Programmable gripper system for truss robot quick-change machine tool workbench

Abstract

The programmable gripper system comprises a gripper base plate and a machine tool supporting plate, the upper surface of the gripper base plate is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with a rotating shaft, the left end of the rotating shaft is fixedly connected with a driving gear, and the right end of the driving gear is fixedly connected with a driven gear. Through cooperation of a servo motor, a two-way lead screw, a connecting block, a lead screw nut and fingers, the accident that a machine tool supporting plate falls off due to the fact that the gripper is opened by inertia force in the operation process of the truss robot can be avoided. A lead screw transmission mechanism and a gear mechanism are matched for stable transmission clamping force and accurate position transmission, an electromagnetic band-type brake is arranged, the safety of the gripper is ensured, inertia or power failure and part falling accidents are prevented, the machine tool has enough maintenance space, meanwhile, personnel can inspect the working state of the machine tool at any time, and the working efficiency of the machine tool is improved. And meanwhile, the gripper can grab trays of various specifications and sizes.

Description

Technical Field

[0001] This utility model relates to the technical field of gantry robot gripper systems, and in particular to a programmable gripper system for quick-change machine tool worktables of gantry robots. Background Technology

[0002] Traditional solutions for flexible manufacturing production lines are divided into shuttle car and articulated robot pallet changing methods based on the load of the fixture. Both of these solutions require fixed ground space, which greatly limits the maintenance of most machine tools and the observation of personnel. They cannot meet the requirements of safety officers to inspect the quick-change status of the pallets at any time. Even if machine tool maintenance passages are set up, the space is very small. Utility Model Content

[0003] The purpose of this utility model is to provide a programmable gripper system for quick-change machine tool worktables of gantry robots, which solves the problem that the existing articulated robot pallet changing method has too many limitations for the maintenance and personnel observation of most machine tools, and cannot meet the needs of safety officers to inspect the quick-change of pallets at any time.

[0004] To achieve the above objectives, a programmable gripper system for a quick-change machine tool worktable of a gantry robot is provided, comprising a gripper base plate and a machine tool tray. A servo motor is fixedly connected to the upper surface of the gripper base plate, and a rotating shaft is fixedly connected to the output end of the servo motor. A drive gear is fixedly connected to the left end of the rotating shaft. A slide rail is fixedly connected to the lower surface of the gripper base plate, and a slider is slidably connected to the slide rail. A finger is fixedly connected to the lower surface of the slider, and a locking block is fixedly connected to the side surface of the finger. A support block is fixedly connected to the upper surface of the gripper base plate, and a bidirectional lead screw is rotatably connected inside the support block. A driven gear is fixedly connected to the outer surface of the bidirectional lead screw. A through groove is provided inside the gripper base plate, a connecting block is fixedly connected to the upper surface of the finger, and a lead screw nut is fixedly connected inside the connecting block. A locking groove is provided inside the machine tool tray.

[0005] According to the programmable gripper system for quick-change machine tool worktables of gantry robots, the driving gear and the driven gear mesh with each other.

[0006] According to the programmable gripper system for quick-change machine tool worktable of gantry robot, the number of grippers is two and they are distributed front to back, and the number of fingers is two and they are distributed left to right.

[0007] According to the programmable gripper system for quick-change machine tool worktable of gantry robot, the inner surface of the lead screw nut is connected to the bidirectional lead screw thread, and there are two lead screw nuts distributed left and right.

[0008] According to the programmable gripper system for quick-change machine tool worktable of gantry robot, a sensor bracket is fixedly connected to the lower surface of the gripper base plate, and a diffuse reflection sensor is fixedly connected to the sensor bracket.

[0009] According to the programmable gripper system for quick-change machine tool worktables of gantry robots, the inner surface of the slot is adapted to the gripper block.

[0010] According to the programmable gripper system for quick-change machine tool worktables of gantry robots, the inner surface of the through slot is slidably connected to the connecting block.

[0011] According to the programmable gripper system for quick-change machine tool worktables of gantry robots, the servo motor and diffuse reflection sensor are both electrically connected to an external power supply.

[0012] The above solution offers the following advantages: Through the coordination of the servo motor, bidirectional lead screw, connecting block, lead screw nut, and fingers, the gantry robot is protected from accidents caused by inertial forces pulling apart the gripper and causing the machine tool pallet to fall. This gripper is equipped with a programmable servo control system, which, in conjunction with the lead screw transmission mechanism and gear mechanism, ensures stable transmission of clamping force and precise position transmission. An electromagnetic brake is also included to ensure gripper safety and prevent accidents caused by inertia or power failure. The solution provides sufficient maintenance space for the machine tool and allows personnel to inspect its working status at any time. Furthermore, this gripper can grasp pallets of various sizes.

[0013] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0015] Figure 1 This is a schematic diagram of the overall structure of a programmable gripper system for a quick-change machine tool table of a gantry robot according to the present invention.

[0016] Figure 2 For this Figure 1 Enlarged structural diagram at point A;

[0017] Figure 3 This is a partial structural schematic diagram of a programmable gripper system for a quick-change machine tool worktable of a gantry robot, according to the present invention.

[0018] Figure 4 This is a partial top view of a programmable gripper system for a quick-change machine tool table of a gantry robot, according to the present invention.

[0019] Figure 5 This is a schematic diagram of the gripper baseboard structure of a programmable gripper system for quick-change machine tool worktables of gantry robots according to the present invention.

[0020] Legend:

[0021] 1. Gripper base plate; 2. Machine tool tray; 3. Servo motor; 4. Rotary shaft; 5. Drive gear; 6. Slide rail; 7. Slider; 8. Finger; 9. Clamping block; 10. Support block; 11. Bidirectional lead screw; 12. Driven gear; 13. Through slot; 14. Connecting block; 15. Lead screw nut; 16. Slot; 17. Sensor bracket; 18. Diffuse reflection sensor. Detailed Implementation

[0022] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0023] Reference Figure 1-5 This utility model discloses a programmable gripper system for a quick-change machine tool worktable of a gantry robot. It includes a gripper base plate 1 and a machine tool support plate 2. A servo motor 3 is fixedly connected to the upper surface of the gripper base plate 1. A rotating shaft 4 is fixedly connected to the output end of the servo motor 3. A drive gear 5 is fixedly connected to the left end of the rotating shaft 4. A slide rail 6 is fixedly connected to the lower surface of the gripper base plate 1. A slider 7 is slidably connected to the slide rail 6. Two fingers 8 are fixedly connected to the lower surface of the slider 7, arranged horizontally. Two locking blocks 9 are fixedly connected to the side surfaces of the fingers 8, arranged front-back. A support block 10 is fixedly connected to the upper surface of the gripper base plate 1. A bidirectional lead screw 11 is rotatably connected inside the support block 10. A drive gear 5 is fixedly connected to the outer surface of the bidirectional lead screw 11. Driven gear 12 and driving gear 5 mesh with each other. Driven gear 5 and driven gear 12 mesh with each other. The inside of the gripper base plate 1 is provided with a through groove 13. The upper surface of the finger 8 is fixedly connected to a connecting block 14. The inner surface of the through groove 13 is slidably connected to the connecting block 14. The inside of the connecting block 14 is fixedly connected with a lead screw nut 15. There are two lead screw nuts 15, which are distributed left and right. The inner surface of the lead screw nut 15 is threadedly connected to the bidirectional lead screw 11. The inside of the machine tool tray 2 is provided with a slot 16. The inner surface of the slot 16 is adapted to the slot block 9. The lower surface of the gripper base plate 1 is fixedly connected to a sensor bracket 17. A diffuse reflection sensor 18 is fixedly connected to the sensor bracket 17. The servo motor 3 and the diffuse reflection sensor 18 are both electrically connected to an external power supply.

[0024] Working principle: By starting the servo motor 3, the servo motor 3 drives the rotating shaft 4 to rotate. The rotation of the rotating shaft 4 drives the drive gear 5 to rotate. The drive gear 5 drives the driven gear 12. The rotation of the driven gear 12 drives the bidirectional lead screw 11 to rotate. The rotation of the bidirectional lead screw 11 drives the two lead screw nuts 15 to move closer to each other. The sliding of the lead screw nuts 15 drives the connecting block 14 to slide. The sliding of the connecting block 14 drives the finger 8 to slide. The sliding of the finger 8 drives the locking block 9 to engage in the slot 16, thereby fixing the machine tool tray 2.

[0025] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A programmable gripper system for a trussbot quick change machine tool table, comprising: The hand claw base plate (1) and machine tool supporting plate (2), characterized by, the upper surface of the hand claw base plate (1) is fixedly connected with a servo motor (3), the output end of the servo motor (3) is fixedly connected with a rotating shaft (4), the left end of the rotating shaft (4) is fixedly connected with a driving gear (5), the lower surface of the hand claw base plate (1) is fixedly connected with a sliding rail (6), the sliding rail (6) is slidably connected with a sliding block (7), the lower surface of the sliding block (7) is fixedly connected with a finger (8), the side surface of the finger (8) is fixedly connected with a clamping block (9), the upper surface of the hand claw base plate (1) is fixedly connected with a supporting block (10), the inside of the supporting block (10) is rotatably connected with a bidirectional screw rod (11), the outer surface of the bidirectional screw rod (11) is fixedly connected with a driven gear (12), the inside of the hand claw base plate (1) is provided with a through slot (13), the upper surface of the finger (8) is fixedly connected with a connecting block (14), the inside of the connecting block (14) is fixedly connected with a screw rod nut (15), the inside of the machine tool supporting plate (2) is provided with a clamping groove (16).

2. A programmable gripper system for a trussbot quick change machine tool table according to claim 1, wherein, The driving gear (5) and the driven gear (12) are mutually engaged.

3. A programmable gripper system for a trussbot quick change machine tool table as defined in claim 1, wherein, The number of the clamping block (9) is two and is distributed in front and back, and the number of the finger (8) is two and is distributed in left and right.

4. A programmable gripper system for a trussbot quick change machine tool table according to claim 1, wherein, The inner surface of the screw rod nut (15) is threadedly connected with the bidirectional screw rod (11), and the number of the screw rod nut (15) is two and is distributed in left and right.

5. A programmable handgrip system for a truss robot quick change machine tool table according to claim 1, wherein, The lower surface of the hand claw base plate (1) is fixedly connected with a sensor support (17), and the sensor support (17) is fixedly connected with a diffuse reflection sensor (18).

6. A programmable handgrip system for a truss robot quick change machine tool table according to claim 1, wherein, The inner surface of the clamping groove (16) is matched with the clamping block (9).

7. A programmable handgrip system for a truss robot quick change machine tool table according to claim 1, wherein, The inner surface of the through slot (13) is slidably connected with the connecting block (14).

8. A programmable handgrip system for a truss robot quick change machine tool table according to claim 1, wherein, The servo motor (3) and the diffuse reflection sensor (18) are electrically connected with an external power supply.

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