Gantry type grabbing manipulator

Abstract

The utility model discloses a gantry type grabbing manipulator which comprises a main body mechanism and a grabbing mechanism used for grabbing goods. Comprising a T-shaped lifting seat penetrating through a base, a second gear fixed to the bottom end of the T-shaped lifting seat, a center seat fixed to the bottom end of the second gear, a frame fixed to the bottom end of the center seat and a movable seat with the two sides movably arranged on the two sides of the frame. The T-shaped lifting seat penetrates through the base, an upper annular groove is formed in the top end of the base, an upper annular groove is formed in the bottom end of the T-shaped lifting seat, the upper annular groove corresponds to the upper annular groove, and the lower annular groove corresponds to the lower annular groove. And meanwhile, a plurality of balls are arranged in an annular cavity formed by the upper annular groove and the lower annular groove in an annular array mode, the friction force generated when the upper annular groove and the lower annular groove rotate can be effectively reduced, and the gantry type grabbing manipulator can stably grab special-shaped goods and freely adjust the grabbing angle.

Description

TECHNICAL FIELD

[0001] The utility model relates to snatch manipulator technical field, concretely is a portal snatch manipulator. BACKGROUND

[0002] With the improvement of production automation consciousness, the demand of factory to automatic stacking is higher and higher, the portal snatch manipulator can snatch the packaged goods and neatly and automatically stack on the pallet, effectively increases the goods stacking efficiency.

[0003] The existing portal snatch manipulator mainly has the following disadvantages in the process of using: when snatch the special-shaped goods, the manipulator cannot adhere to the surface of the goods, so the goods are easy to fall in the process of moving, therefore, there is room for improvement. UTILITY MODEL CONTENT

[0004] The utility model aims at solving one of the technical problems in prior art or related art.

[0005] Therefore, the utility model adopts the technical scheme, a portal snatch manipulator, including: main body mechanism and snatch mechanism, the main body mechanism includes portal frame main body, mobile seat installed on the portal frame main body, a plurality of electric telescopic rods fixed on the both sides of mobile seat, the base fixed at the bottom end of electric telescopic rod and the first drive piece installed on the base.

[0006] The snatch mechanism includes the T type pendant through the base setting, the second gear fixed at the bottom end of T type pendant, the center seat fixed at the bottom end of second gear, the frame fixed at the bottom end of center seat, the movable seat movably arranged on the both sides of frame, the second drive piece installed on the frame and through movable seat and a plurality of clamping claws movably installed at the bottom end of movable seat.

[0007] The movable seat includes the sleeve jointed on the frame, the support fixed at the bottom end of sleeve and the threaded sleeve fixed at the top end of support, the bottom end of support is arrayed with a plurality of recesses, the clamping claw includes the cylinder embedded in recess, the spring connecting the inner bottom wall of cylinder and the inner bottom wall of recess and the L type clamping claw with one end fixed with cylinder and the other end extending out of recess.

[0008] In a preferred example, the first drive piece can further be configured to include a first motor fixed on one side of the base and a first gear fixed on the shaft of the first motor, and the first gear and the second gear are in mesh with each other.

[0009] In a preferred example, the second drive piece can further be configured to include a double-end screw rod rotatably installed on the opposite inner side surface of the frame and a second motor fixed on one side of the frame and having the shaft fixedly connected with the end portion of the double-end screw rod.

[0010] The utility model discloses in a preferable example can be further configured as: the thread on the double -end screw rod is symmetric and sets up, and the double -end screw rod passes the thread bush on both sides support, and with the thread bush interlock.

[0011] The utility model discloses in a preferable example can be further configured as: the top of base is opened the upper ring groove, the bottom of T type hanging seat is opened the upper ring groove, and the both correspond with each other, and the annular cavity that forms in the upper ring groove and lower ring groove is provided with a plurality of ball in annular array.

[0012] The utility model discloses in a preferable example can be further configured as: the top both sides of center seat are provided with the end fixed connection of pull rod and frame.

[0013] Through adopting above-mentioned technical scheme, the utility model has obtained the beneficial effect that:

[0014] 1. In the utility model, set up frame, and in the both sides sliding installation movable seat of frame, movable seat is composed of support, sleeve and thread bush, and in and install second driving piece for driving relative movable seat to move on the frame, the bottom of support is arrayed and is opened a plurality of grooves, installs the clamping claw in each groove, the clamping claw is composed of the sleeve that is embedded in the groove, the L type clamping claw that is fixed in the bottom of sleeve and the spring that connects the inner bottom wall of sleeve and the inner wall of groove, through above-mentioned setting, when each clamping claw can be close to the surface of goods when clamping special-shaped goods, thereby guaranteeing the stability of clamping special-shaped goods, increase practicality.

[0015] 2. In the utility model, install center seat on the top of frame, fix second gear on the top of center seat, and fix T type hanging seat on the top of second gear, and T type hanging seat passes through the bottom seat setting, and the bottom seat is connected with the moving seat on the main body of portal frame through electric telescopic rod, and install first driving piece on the bottom seat and engage with second gear, through above-mentioned setting, first driving piece starts and drives second gear to rotate, and second gear rotates and drives the whole frame through center seat to rotate, and then drives movable seat and clamping claw to rotate, and then can freely adjust the direction of grabbing according to the placing angle of goods, further increase practicality. ACCURACY OF DRAWINGS

[0016] Figure 1 It is the structure schematic drawing of the utility model;

[0017] Figure 2 It is the cross section schematic drawing of the utility model's grabbing mechanism;

[0018] Figure 3 It is the partial structure schematic drawing of the utility model;

[0019] Figure 4 It is the movable seat and clamping claw structure schematic drawing of the utility model.

[0020] Reference signs:

[0021] 100, main body mechanism; 110, gantry main body; 120, moving seat; 130, electric telescopic rod; 140, base; 141, lower ring groove; 142, ball; 150, first driving part; 151, first motor; 152, first gear;

[0022] 200, grabbing mechanism; 210, T-shaped hanging seat; 211, upper ring groove; 220, second gear; 230, center seat; 231, pull rod; 240, frame; 250, movable seat; 251, support; 2511, groove; 252, sleeve; 253, threaded sleeve; 260, second driving part; 261, double-headed screw rod; 262, second motor; 270, clamping claw; 271, cylinder; 272, spring; 273, L-shaped clamping claw. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments and the accompanying drawings. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0024] Some embodiments of the present application will be described below with reference to the accompanying drawings,

[0025] Embodiment 1:

[0026] In combination with Figures 1-4 the drawings, the embodiment provides a gantry type grabbing manipulator, which comprises a main body mechanism 100 and a grabbing mechanism 200.

[0027] The main body mechanism 100 comprises a gantry main body 110, a moving seat 120 installed on the gantry main body 110, a plurality of electric telescopic rods 130 fixed on both sides of the moving seat 120, a base 140 fixed at the bottom end of the electric telescopic rod 130, and a first driving part 150 installed on the base 140.

[0028] The gantry main body 110 is used for installing the moving seat 120, the moving seat 120 is used for installing the electric telescopic rod 130 and driving the electric telescopic rod 130 to move, the bottom end of the electric telescopic rod 130 is fixed with the base 140, and the base 140 can be driven to move up and down, that is, the grabbing mechanism 200 installed on the base 140 is driven to move up and down.

[0029] The first driving part 150 is used for driving the grabbing mechanism 200 to rotate, and comprises a first motor 151 fixed on one side of the base 140 and a first gear 152 fixed on the shaft of the first motor 151.

[0030] The grabbing mechanism 200 is used for grabbing goods, comprising a T-shaped hanging seat 210 arranged through the base 140, a second gear 220 fixed at the bottom end of the T-shaped hanging seat 210, a center seat 230 fixed at the bottom end of the second gear 220, a frame 240 fixed at the bottom end of the center seat 230, movable seats 250 movably arranged at both sides of the frame 240, a second driving member 260 installed on the frame 240 and passing through the movable seats 250, and a plurality of clamping claws 270 movably installed at the bottom end of the movable seats 250.

[0031] The T-shaped hanging seat 210 passes through the base 140, and an upper ring groove 211 is formed at the top end of the base 140, and an upper ring groove 211 is also formed at the bottom end of the T-shaped hanging seat 210, which correspond to each other, and a plurality of rolling balls 142 are arranged in a ring array in the annular cavity formed by the upper ring groove 211 and the lower ring groove 141, which can effectively reduce the friction when the two rotate.

[0032] The second gear 220 is engaged with the first gear 152, so that when the first motor 151 is started, the first gear 152 is driven to rotate, the first gear 152 drives the second gear 220 to rotate, and then the frame 240 is driven to rotate through the center seat 230, thereby adjusting the grabbing angle of the goods.

[0033] The center seat 230 is used for fixing the frame 240, and pull rods 231 are arranged at the top end of the center seat 230 and fixedly connected with the end portions of the frame 240, thereby improving the stability of the frame 240.

[0034] The frame 240 is used for installing the movable seat 250, and the movable seat 250 is used for installing the clamping claw 270 and driving the clamping claw 270 to move to clamp the goods, comprising a sleeve 252 sleeved on the frame 240, a support 251 fixed at the bottom end of the sleeve 252, and a threaded sleeve 253 fixed at the top end of the support 251. The sleeve 252 is slidably sleeved on the frame 240, which can keep the stability of the support 251 during movement. Meanwhile, the second driving member 260 comprises a double-headed screw 261 rotatably installed on the opposite inner sides of the frame 240 and a second motor 262 fixed on one side of the frame 240 and having an axis fixedly connected with the end portion of the double-headed screw 261. The threads on the double-headed screw 261 are symmetrically arranged, and the double-headed screw 261 passes through the threaded sleeves 253 on the two supports 251 and is engaged with the threaded sleeves 253. When the second motor 262 is started, the double-headed screw 261 is driven to rotate, and the rotation of the double-headed screw 261 drives the two threaded sleeves 253 to move towards each other, i.e. the support 251 moves towards each other, thereby facilitating the clamping claw 270 to clamp the goods.

[0035] The bottom end of the support 251 is provided with a plurality of recesses 2511 in an array, the clamping paw 270 comprises a cylinder 271 embedded in the recess 2511, a spring 272 connecting the inner bottom wall of the cylinder 271 and the inner bottom wall of the recess 2511, and an L-shaped clamping paw 273 with one end fixed to the cylinder 271 and the other end extending out of the recess 2511, the cylinder 271 is used for mounting the L-shaped clamping paw 273 and facilitating the L-shaped clamping paw 273 to move forward and backward, so that the L-shaped clamping paw 273 can adjust the clamping position according to the shape of the goods, and the L-shaped clamping paw 273 is used for clamping the goods, and the spring 272 can ensure that the L-shaped clamping paw 273 is tightly attached to the surface of the goods.

[0036] The working principle and use process of the utility model are as follows: during use, the electric telescopic rod 130 drives the base 140 to move downward, the base 140 moving downward drives the grabbing mechanism 200 to move downward, so that the clamping paw 270 is located on both sides of the goods, the grabbing angle is adjusted according to the placing angle of the goods, the first motor 151 is started, the first gear 152 is driven to rotate, the first gear 152 rotating drives the second gear 220 to rotate, the second gear 220 rotating drives the frame 240 to rotate through the center seat 230, the frame 240 rotating drives the movable seat 250 and the clamping paw 270 to rotate synchronously, the grabbing angle is adjusted, after the adjustment is completed, the second motor 262 is started, the double-head screw rod 261 is driven to rotate, the double-head screw rod 261 rotating drives the threaded sleeves 253 on both sides to move towards each other, namely, drives the supports 251 to move towards each other, the supports 251 moving drives the clamping paw 270 mounted on the supports 251 to drive, so that the goods are clamped, during clamping, the L-shaped clamping paw 273 can automatically adjust the position according to the shape of the goods, so that each L-shaped clamping paw 273 can be tightly attached to the surface of the goods, thereby ensuring the stability of grabbing the special-shaped goods.

[0037] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and their equivalents.

Claims

1. A gantry-type gripping robot, comprising: The main body (100) and the gripping mechanism (200) are characterized in that the main body (100) includes a gantry frame body (110), a movable seat (120) installed on the gantry frame body (110), a plurality of electric telescopic rods (130) fixed on both sides of the movable seat (120), a base (140) fixed on the bottom end of the electric telescopic rods (130), and a first driving member (150) installed on the base (140); The gripping mechanism (200) includes a T-shaped hanger (210) passing through the base (140), a second gear (220) fixed at the bottom of the T-shaped hanger (210), a center seat (230) fixed at the bottom of the second gear (220), a frame (240) fixed at the bottom of the center seat (230), movable seats (250) movably arranged on both sides of the frame (240), a second drive member (260) mounted on the frame (240) and passing through the movable seats (250), and a plurality of gripping claws (270) movably mounted at the bottom of the movable seats (250). The movable seat (250) includes a sleeve (252) fitted onto the frame (240), a support (251) fixed to the bottom end of the sleeve (252), and a threaded sleeve (253) fixed to the top end of the support (251). The bottom end of the support (251) has a plurality of grooves (2511) arranged in an array. The clamping claw (270) includes a cylinder (271) fitted into the groove (2511), a spring (272) connecting the inner bottom wall of the cylinder (271) and the inner bottom wall of the groove (2511), and an L-shaped clamping claw (273) with one end fixed to the cylinder (271) and the other end extending out of the groove (2511).

2. The gantry-type gripping robot according to claim 1, characterized in that, The first drive unit (150) includes a first motor (151) fixed on one side of the base (140) and a first gear (152) fixed on the shaft of the first motor (151), wherein the first gear (152) meshes with the second gear (220).

3. The gantry-type gripping robot according to claim 1, characterized in that, The second drive unit (260) includes a double-ended screw (261) rotatably mounted on opposite inner surfaces of the frame (240) and a second motor (262) fixed to one side of the frame (240) with its shaft fixedly connected to the end of the double-ended screw (261).

4. A gantry-type gripping robot according to claim 3, characterized in that, The threads on the double-ended screw (261) are symmetrically arranged, and the double-ended screw (261) passes through the threaded sleeves (253) on the two side supports (251) and meshes with the threaded sleeves (253).

5. A gantry-type gripping robot according to claim 1, characterized in that, The top of the base (140) has an upper annular groove (211), and the bottom of the T-shaped hanging seat (210) has an upper annular groove (211). The two correspond to each other, and multiple balls (142) are arranged in a ring array in the annular cavity formed by the upper annular groove (211) and the lower annular groove (141).

6. A gantry-type gripping robot according to claim 1, characterized in that, The top two sides of the center seat (230) are provided with tie rods (231) which are fixedly connected to the ends of the frame (240).

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