5, and the centering clamping component 6 is used for centering, positioning and clamping the product.

[0028] Reference Figure 2As shown, the clamping assembly 15 includes a Z-axis cylinder 51, a support plate 52 and two clamping cylinders 53 arranged opposite to each other. The Z-axis cylinder 51 is fixedly arranged on the gripper mounting plate 4. The support plate 52 is connected to the piston rod of the Z-axis cylinder 51. The two clamping cylinders 53 arranged opposite to each other are both arranged on the support plate 52. The piston rods of the clamping cylinders 53 are connected to a clamping plate 54. A clamping pad 55 is provided on the clamping surface of the clamping plate 54 relative to the product. The end surface of the clamping pad 55 in contact with the product is provided with a serrated concave-convex structure to increase the friction force when clamping the product. The lower end of the clamping plate 54 is connected to a rectangular protrusion 541, which is used to support the step portion of the product, thereby improving the stability during the product clamping process. The support plate 52 is a rectangular flat plate, and two clamping cylinders 53 are arranged opposite to each other at the two ends of the support plate 52 in the length direction. The piston rods of the clamping cylinders 53 extend to push the clamping plates 54 closer to each other, reduce the distance between the two clamping plates 54, and pre-clamp the product. The gripper mounting plate 4 is a rectangular flat plate, and the two clamping assemblies 5 have a total of four Z-axis cylinders 51. The four Z-axis cylinders 51 are respectively located at the four corners of the gripper mounting plate 4. The four Z-axis cylinders 51 can continue to tighten the initial clamping of the product. A guide column 521 is connected to the support plate 52, and a guide sleeve 41 is provided on the gripper mounting plate 4. The guide column 521 penetrates the guide sleeve 41, and the guide column 521 can slide along the axial direction of the guide sleeve 41.

[0029] Reference Figure 3 , 4 As shown, the centering clamping assembly 6 includes a driving motor 61, a driving wheel 62, a driven wheel 63, a gear belt 64, a screw rod 65, a clamping jaw 1 66 and a clamping jaw 2 67. The driving motor 61 is arranged on the gripper mounting plate 4. The driving wheel 62 is connected to the rotating shaft of the driving motor 61. The gear belt 64 is sleeved on the driving wheel 62 and the driven wheel 63 to realize transmission. The driven wheel 63 is connected to one end of the screw rod 65. The clamping jaw 1 66 and the clamping jaw 2 67 are both connected to the screw rod 65, and the clamping jaw 1 66 and the clamping jaw 2 67 are arranged opposite to each other. The screw rod 65 is rotated to drive the clamping jaw 1 66 and the clamping jaw 2 67 to move closer to or away from each other. The screw rod 65 is provided with a forward thread and a reverse thread, and the threads of the forward thread and the reverse thread are reversed. The clamping jaw 1 66 is connected to the forward thread, and the clamping jaw 2 67 is connected to the reverse thread. The end surfaces of the clamping jaw 1 66 and the clamping jaw 2 67 that contact the product are also provided with a clamping pad 55. The end surfaces of the clamping pad 55 that contact the product are also provided with a sawtooth-shaped concave-convex structure to increase the friction when clamping the product.

[0030] In the above structure, the gripper mounting plate 4 is provided with a linear guide rail 1 42 and a linear guide rail 2 43, the clamping jaw 1 66 is connected with a slider 1 661, the slider 1 661 and the linear guide rail 1 42 are slidably connected, the clamping jaw 2 67 is connected with a slider 2 671, the slider 2 671 and the linear guide rail 2 43 are slidably connected. The centers of the four Z-axis cylinders 51, the centers of the clamping jaw 1 66 and the clamping jaw 2 67 are concentrically arranged, after the four Z-axis cylinders 51 clamp the product, the driving motor 61 rotates to drive the screw 65 to rotate, so that the clamping jaw 1 66 and the clamping jaw 2 67 are synchronously close to each other, and the product can be clamped and positioned. Since the clamping jaw 1 66 and the clamping jaw 2 67 are symmetrical structures, they can play a role in stably positioning the product.

[0031] Reference Figure 5 , 6 As shown, the X-axis moving assembly 2 includes a mounting plate 21, an X-axis spur rack 22, an X-axis driving motor 23, an X-axis slide plate 24 and an X-axis driving gear 25. The mounting plate 21 is fixedly arranged on the crossbeam of the gantry 1, the X-axis spur rack 22 is arranged on the mounting plate 21, the X-axis slide plate 24 is slidably connected to the mounting plate 21, the X-axis driving motor 23 is arranged on the X-axis slide plate 24, and the X-axis driving motor 23 is connected to the X-axis driving gear 25, and the X-axis driving gear 25 is meshed with the X-axis spur rack 22. Two parallel X-axis guide rails 211 are arranged on the mounting plate 21, the X-axis guide rails 211 are parallel to the X-axis spur rack 22, the X-axis slide plate 24 is connected to the X-axis slide plate 24, and the X-axis slide plate 241 is slidably connected to the X-axis guide rail 211. The X-axis spur rack 22 is located between the two parallel X-axis guide rails 211 to maintain the stability of the connection of the X-axis slide plate 24.

[0032] Reference Figure 5 , 6 As shown, the Z-axis moving assembly 3 includes a Z-axis driving motor 31, a Z-axis rack 32, a Z-axis frame 33 and a Z-axis driving gear 34. The Z-axis driving motor 31 is installed on the X-axis slide 24, and the Z-axis driving motor 31 is connected to the Z-axis driving gear 34. The Z-axis driving gear 34 is meshed with the Z-axis rack 32. The Z-axis rack 32 is arranged on the Z-axis frame 33. The Z-axis frame 33 is slidably connected to the X-axis slide 24. The X-axis slide 24 is provided with a Z-axis guide rail 242, and the Z-axis frame 33 is provided with a Z-axis slider 331. The Z-axis slider 331 is slidably connected to the Z-axis guide rail 242. The X-axis moving assembly 2 moves in the horizontal direction, and the Z-axis moving assembly 3 moves in the vertical direction. Through the coordinated cooperation of the X-axis moving assembly 2 and the Z-axis moving assembly 3, the gripper is driven to pick up and place the product.

[0033] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A gantry docking material handling gripper, characterized in that: include, A gantry, which serves as a supporting member; An X-axis moving assembly, which is arranged on the crossbeam of the gantry; A Z-axis moving assembly connected to the X-axis moving assembly; A gripper mounting plate connected to the Z-axis moving assembly; Clamping assembly one, which is two symmetrically arranged, and the clamping assembly one is installed on the gripper mounting plate, and the clamping assembly one is used to pre-clamp the product; The centering clamping assembly is installed on the gripper mounting plate and is located between two clamping assemblies. The centering clamping assembly is used to center, position and clamp the product.

2. The gantry docking material handling gripper according to claim 1 is characterized in that: The clamping assembly 1 includes a Z-axis cylinder, a support plate and two relatively arranged clamping cylinders, wherein the Z-axis cylinder is fixedly arranged on the gripper mounting plate, the support plate is connected to the piston rod of the Z-axis cylinder, the two relatively arranged clamping cylinders are both arranged on the support plate, the piston rod of the clamping cylinder is connected with a clamping plate, and a clamping pad is provided on the clamping surface of the clamping plate relative to the product.

3. The gantry docking material handling gripper according to claim 2 is characterized in that: The support plate is connected with a guide column, the gripper mounting plate is provided with a guide sleeve, the guide column penetrates the guide sleeve, and the guide column can slide along the axial direction of the guide sleeve.

4. The gantry docking material handling gripper according to claim 1 is characterized in that: The centering clamping assembly includes a driving motor, a driving wheel, a driven wheel, a gear belt, a screw, a clamp 1 and a clamp 2. The driving motor is arranged on a gripper mounting plate. The driving wheel is connected to the rotating shaft of the driving motor. The gear belt is sleeved on the driving wheel and the driven wheel to realize transmission. The driven wheel is connected to one end of the screw. The clamp 1 and the clamp 2 are both connected to the screw, and the clamp 1 and the clamp 2 are arranged opposite to each other. The rotation of the screw drives the clamp 1 and the clamp 2 to move closer to or away from each other.

5. The gantry docking material handling gripper according to claim 4 is characterized in that: The screw rod is provided with a forward thread and a reverse thread, and the threads of the forward thread and the reverse thread are reversed. The first clamping jaw is connected to the forward thread, and the second clamping jaw is connected to the reverse thread.

6. The gantry docking material handling gripper according to claim 4 is characterized in that: The gripper mounting plate is provided with a linear guide rail 1 and a linear guide rail 2, the clamping jaw 1 is connected with a slider 1, the slider 1 is slidably connected to the linear guide rail 1, the clamping jaw 2 is connected with a slider 2, the slider 2 is slidably connected to the linear guide rail 2.

7. The gantry docking material handling gripper according to claim 1 is characterized in that: The X-axis moving assembly includes a mounting plate 1, an X-axis spur rack, an X-axis driving motor, an X-axis slide plate and an X-axis driving gear. The mounting plate 1 is fixedly arranged on the crossbeam of the gantry, the X-axis spur rack is arranged on the mounting plate 1, the X-axis slide plate and the mounting plate 1 are slidably connected, the X-axis driving motor is arranged on the X-axis slide plate, and the X-axis driving motor is connected to the X-axis driving gear, and the X-axis driving gear is meshed with the X-axis spur rack.

8. The gantry docking material handling gripper according to claim 7 is characterized in that: The first mounting plate is provided with two parallel X-axis guide rails, the X-axis guide rails are parallel to the X-axis spur rack, the X-axis slide plate is connected with an X-axis slider, and the X-axis slider is slidably connected to the X-axis guide rails.

9. The gantry docking material handling gripper according to claim 7 is characterized in that: The Z-axis moving assembly includes a Z-axis driving motor, a Z-axis rack, a Z-axis frame and a Z-axis driving gear. The Z-axis driving motor is installed on the X-axis slide, and the Z-axis driving motor is connected to the Z-axis driving gear. The Z-axis driving gear is meshed with the Z-axis rack. The Z-axis rack is arranged on the Z-axis frame, and the Z-axis frame and the X-axis slide are slidably connected.

10. The gantry docking material picking and unloading gripper according to claim 9, characterized in that: The X-axis slide plate is provided with a Z-axis guide rail, the Z-axis frame is provided with a Z-axis slider, and the Z-axis slider is slidably connected to the Z-axis guide rail.

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