Synchronous circulating double-gripper material transfer device

Abstract

The utility model discloses a synchronous circulation double-gripper material transfer device which comprises a workbench, a first stand column and a second stand column are fixedly arranged at the two ends of the workbench, a gripper mechanism is arranged between the first stand column and the second stand column, and the gripper mechanism comprises a synchronous assembly, a first gripper and a second gripper. The synchronous assembly is used for ensuring accurate positioning and synchronous reverse movement of the first gripper and the second gripper, the first gripper and the second gripper are fixed to the synchronous assembly, and a first gripping device in the first gripper and a second gripping device in the second gripper are located on the same horizontal straight line; the manipulator has the advantages that materials can be accurately grabbed, and continuous and efficient transferring can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, and in particular to a synchronous circulating dual-gripper material transfer device. Background Technology

[0002] In modern industrial production, efficient material handling is of great significance for improving production efficiency and reducing labor costs. However, existing material handling methods are mostly based on manual operation or single-function equipment, which have problems such as low efficiency, low precision and poor adaptability, making it difficult to meet the needs of modern production lines for efficient and precise material handling.

[0003] Chinese utility model patent CN218698834U discloses a robotic arm for material transfer on a production line, including a mounting plate. Fixing components are mounted at the four corners of the bottom of the mounting plate. A fixing box is fixedly mounted at the rear end of the top of the mounting plate. A motor is fixedly mounted at the front end of the top of the mounting plate. Slide plates are fixedly mounted on both sides of the top of the fixing box. A connecting block is mounted at the center of the top of the fixing box. A lead screw is mounted through the connecting block at the center of its front and rear ends. Guide rods are mounted through the connecting block at the center of its front and rear ends, near the sides. A base is mounted at the top of the connecting block. A robotic arm is fixedly mounted at the upper front end of the base. A handling gripper is movably mounted at one end of the robotic arm. Although this utility model solves the problems of low precision and poor adaptability, because it only has a single gripper, it requires waiting for the gripper to complete all operations before proceeding to the next gripping action during material handling. This limits the overall system's operating efficiency and makes it difficult to adapt to the needs of high-frequency, continuous material transfer. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a synchronous and cyclical dual-grip material transfer device that can both accurately grasp and continuously and efficiently transfer materials.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a synchronous circulating double-grip material transfer device, including a workbench, with a first column and a second column fixedly arranged at both ends of the workbench, and a gripper mechanism arranged between the first column and the second column. The gripper mechanism includes a synchronization component, a first gripper and a second gripper. The synchronization component is used to ensure that the first gripper and the second gripper are accurately positioned and move synchronously in opposite directions. The first gripper and the second gripper are respectively fixed to the synchronization component. The first gripping device in the first gripper and the second gripping device in the second gripper are located on the same horizontal straight line.

[0006] Furthermore, the synchronization component includes a slide rail, a timing belt, a servo motor, and two timing pulley seats. The two timing pulley seats are respectively fixed to the upper ends of the first column and the second column. A timing pulley is rotatably connected inside the timing pulley. The two ends of the slide rail are respectively fixed to the timing pulley seats. The inner side of the timing belt meshes with the timing pulley. The output shaft of the servo motor is connected to one of the timing pulleys. The servo motor drives the timing pulley to rotate. A first slide table and a second slide table are fixed on both sides of the timing belt and are arranged oppositely. The first slide table and the second slide table move synchronously and in opposite directions.

[0007] Furthermore, an origin position sensor, a left position sensor, and a right position sensor are fixed on the slide rail. The left position sensor is fixed to the left end of the slide rail, and the right position sensor is fixed to the right end of the slide rail. The origin position sensor, the left position sensor, and the right position sensor are used to detect the positions of the first slide table and the second slide table on the slide rail.

[0008] Furthermore, the first gripper includes a first gripper bracket and a first lifting plate. The first gripper bracket is vertically fixed on the first slide table, and the first lifting plate slides vertically with the first gripper bracket. The first lifting plate is driven to rise and fall by a first cylinder fixed on the first gripper bracket. A first gripping device is fixedly installed on the first lifting plate. The second gripper includes a second gripper bracket and a second lifting plate. The second gripper bracket is vertically fixed on the second slide table, and the second lifting plate is driven to rise and fall by a second cylinder fixed on the second gripper bracket. A second gripping device is fixedly installed on the second lifting plate. A avoidance mechanism is provided on the second lifting plate. When the first gripper and the second gripper meet, the second gripper uses the avoidance mechanism to move the second gripping device closer to the second gripper bracket, avoiding collision between the first gripping device and the second gripping device, which are located on the same horizontal line.

[0009] Furthermore, the avoidance mechanism includes an avoidance cylinder, which is vertically slidably engaged with the second gripper bracket. The piston rod of the avoidance cylinder is fixedly connected to the second lifting plate, and the piston rod of the second cylinder is fixed to the cylinder body of the avoidance cylinder.

[0010] Furthermore, motors are fixedly installed on the first lifting plate and the second lifting plate respectively, and the drive shafts of the motors are respectively fixed to the first gripping device and the second gripping device. The motors are used to rotate the gripped material.

[0011] Furthermore, the gripping device is a suction cup or a pneumatic gripper.

[0012] Compared with the prior art, the advantages of this utility model are that the material transfer efficiency is significantly improved by the synchronous circulation design of the dual grippers. The two grippers work in coordination through the synchronization component, avoiding frequent pauses and waiting in the single gripper system, shortening the idle time of the production line and improving production efficiency. In addition, each gripping device is equipped with a rotation function, which can rotate the gripped material through the motor drive, reducing manual operation of the material during the processing and promoting the automation of the production line. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a schematic diagram of the gripper mechanism of this utility model;

[0015] Figure 3 This is a schematic diagram of the first gripper structure of this utility model;

[0016] Figure 4 This is a schematic diagram of the second gripper structure of this utility model. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0018] like Figure 1-4 As shown, a synchronous circulating dual-gripper material transfer device is located between two different processing steps on the same processing line. It includes a workbench 1, with a first column 2 and a second column 3 fixedly installed at both ends of the workbench 1. A gripper mechanism 4 is installed between the first column 2 and the second column 3. The gripper mechanism 4 includes a synchronization component 5, a first gripper 6 and a second gripper 7. The synchronization component 5 includes a slide rail 51, a synchronous belt 52, a servo motor 53 and two synchronous wheel seats 54. The two synchronous wheel seats 54 are respectively fixed to the upper ends of the first column 2 and the second column 3. A synchronous wheel 55 is rotatably connected inside the synchronous wheel seat 54. The two ends of the slide rail 51 are respectively fixed on the synchronous wheel seat 54. The inner side of the synchronous belt 52 meshes with the synchronous wheel 54. The output shaft of the servo motor 53 is connected to one of the synchronous wheels 55. The servo motor 53 drives the synchronous wheel 55 to rotate. A first slide table 56 and a second slide table 57 are fixed on both sides of the synchronous belt 52 and are arranged oppositely. The first slide table 56 and the second slide table 57 move synchronously and in opposite directions.

[0019] The first gripper 6 includes a first gripper bracket 61 and a first lifting plate 62. The first gripper bracket 61 is vertically fixed on the first slide table 56. The first lifting plate 62 is vertically slidably engaged with the first gripper bracket 61. The first lifting plate 62 is driven to rise and fall by a first cylinder 63 fixed on the first gripper bracket 61. A first gripping device 64 is fixedly installed on the first lifting plate 62, and a first motor 65 is fixedly installed at the upper end of the first gripping device 64. The first gripping device 64 adopts a suction cup structure. The second gripper 7 includes a second gripper bracket 71 and a second lifting plate 72. The second gripper bracket 71 is vertically fixed on the second slide table 57. The second lifting plate 72 is driven to rise and fall by a second cylinder 73 fixed on the second gripper bracket 71. A second gripping device 74 is fixedly installed on the upper part of the second gripping device 74, and a second motor 76 is fixedly installed on the upper end of the second gripping device 74. The second gripping device 74 adopts a suction cup structure. An avoidance mechanism is provided on the second lifting plate. The avoidance mechanism includes an avoidance cylinder 75, which is vertically slidably engaged with the second gripper bracket 71. The piston rod of the avoidance cylinder 75 is fixedly connected to the second lifting plate 72. The piston rod of the second cylinder 73 is fixedly connected to the cylinder body of the avoidance cylinder 75. The first gripping device 64 and the second gripping device 74 are located on the same horizontal straight line. When the first gripper 6 and the second gripper 7 intersect, the second gripper 7 uses the avoidance cylinder 75 to make the second gripping device 74 move closer to the second gripper bracket 71 to avoid collision between the first gripping device 64 and the second gripping device 74.

[0020] A home position sensor 81, a left position sensor 82, and a right position sensor 91 are fixed on the slide rail 51. The left position sensor 82 is fixed to the left end of the slide rail 51, and the right position sensor 91 is fixed to the right end of the slide rail 51. The home position sensor 81, the left position sensor 82, and the right position sensor 91 are used to detect the positions of the first slide table 56 and the second slide table 57 on the slide rail 51. The home position sensor 81 determines the initial position at which the first slide table 56 or the second slide table 57 begins to move. When the first slide table 56 or the second slide table 57 moves to the left limit position or the right limit position, the left position sensor 82 or the right position sensor 91 detects the first slide table 56 or the second slide table 57, and the servo motor 53 stops rotating to prevent the first slide table 56 or the second slide table 57 from exceeding the safe range and to protect the safety of the equipment and the operator.

[0021] In addition to the structure shown in the attached drawings, the first gripping device 64 and the second gripping device 74 can also use pneumatic grippers to grip materials.

[0022] Material transfer process: Servo motor 53 drives synchronous pulley 55 to rotate, causing the first slide 56 and the second slide 57 on synchronous belt 52 to move to the material picking position and the material discharging position respectively. When the first slide 56 reaches the material picking position, the first lifting plate 62 is raised and lowered under the control of the first cylinder 63, and the first gripping device 64 accurately picks up the material. At the same time, the second slide 57 reaches the material discharging position, and the second gripper 7 discharges the material. When the first gripper 6 picks up the material and continues to move to the left to the position of the origin position sensor 81, the origin position sensor 81 detects the first slide 56, and the servo motor 53 rotates in the opposite direction, causing the first gripper 6 to move to the right on the slide rail 51, and the second gripper 67 discharges the material. Hand 7 moves synchronously to the left, and the second gripper 7 reaches the material-picking position to pick up the material. At the same time, the first gripper 6 reaches the material-discharging position to discharge the material. The first gripper 6 and the second gripper 7 work alternately to ensure continuous material handling. After the first gripping device 64 and the second gripping device 74 pick up the material, the first motor 65 and the second motor 76 will drive the first gripping device 64 and the second gripping device 74 to rotate, changing the direction of the material to adapt to the next processing step. During the movement, the avoidance cylinder 75 adjusts the second lifting plate 72 at the avoidance point to ensure that the second gripping device 74 and the first gripping device 64 do not collide, ensuring smooth flow of material during the material transfer process and avoiding mutual interference.

[0023] The scope of protection of this utility model includes, but is not limited to, the above embodiments. The scope of protection of this utility model is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art shall fall within the scope of protection of this utility model.

Claims

1. A synchronous circulating dual-gripper material transfer device, characterized in that, The device includes a workbench, with a first column and a second column fixedly installed at both ends. A gripper mechanism is provided between the first column and the second column. The gripper mechanism includes a synchronization component, a first gripper, and a second gripper. The synchronization component is used to ensure that the first gripper and the second gripper are accurately positioned and move synchronously in opposite directions. The first gripper and the second gripper are respectively fixed to the synchronization component. The first gripping device in the first gripper and the second gripping device in the second gripper are located on the same horizontal straight line.

2. The synchronous circulating dual-gripper material transfer device as described in claim 1, characterized in that, The synchronization assembly includes a slide rail, a timing belt, a servo motor, and two timing pulley seats. The two timing pulley seats are respectively fixed to the upper ends of the first column and the second column. A timing pulley is rotatably connected inside the timing pulley. The two ends of the slide rail are respectively fixed to the timing pulley seats. The inner side of the timing belt meshes with the timing pulley. The output shaft of the servo motor is connected to one of the timing pulleys. The servo motor drives the timing pulley to rotate. A first slide table and a second slide table are fixed on both sides of the timing belt and are arranged oppositely. The first slide table and the second slide table move synchronously and in opposite directions.

3. The synchronous circulating dual-gripper material transfer device as described in claim 2, characterized in that, An origin position sensor, a left position sensor, and a right position sensor are fixed on the slide rail. The left position sensor is fixed to the left end of the slide rail, and the right position sensor is fixed to the right end of the slide rail. The origin position sensor, the left position sensor, and the right position sensor are used to detect the positions of the first slide table and the second slide table on the slide rail.

4. The synchronous circulating dual-gripper material transfer device as described in claim 2, characterized in that, The first gripper includes a first gripper bracket and a first lifting plate. The first gripper bracket is vertically fixed to the first slide table, and the first lifting plate is vertically slidably engaged with the first gripper bracket. The first lifting plate is driven to rise and fall by a first cylinder fixed to the first gripper bracket. A first gripping device is fixedly installed on the first lifting plate. The second gripper includes a second gripper bracket and a second lifting plate. The second gripper bracket is vertically fixed to the second slide table, and the second lifting plate is driven to rise and fall by a second cylinder fixed to the second gripper bracket. A second gripping device is fixedly installed on the second lifting plate. A avoidance mechanism is provided on the second lifting plate. When the first gripper and the second gripper intersect, the second gripper uses the avoidance mechanism to move the second gripping device closer to the second gripper bracket, avoiding a collision between the first gripping device and the second gripping device, which are located on the same horizontal line.

5. The synchronous circulating dual-gripper material transfer device as described in claim 4, characterized in that, The avoidance mechanism includes an avoidance cylinder, which is vertically slidably engaged with the second gripper bracket. The piston rod of the avoidance cylinder is fixedly connected to the second lifting plate, and the piston rod of the second cylinder is fixed to the cylinder body of the avoidance cylinder.

6. The synchronous circulating dual-gripper material transfer device as described in claim 4, characterized in that, Motors are fixedly mounted on the first lifting plate and the second lifting plate respectively. The drive shafts of the motors are respectively fixed to the first gripping device and the second gripping device. The motors are used to rotate the gripped material.

7. The synchronous circulating dual-gripper material transfer device as described in claim 1, characterized in that, The gripping device is a suction cup or a pneumatic gripper.

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