Anti-falling gantry type manipulator clamping device

Abstract

The utility model relates to the technical field of manipulators, and discloses an anti-falling gantry type manipulator clamping device which comprises a mounting box, a first control cavity is integrally formed in the mounting box, and first penetrating type sliding transverse grooves are symmetrically and integrally formed in the lower surface of the interior of the first control cavity. The right side of the mounting box is fixedly connected with a first servo motor, the left end of an output shaft of the first servo motor is fixedly connected with a positive and negative tooth lead screw, and the left end of the positive and negative tooth lead screw is rotationally connected with the left side of the interior of the first control cavity through a rotating shaft. The two moving plates and the clamping plate are driven by the arranged positive and negative tooth lead screws to move relatively to clamp an object, meanwhile, a first piston plate is pushed after an abutting block in the clamping plate makes contact with the object, gas in an extrusion cavity enters a gas box through a gas conveying hose, a second piston plate and an inclined supporting plate are pushed to stretch out, the object is supported from the bottom, and bidirectional fixing is achieved; the clamping stability is greatly improved, and articles are effectively prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically to a gantry manipulator clamping device for preventing falling. Background Technique

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field. It has a certain degree of automation and can realize various industrial processing and manufacturing functions relying on its own power source and control ability. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. Among them, the gantry palletizing robot belongs to a type of industrial robot. However, there are many problems in the clamping process of the existing gantry palletizing robot and further improvement is needed;

[0003] During the clamping and handling process of the existing gantry manipulator, the items are prone to fall, which may not only damage the clamped items, but also pose safety hazards to the surrounding personnel and equipment, thus seriously affecting the production efficiency and safety efficiency, resulting in the reduction of the safety and efficiency of the existing gantry manipulator. Summary of the Utility Model

[0004] The main technical problem to be solved by the utility model is to provide a gantry manipulator clamping device for preventing falling, which can solve the problem that the existing gantry manipulator is prone to item falling during the clamping and handling process, which may not only damage the clamped items, but also pose safety hazards to the surrounding personnel and equipment, thus seriously affecting the production efficiency and safety efficiency.

[0005] To solve the above technical problem, according to one aspect of the utility model, more specifically, it is a gantry manipulator clamping device for preventing falling, including an installation box. A control cavity one is integrally formed inside the installation box. A through-type sliding cross groove one is symmetrically integrally formed on the lower surface inside the control cavity one. A servo motor one is fixedly connected to the right side of the installation box. The left end of the output shaft of the servo motor one is fixedly connected to a positive and reverse thread lead screw. The left end of the positive and reverse thread lead screw is rotationally connected to the left side inside the control cavity one through a rotating shaft. The outer side wall of the positive and reverse thread lead screw is symmetrically threadedly connected with moving plates. The lower surfaces of the two moving plates respectively pass through the two sliding cross grooves one and are both fixedly connected with clamping plates;

[0006] The two clamping plates are integrally formed with extrusion cavities, the two extrusion cavities are slidably connected with piston plates one, the opposite sides of the two piston plates one are fixedly connected with resistance blocks, the opposite sides of the two resistance blocks extend to the opposite sides of the two clamping plates respectively, the lower surfaces of the two clamping plates are fixedly connected with air boxes, the two air boxes are slidably connected with piston plates two, the opposite sides of the two piston plates two are fixedly connected with oblique support plates, the opposite sides of the two extrusion cavities are fixedly connected with gas hoses on the opposite sides of the two air boxes, and the opposite sides of the two air boxes are provided with through-type extension ports.

[0007] Furthermore, a mounting groove is provided on the upper surface of the mounting box, a plurality of threaded circular holes are provided on the inner lower surface of the mounting groove, a fixing plate is provided inside the mounting groove, the fixing plate and the plurality of threaded circular holes are detachably connected by bolts, and a lifting cylinder is fixedly connected at the center of the upper surface of the fixing plate.

[0008] Furthermore, a gantry is provided on the outside of the lifting cylinder, and a control chamber 2 is integrally formed on the upper inside of the gantry. A servo motor 2 is fixedly connected to the upper right side of the gantry, and a screw is fixedly connected to the left end of the output shaft of the servo motor 2. The left end of the screw is rotatably connected to the left side of the inside of the control chamber 2 through a rotating shaft. A through-type sliding transverse groove 2 is provided on the lower inner surface of the control chamber 2, and a load-bearing block is threadedly connected to the outer wall of the screw, and the lower surface of the load-bearing block passes through the sliding transverse groove 2 and is fixedly connected to the top of the lifting cylinder.

[0009] Furthermore, the opposite sides of the two piston plates are respectively fixedly connected to the opposite inner sides of the two extrusion chambers with a plurality of return springs.

[0010] Furthermore, the left and right sides of the lifting cylinder are rotatably connected to sliding sleeves through a rotating shaft, the interiors of the two sliding sleeves are slidably connected to limit plates, the lower surfaces of the two limit plates are fixedly connected to sliding rods, and the bottom ends of the two sliding rods are detachably connected to the upper surface of the mounting box.

[0011] Furthermore, the left and right sides of the two sliding transverse grooves are both fixedly connected with guide rods, and the two movable plates are respectively slidably connected with the outer side walls of the two guide rods.

[0012] Furthermore, the front surface of the installation box is rotatably connected with an inspection door via a hinge.

[0013] Furthermore, rubber pads are fixedly connected to opposite sides of the two abutment blocks.

[0014] The beneficial effects of the anti-drop gantry type manipulator clamping device of the utility model are:

[0015] The two moving plates and the clamping plate are driven to move relative to each other by the forward and reverse screws to clamp the objects. At the same time, the resistance block in the clamping plate pushes the piston plate 1 after contacting the objects, so that the gas in the extrusion chamber enters the air box through the air hose, pushes the piston plate 2 and the oblique supporting plate to extend, and supports the objects from the bottom, thus realizing two-way fixation, greatly improving the stability of clamping, and effectively preventing the objects from falling. At the same time, the rubber pad on the resistance block increases the friction between the objects and further enhances the stability of clamping, while also protecting the surface of the objects from damage.

[0016] The fixed plate and the installation box are disassembled and connected by bolts, which facilitates the installation and disassembly of the lifting cylinder. When the lifting cylinder or related components fail, they can be easily repaired and replaced. At the same time, when the lifting cylinder is telescoping, the two sliding sleeves can make the two sliding rods slide within a certain range. The limiting of the two sliding rods ensures that the movement direction of the lifting cylinder is stable and there will be no excessive deviation or shaking, thereby improving the working efficiency and safety of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0018] Figure 1 This is a schematic diagram of the overall structure of an anti-drop gantry type manipulator gripping device of the utility model;

[0019] Figure 2 It is a schematic diagram of the front section structure of the installation box, the clamping plate and the air box of the anti-drop gantry type manipulator clamping device of the utility model;

[0020] Figure 3 It is a partial front view structural schematic diagram of a cross section of a gantry frame of an anti-fall gantry type manipulator gripping device of the utility model;

[0021] Figure 4 The utility model is a gantry type manipulator clamping device for preventing falling Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0022] Figure 5 The utility model is a gantry type manipulator clamping device for preventing falling Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0023] Figure 6 The utility model is a gantry type manipulator clamping device for preventing falling Figure 3 Schematic diagram of the enlarged structure at point C in the middle.

[0024] In the figure: 1, mounting box; 2, first control chamber; 3, first sliding transverse groove; 4, first servo motor; 5, positive and negative thread lead screw; 6, moving plate; 7, clamping plate; 8, extrusion chamber; 9, first piston plate; 10, abutting block; 11, air box; 12, second piston plate; 13, inclined supporting plate; 14, air delivery hose; 15, extending outlet; 16, mounting groove; 17, threaded round hole; 18, fixing plate; 19, lifting cylinder; 20, gantry; 21, second control chamber; 22, second servo motor; 23, screw; 24, second sliding transverse groove; 25, load-bearing block; 26, return spring; 27, sliding sleeve; 28, limiting plate; 29, sliding rod; 30, guiding rod; 31, maintenance door; 32, rubber pad. Detailed implementation mode

[0025] In the following, the present utility model will be described in detail with reference to the drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0026] According to one aspect of the present utility model:

[0027] As Figure 1 and Figure 3 shown, a gantry 20 is arranged outside the lifting cylinder 19. A second control chamber 21 is integrally formed above the inside of the gantry 20. A second servo motor 22 is fixedly connected above the right side of the gantry 20. The left end of the output shaft of the second servo motor 22 is fixedly connected with a screw 23. The left end of the screw 23 is rotationally connected with the left side inside the second control chamber 21 through a rotating shaft. A through second sliding transverse groove 24 is formed on the lower surface inside the second control chamber 21. A load-bearing block 25 is threadedly connected to the outer side wall of the screw 23. The lower surface of the load-bearing block 25 passes through the second sliding transverse groove 24 and is fixedly connected to the top end of the lifting cylinder 19;

[0028] By setting the load-bearing block 25, it has higher transmission efficiency and accuracy. The rotation of the screw 23 can enable the load-bearing block 25 to stably move horizontally along the screw 23. The provided second sliding transverse groove 24 provides a precise guiding effect for the movement of the load-bearing block 25, ensuring that the movement of the load-bearing block 25 in the horizontal direction always remains on the correct track. Thus, the lifting cylinder 19 can move synchronously with the horizontal movement of the load-bearing block 25, realizing the horizontal adjustment of the clamping position of the manipulator. Then, by the telescopic movement of the lifting cylinder 19 itself to adjust the vertical height of the manipulator, the gantry-type manipulator clamping device can accurately position and clamp items in three-dimensional space, improving the work efficiency and clamping accuracy. At the same time, it also enhances the anti-drop performance of the device, ensuring the stability and safety of the items during the clamping and handling process.

[0029] As Figure 1 shown, a maintenance door 31 is rotationally connected to the front surface of the mounting box 1 through a hinge;

[0030] The inspection door 31 provided plays a crucial role in the entire device, providing a convenient passage for the maintenance and repair of the equipment. During the operation of the equipment, various faults may occur or regular maintenance is required. Through the inspection door 31, maintenance personnel can easily operate the interior of the installation box 1, inspect, repair, and replace various components, thereby ensuring the normal operation of the equipment, helping to extend the service life of the equipment, improving the reliability and stability of the equipment, reducing the time and cost of equipment maintenance, and enhancing the availability and production efficiency of the equipment.

[0031] As Figure 1 , Figure 2 and Figure 5 shown, an installation groove 16 is formed on the upper surface of the installation box 1, and a plurality of threaded round holes 17 are formed on the lower surface inside the installation groove 16. A fixing plate 18 is arranged inside the installation groove 16, and the fixing plate 18 is detachably connected to the plurality of threaded round holes 17 through bolts. A lifting cylinder 19 is fixedly connected to the center of the upper surface of the fixing plate 18;

[0032] The installation groove 16 provides a specific installation position for the fixing plate 18 and the lifting cylinder 19, ensuring the accurate and stable positions of these components on the installation box 1. The shape and size of the installation groove 16 match the size of the fixing plate 18, enabling them to be tightly installed therein, reducing shaking and displacement during the operation of the equipment. At the same time, through the cooperation of the plurality of threaded round holes 17 and bolts, a firm connection between the fixing plate 18 and the installation box 1 is achieved, which can withstand various forces and torques generated by the lifting cylinder 19 during operation. Through the distribution of the plurality of threaded round holes 17, the fixing plate 18 can be evenly supported in all directions, further improving the reliability of the connection.

[0033] As Figure 2 shown, a control cavity one 2 is integrally formed inside the installation box 1. A through-type sliding cross groove one 3 is symmetrically integrally formed on the lower surface inside the control cavity one 2. A servo motor one 4 is fixedly connected to the right side of the installation box 1. The left end of the output shaft of the servo motor one 4 is fixedly connected to a positive and reverse thread lead screw 5. The left end of the positive and reverse thread lead screw 5 is rotationally connected to the left side inside the control cavity one 2 through a rotating shaft. The outer side wall of the positive and reverse thread lead screw 5 is symmetrically threadedly connected with moving plates 6. The lower surfaces of the two moving plates 6 respectively pass through the two sliding cross grooves one 3 and are both fixedly connected with clamping plates 7;

[0034] When in use, the servo motor 4 rotates according to the command of the control system, driving the forward and reverse screws 5 to rotate, so that the two movable plates 6 move horizontally under the restriction of the two sliding transverse grooves 3, and the movement of the two movable plates 6 drives the two clamping plates 7 to realize the opening and closing action, so as to clamp or release the objects, that is, it can efficiently and accurately clamp objects of different shapes and sizes, thereby improving production efficiency and operation safety.

[0035] like Figure 2 and Figure 4 As shown, the two clamping plates 7 are integrally formed with an extrusion cavity 8 inside, the two extrusion cavities 8 are slidably connected with a piston plate 19 inside, the opposite sides of the two piston plates 19 are fixedly connected with a resistance block 10, the opposite sides of the two resistance blocks 10 extend to the opposite sides of the two clamping plates 7 respectively, the lower surfaces of the two clamping plates 7 are fixedly connected with an air box 11, the insides of the two air boxes 11 are slidably connected with a piston plate 2 12, the opposite sides of the two piston plates 2 12 are fixedly connected with an oblique support plate 13, the opposite sides of the insides of the two extrusion cavities 8 are fixedly connected with a gas delivery hose 14 on the opposite sides of the two air boxes 11, and the opposite sides of the insides of the two air boxes 11 are provided with a through-type extension port 15;

[0036] When the two clamping plates 7 clamp an object, the object will squeeze the resistance blocks 10 on both sides, and then push the two piston plates 19 to slide inside the two extrusion chambers 8, thereby changing the air pressure inside the two extrusion chambers 8, and then the gas enters the two air boxes 11 through the two air supply hoses 14, pushing the two piston plates 12 to slide inside the two air boxes 11, so that the two inclined support plates 13 are extended with the movement of the two piston plates 12, so as to support the bottom of the clamped object, thereby improving the fixing effect of the clamping device on the object and further preventing the object from falling. The inclined shape of the two inclined support plates 13 can better adapt to objects of different shapes and sizes, increase the contact area with the bottom of the object, and improve the reliability of support.

[0037] like Figure 2 As shown, the opposite sides of the two piston plates 9 are respectively fixedly connected to the opposite sides of the inside of the two extrusion chambers 8 with a plurality of return springs 26;

[0038] When the two clamping plates 7 clamp an object, the object will squeeze the two resistance blocks 10 and push the two piston plates 9 to move into the two extrusion chambers 8. At this time, multiple return springs 26 are compressed. The multiple return springs 26 store elastic potential energy during the compression process. When the object needs to be released, as the clamping force decreases, the multiple return springs 26 release the elastic potential energy and push the two piston plates 9 to move outward, so that the two resistance blocks 10 return to their initial positions, so that the two clamping plates 7 can quickly prepare for the next clamping operation, thereby improving the working efficiency of the clamping device.

[0039] likeFigure 2 As shown, rubber pads 32 are fixedly connected to opposite sides of the two abutment blocks 10;

[0040] The rubber pad 32 can increase the friction between the rubber pad and the object, ensuring that the object will not slide or fall easily during the clamping process. At the same time, the softness of the rubber can also play a buffering role, reducing the impact force on the object during clamping and protecting the surface of the object from damage.

[0041] like Figure 2 As shown, the left and right sides of the two sliding transverse grooves 3 are both fixedly connected with guide rods 30, and the two movable plates 6 are respectively slidably connected with the outer side walls of the two guide rods 30;

[0042] The two guide rods 30 are provided to greatly improve the movement accuracy of the two movable plates 6. When the servo motor 4 drives the forward and reverse screw rods 5 to rotate, the two movable plates 6 slide along the two guide rods 30, and can achieve very precise position adjustment, so that the two clamping plates 7 can accurately clamp objects of different sizes, reducing the risk of unstable clamping or damage to objects due to position deviation. At the same time, the smooth surface and precise dimensional tolerance of the two guide rods 30 also help to reduce friction resistance during movement and improve the operating efficiency of the entire system.

[0043] like Figure 3 and Figure 6 As shown, the left and right sides of the lifting cylinder 19 are rotatably connected with sliding sleeves 27 through a rotating shaft, and the interiors of the two sliding sleeves 27 are slidably connected with limit plates 28, and the lower surfaces of the two limit plates 28 are fixedly connected with sliding rods 29, and the bottom ends of the two sliding rods 29 are detachably connected to the upper surface of the installation box 1;

[0044] When the lifting cylinder 19 performs a telescopic movement, the two sliding sleeves 27 can make the two sliding rods 29 slide within a certain range, ensuring that the movement direction of the lifting cylinder 19 is stable and there will be no excessive deviation or shaking, which helps to improve the movement accuracy and stability of the lifting cylinder 19, thereby ensuring the accurate operation of the manipulator clamping device in the vertical direction, and improving the working efficiency and safety of the entire device.

[0045] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A gantry manipulator clamping device for preventing dropping, comprising a mounting box (1), characterized in that: Inside the installation box (1), a first control cavity (2) is integrally formed. On the lower surface inside the first control cavity (2), through sliding transverse grooves one (3) are symmetrically integrally formed. On the right side of the installation box (1), a first servo motor (4) is fixedly connected. On the left end of the output shaft of the first servo motor (4), a positive and reverse thread lead screw (5) is fixedly connected. The left end of the positive and reverse thread lead screw (5) is rotationally connected to the left side inside the first control cavity (2) through a rotating shaft. On the outer side wall of the positive and reverse thread lead screw (5), moving plates (6) are symmetrically threadedly connected. The lower surfaces of the two moving plates (6) respectively pass through the two sliding transverse grooves one (3), and clamping plates (7) are fixedly connected to both of them; Inside each of the two clamping plates (7), an extrusion cavity (8) is integrally formed. Inside each of the two extrusion cavities (8), a first piston plate (9) is slidably connected. On the opposite sides of the two first piston plates (9), abutting blocks (10) are fixedly connected. The opposite sides of the two abutting blocks (10) respectively extend to the opposite sides of the two clamping plates (7). On the lower surfaces of the two clamping plates (7), air boxes (11) are fixedly connected. Inside each of the two air boxes (11), a second piston plate (12) is slidably connected. On the opposite sides of the two second piston plates (12), inclined supporting plates (13) are fixedly connected. The opposite sides inside the two extrusion cavities (8) and the opposite sides of the two air boxes (11) are fixedly connected with air conveying hoses (14). On the opposite sides inside the two air boxes (11), through extending openings (15) are formed.

2. The anti-falling gantry manipulator clamping device according to claim 1, characterized in that: On the upper surface of the installation box (1), an installation groove (16) is formed. On the lower surface inside the installation groove (16), a plurality of threaded round holes (17) are formed. Inside the installation groove (16), a fixing plate (18) is arranged. The fixing plate (18) and the plurality of threaded round holes (17) are detachably connected by bolts. At the center of the upper surface of the fixing plate (18), a lifting air cylinder (19) is fixedly connected.

3. The gantry manipulator clamping device for preventing dropping according to claim 2, wherein: Outside the lifting air cylinder (19), a gantry (20) is arranged. Inside the upper part of the gantry (20), a second control cavity (21) is integrally formed. On the upper right side of the gantry (20), a second servo motor (22) is fixedly connected. On the left end of the output shaft of the second servo motor (22), a screw rod (23) is fixedly connected. The left end of the screw rod (23) is rotationally connected to the left side inside the second control cavity (21) through a rotating shaft. On the lower surface inside the second control cavity (21), a through sliding transverse groove two (24) is formed. On the outer side wall of the screw rod (23), a load-bearing block (25) is threadedly connected. The lower surface of the load-bearing block (25) passes through the sliding transverse groove two (24), and is fixedly connected to the top end of the lifting air cylinder (19).

4. A gantry manipulator clamping device for preventing dropping according to claim 1, characterized in that: On the opposite sides of the two first piston plates (9) and the opposite sides inside the two extrusion cavities (8), a plurality of return springs (26) are fixedly connected.

5. The anti-falling gantry manipulator clamping device according to claim 2, characterized in that: On both the left and right sides of the lifting cylinder (19), sliding sleeves (27) are rotatably connected through rotating shafts. Inside both of the sliding sleeves (27), limiting plates (28) are slidably connected. On the lower surfaces of both of the limiting plates (28), sliding rods (29) are fixedly connected. The bottom ends of both of the sliding rods (29) are detachably connected to the upper surface of the installation box (1).

6. The gantry manipulator clamping device for preventing dropping according to claim 1, characterized in that: On both the left and right sides inside both of the sliding transverse grooves one (3), guide rods (30) are fixedly connected together. The two moving plates (6) are respectively slidably connected to the outer sidewalls of the two guide rods (30).

7. The gantry manipulator clamping device for preventing dropping according to claim 1, characterized in that: The front surface of the installation box (1) is rotatably connected with a maintenance door (31) through a hinge.

8. The gantry manipulator clamping device for preventing dropping according to claim 1, wherein: On the opposite sides of both of the abutting blocks (10), rubber pads (32) are fixedly connected.

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