Part carrying device and system

Abstract

The utility model relates to the technical field of carrying robots, in particular to a part carrying device and system.The part carrying device comprises a base, a first driving mechanism, two sliding tables and two paws; the first driving mechanism is arranged on the base, the output end of the first driving mechanism is connected with the two sliding tables, and the first driving mechanism drives the two sliding tables to get close to each other or get away from each other in the transverse direction; the two sliding tables are detachably connected with the two paws through quick change mechanisms correspondingly. The device further comprises a second driving mechanism arranged on the sliding table, the quick-change mechanisms are rotationally connected to the sliding table, the output end of the second driving mechanism is connected with the two quick-change mechanisms, and the second driving mechanism drives the quick-change mechanisms to rotate in the vertical plane. The state of the gripper can be adjusted in a three-dimensional space, and the compatibility of carrying different parts is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of conveying robots, and more specifically, to a parts conveying device and system. Background Technology

[0002] Currently, there are two technical solutions for switching the grippers of existing workshop transport robots: the traditional method, which involves manually disassembling and installing the robotic gripper, with personnel using a dial indicator to confirm its installation accuracy. Since installation accuracy relies on human intervention, significant deviations can lead to collisions, and this method is time-consuming and requires a large number of personnel. The automated machining line uses an integral gantry gripper, which automatically switches to the integral gantry gripper during machine type switching. This integral gantry gripper is heavy and uses a quick-change locking device, with accuracy relying on positioning pins. However, malfunctions are prone to occur during switching, such as seals falling off or positioning pins becoming inaccurate. Frequent and long-term switching makes it difficult to guarantee accuracy. During maintenance, there is a risk of human error causing the quick-change device to loosen the gripper, resulting in it falling from a height, making repair and recovery extremely difficult.

[0003] Existing technology discloses a quick-change servo gripper assembly for grasping valve bodies, including a base and a drive mechanism and a quick-change mechanism mounted on the base. The quick-change mechanism includes a pair of slides and grippers, with the slides mounted on a slide rail and a quick-change connection structure between the gripper and the slide. The drive mechanism includes a lead screw with positive and negative threads and a drive motor that drives the lead screw to rotate. The positive and negative threads are respectively connected to the two slides. This solution allows for quick gripper changes; however, after the change is completed, the gripper and slides only move along the axial direction of the lead screw, making it impossible to adjust the gripper's state in three-dimensional space, resulting in low compatibility. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a parts handling device and system that can adjust the state of the gripper in three-dimensional space to improve the compatibility of handling different parts.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a parts conveying device is provided, including a base, a first driving mechanism, two slides, and two grippers; the first driving mechanism is disposed on the base, and the output end of the first driving mechanism is respectively connected to the two slides, and the first driving mechanism drives the two slides to move closer or further apart in the lateral direction; the two slides are respectively detachably connected to the two grippers through quick-change mechanisms; a second driving mechanism is also included, which is mounted on the slides, and the quick-change mechanisms are rotatably connected to the slides, and the output end of the second driving mechanism is respectively connected to the two quick-change mechanisms, and the second driving mechanism drives the quick-change mechanisms to rotate in the vertical plane.

[0006] The parts conveying device of this utility model can quickly separate and combine the gripper and the slide table through a quick-change mechanism to change the gripper type. The first drive mechanism can drive the slide table to move, thereby adjusting the distance between the two grippers to meet the conveying needs of parts of different specifications and sizes. At the same time, the second drive mechanism can drive the quick-change mechanism and the gripper to rotate in the vertical plane, which can realize the three-dimensional adjustment of the gripper and improve the compatibility of the device.

[0007] Furthermore, the two slides are respectively fixedly provided with a first bracket and a second bracket, and the two quick-change mechanisms are respectively rotatably mounted on the first bracket and the second bracket; the second drive mechanism includes a second motor, a drive gear, a transmission shaft, two first transmission gears, a pair of intermediate transmission gears, and two driven gears. The second motor is mounted on the first bracket, the drive gear is rotatably mounted on the first bracket, the output shaft of the second motor is coaxially connected to the drive gear, the two first transmission gears are respectively rotatably mounted on the first bracket and the second bracket, and the two first transmission gears are connected by transmission through the transmission shaft; the pair of intermediate transmission gears are respectively rotatably mounted on the first bracket and the second bracket, the two driven gears are respectively coaxially fixedly connected to the two quick-change mechanisms, the drive gear meshes with the corresponding first transmission gear, and the first transmission gear is connected by transmission through the intermediate transmission gear to the driven gear.

[0008] Furthermore, both the first bracket and the second bracket are provided with cavities, and the driving gear, the first transmission gear, the intermediate transmission gear and the driven gear are all located in the cavities.

[0009] Furthermore, the quick-change mechanism includes a pneumatic chuck and a rod disposed on the gripper. The pneumatic chuck is used to clamp the rod and is rotatably mounted on the slide table.

[0010] Furthermore, one end of the insertion rod is provided with a guide head, the outer diameter of which gradually increases from the end away from the gripper to the end closer to the gripper, and a groove is provided circumferentially on the guide head, and the pneumatic chuck is clamped in the groove.

[0011] Furthermore, the first driving mechanism includes a first motor, a lead screw, and a slide bar. The first motor is mounted on the base, the lead screw is rotatably mounted on the base, the first motor is drivingly connected to the lead screw, the two ends of the lead screw are provided with threads in opposite directions, the two slides are slidably connected to the two threads respectively, the slide bar is fixedly mounted on the base and arranged parallel to the lead screw, and the two slides are slidably connected to the slide bar respectively.

[0012] Furthermore, the first drive mechanism also includes a synchronous belt drive assembly, which includes a drive pulley, a driven pulley, and a belt. The first motor is mounted on the top of the base, and the lead screw is rotatably mounted on the bottom of the base. The output shaft of the first motor is fixedly connected to the drive pulley, and the driven pulley is coaxially fixedly connected to one end of the lead screw. The belt is wound around the drive pulley and the driven pulley.

[0013] Furthermore, each of the slides includes a nut and a slider that are fixedly connected, the nut being slidably connected to the thread, and the slider being slidably connected to the slide rod.

[0014] A parts handling system includes the aforementioned parts handling device, quick-change platform, and robot; the quick-change platform includes a frame and placement platforms respectively disposed on both sides of the frame, the placement platforms being used to position and place the gripper; the robot is connected to the base and is used to drive the parts handling device and cooperate with the quick-change platform to change the gripper.

[0015] The aforementioned parts conveying system features a quick-change mechanism between the gripper and the slide, enabling rapid separation and combination of the gripper and slide for gripper type change. Simultaneously, the first drive mechanism allows adjustment of the distance between the two grippers, accommodating parts of different sizes. The second drive mechanism drives the quick-change mechanism and grippers to rotate in a vertical plane, allowing for three-dimensional adjustment of the grippers and improving device compatibility. A quick-change platform can be used to hold the grippers, and the robot can move the entire parts conveying device to a position corresponding to the quick-change platform, enabling gripper type change via the first drive mechanism and the quick-change mechanism.

[0016] Furthermore, the quick-change table is provided with at least one, and at least two placement platforms are arranged in a vertical array on both sides of each quick-change table. A detector is provided on the top of the placement platform, a positioning element is provided on the placement platform, and a positioning hole is provided on the bottom of the gripper. The positioning element cooperates with the positioning hole to position the gripper.

[0017] Compared with the prior art, the beneficial effects of this invention are: the gripper state can be adjusted in three-dimensional space, improving the compatibility of handling different parts. Attached Figure Description

[0018] Figure 1 This is a perspective view of the parts conveying process in an embodiment of this utility model;

[0019] Figure 2 This is a schematic diagram of the parts conveying structure in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the hand claw structure in an embodiment of this utility model;

[0021] Figure 4 This is a schematic diagram of the quick-change stand in an embodiment of the present invention.

[0022] In the attached diagram: 1-base; 2-first drive mechanism; 21-first motor; 22-lead screw; 23-slide bar; 3-slide table; 31-nut; 32-slider; 33-first bracket; 34-second bracket; 4-second drive mechanism; 41-second motor; 42-drive shaft; 5-quick change mechanism; 51-pneumatic chuck; 52-insertion rod; 521-guide head; 522-groove; 6-gripper; 61-positioning hole; 7-quick change platform; 71-frame; 72-placement platform; 73-detector; 74-positioning component. Detailed Implementation

[0023] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0024] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0025] Example 1

[0026] This embodiment is the first embodiment of the parts conveying device, such as... Figure 1 , Figure 2 As shown, it includes a base 1, a first drive mechanism 2, two slides 3, and two grippers 6. The first drive mechanism 2 is located on the base 1, and its output end is connected to the two slides 3 respectively. The first drive mechanism 2 drives the two slides 3 to move closer or further apart in the lateral direction. The two slides 3 are detachably connected to the two grippers 6 through quick-change mechanisms 5 respectively. It also includes a second drive mechanism 4 installed on the slides 3. The quick-change mechanisms 5 are rotatably connected to the slides 3, and their output ends are connected to the two quick-change mechanisms 5 respectively. The second drive mechanism 4 drives the quick-change mechanisms 5 to rotate in the vertical plane.

[0027] The aforementioned parts conveying device, through the quick-change mechanism 5, can realize the rapid separation and combination of the gripper 6 and the slide table 3 for gripper 6 type change. The first drive mechanism 2 can drive the slide table 3 to move, thereby adjusting the distance between the two grippers 6 to meet the conveying needs of parts of different specifications and sizes. At the same time, the second drive mechanism 4 can drive the quick-change mechanism 5 and the gripper 6 to rotate in the vertical plane, realizing the three-dimensional adjustment of the gripper 6 and improving the compatibility of the device.

[0028] like Figure 1 , Figure 2 As shown, two slides 3 are respectively fixedly mounted with a first bracket 33 and a second bracket 34, and two quick-change mechanisms 5 are respectively rotatably mounted on the first bracket 33 and the second bracket 34; the second drive mechanism 4 includes a second motor 41, a drive gear, a transmission shaft 42, two first transmission gears, a pair of intermediate transmission gears, and two driven gears. The second motor 41 is mounted on the first bracket 33, the drive gear is rotatably mounted on the first bracket 33, and the output shaft of the second motor 41 is coaxially connected to the drive gear. The two first transmission gears are respectively rotatably mounted on the first bracket 33 and the second bracket 34, and the two first transmission gears are connected by transmission through the transmission shaft 42; the pair of intermediate transmission gears are respectively rotatably mounted on the first bracket 33 and the second bracket 34, and the two driven gears are respectively coaxially fixedly connected to the two quick-change mechanisms 5. The drive gear meshes with the corresponding first transmission gear, and the first transmission gear is connected by transmission through the intermediate transmission gear to the driven gear. Specifically, there is at least one pair of intermediate transmission gears, and two or more pairs can be set according to actual needs. When there are two or more pairs of intermediate transmission gears, adjacent intermediate transmission gears mesh. When it is necessary to adjust the state of the gripper 6 in three-dimensional space, the second motor 41 drives the drive gear and the first transmission gear meshing with the drive gear to rotate, drives another first transmission gear to rotate synchronously through the transmission shaft 42, and drives two driven gears and quick-change mechanism 5 to rotate through the intermediate transmission gear, thereby driving the gripper 6 to rotate.

[0029] Both the first support 33 and the second support 34 are equipped with cavities, in which the driving gear, the first transmission gear, the intermediate transmission gear, and the driven gear are all located. Each gear is sealed and protected within the cavity, requiring no maintenance and eliminating the need for additional waterproofing or dustproofing measures. Only the gripper 6 needs maintenance, which greatly reduces maintenance costs and improves maintenance efficiency.

[0030] like Figures 1 to 3As shown, the quick-change mechanism 5 includes a pneumatic clamp 51 and an insertion rod 52 mounted on the gripper 6. The pneumatic clamp 51 is used to clamp the insertion rod 52 and is rotatably mounted on the slide table 3. When it is necessary to change the gripper 6, after the base 1 is moved to the designated position, the pneumatic clamp 51 releases its grip on the insertion rod 52. The slide table 3 is then driven to move away from each other by the first drive mechanism 2, causing the insertion rod 52 to disengage from the insertion hole and separating the gripper 6. Then, the base 1 is moved to the preset position, and the slide table 3 is driven to move closer to each other by the first drive mechanism 2, causing the insertion rod 52 to be inserted into the insertion hole. The pneumatic clamp 51 then clamps the insertion rod 52 on the gripper 6 to be used, and the gripper 6 to be used is assembled to complete the change of gripper 6.

[0031] Specifically, such as Figure 3 As shown, one end of the insertion rod 52 is provided with a guide head 521. The outer diameter of the guide head 521 gradually increases from the end away from the gripper 6 to the end closer to the gripper 6, and a groove 522 is provided circumferentially on the guide head 521. The pneumatic clamping plate 51 is clamped in the groove 522. In practice, the end of the guide head 521 away from the gripper 6 is aligned with the insertion hole. The slide table 3 is driven to move towards each other by the first drive mechanism 2. The guide head 521 guides the insertion rod 52. When the insertion rod 52 is in place, the pneumatic clamping plate 51 clamps in the groove 522, realizing the fixed clamping of the gripper 6. At the same time, the groove 522 can prevent the axial movement of the insertion rod 52 and prevent the gripper 6 from falling off.

[0032] Example 2

[0033] This embodiment is the second embodiment of the parts conveying device. This embodiment is similar to the first embodiment, except that, as shown in the following... Figure 1 , Figure 2 As shown, the first drive mechanism 2 includes a first motor 21, a lead screw 22, and a slide bar 23. The first motor 21 is mounted on the base 1, and the lead screw 22 is rotatably mounted on the base 1. The first motor 21 and the lead screw 22 are connected in a transmission connection. The two ends of the lead screw 22 are provided with threads in opposite directions. Two slides 3 are slidably connected to the two threads respectively. The slide bar 23 is fixedly mounted on the base 1 and arranged parallel to the lead screw 22. The two slides 3 are slidably connected to the slide bar 23 respectively. In implementation, the first motor 21 drives the lead screw 22 to rotate. Under the guidance and limiting action of the slide bar 23, the two slides 3 move towards or away from each other, realizing the adjustment of the distance between the two grippers 6 located on the two slides 3 respectively, meeting the needs of handling parts of different specifications and sizes. At the same time, it can also meet the adjustment of the distance between the two slides 3 during the changeover process, preventing motion interference.

[0034] The first drive mechanism 2 also includes a synchronous belt drive assembly, which includes a driving pulley, a driven pulley, and a belt. A first motor 21 is mounted on the top of the base 1, and a lead screw 22 is rotatably mounted on the bottom of the base 1. The output shaft of the first motor 21 is fixedly connected to the driving pulley, and the driven pulley is coaxially fixedly connected to one end of the lead screw 22. The belt is wound around the driving pulley and the driven pulley. In implementation, the first motor 21 and the second motor 41 are respectively located at the top and bottom of the base 1 to prevent insufficient installation space. The first motor 21 drives the driving pulley to rotate, which in turn drives the belt and the driven pulley to move, thereby causing the lead screw 22 to rotate. Since the helical directions of the threads at both ends of the lead screw 22 are opposite, when the lead screw 22 rotates, the two slides 3 move towards or away from each other.

[0035] like Figure 2 As shown, each slide 3 includes a nut 31 and a slider 32 that are fixedly connected. The nut 31 is slidably connected to a threaded connection, and the slider 32 is slidably connected to a slide rod 23. In implementation, the lead screw 22 rotates, causing the nut 31 to slide, and the slider 32 and slide rod 23 are used for guidance and limiting, resulting in smooth transmission and high precision.

[0036] Example 3

[0037] This embodiment is a first embodiment of a parts handling system, including a parts handling device of embodiment one or embodiment two, a quick-change table 7, and a robot; as Figure 4 As shown, the quick-change platform 7 includes a frame 71 and placement platforms 72 respectively located on both sides of the frame 71. The placement platforms 72 are used to position and place the gripper 6. The robot is connected to the base 1 and is used to drive the parts conveying device and cooperate with the quick-change platform 7 to change the gripper 6.

[0038] The aforementioned parts conveying system, with a quick-change mechanism 5 between the gripper 6 and the slide table 3, allows for rapid separation and combination of the gripper 6 and the slide table 3, enabling gripper 6 to be changed. Simultaneously, the distance between the two grippers 6 can be adjusted via the first drive mechanism 2, making it suitable for handling parts of different sizes. The second drive mechanism 4 drives the quick-change mechanism 5 and the gripper 6 to rotate in the vertical plane, enabling three-dimensional adjustment of the gripper 6 and improving the device's compatibility. The quick-change platform 7 can be used to place the gripper 6, and the robot can move the entire parts conveying device to a position corresponding to the quick-change platform 7. The first drive mechanism 2 and the quick-change mechanism 5 enable gripper 6 to be changed.

[0039] The quick-change station 7 is equipped with at least one, such as Figure 4As shown, each quick-change stand 7 has at least two placement platforms 72 arranged vertically on both sides. The top of the placement platform 72 is equipped with a detector 73, and the placement platform 72 is equipped with a positioning element 74. The bottom of the gripper 6 is equipped with a positioning hole 61. The positioning element 74 and the positioning hole 61 cooperate to position the gripper 6. During the changeover, the robot controls the parts conveying device to move to the position corresponding to the empty placement platform 72 on the quick-change frame 7. The first drive device drives the two slides 3 to move closer to each other. When the detector 73 detects that the gripper 6 is in place, the robot controls the parts conveying device to move down. The positioning element 74 cooperates with the positioning hole 61 to position the gripper 6. The pneumatic chuck 51 releases the insertion rod 52. Then, the first drive device drives the two slides 3 to move away from each other, separating the gripper 6. Then, the robot controls the parts conveying device to move to the position corresponding to another placement platform 72 on the quick-change frame 7 where the gripper 6 is placed. The first drive device drives the two slides 3 to move closer to each other, so that the insertion rod 52 is inserted into the insertion hole. Then, the pneumatic chuck 51 clamps the insertion rod 52, assembling the gripper 6. Finally, the robot controls the parts conveying device to move up, disengaging the positioning element 74, completing the changeover of the gripper 6.

[0040] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0041] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A parts conveying device, comprising a base (1), a first drive mechanism (2), two slides (3), and two grippers (6); the first drive mechanism (2) is disposed on the base (1), the output end of the first drive mechanism (2) is respectively connected to the two slides (3), and the first drive mechanism (2) drives the two slides (3) to move laterally closer or further apart; the two slides (3) are detachably connected to the two grippers (6) respectively via quick-change mechanisms (5); characterized in that, It also includes a second drive mechanism (4) mounted on the slide (3), the quick-change mechanism (5) is rotatably connected to the slide (3), the output end of the second drive mechanism (4) is connected to the two quick-change mechanisms (5) respectively, and the second drive mechanism (4) drives the quick-change mechanism (5) to rotate in the vertical plane.

2. The component conveying device according to claim 1, characterized by The two slides (3) are respectively fixedly provided with a first bracket (33) and a second bracket (34), and the two quick-change mechanisms (5) are respectively rotatably installed on the first bracket (33) and the second bracket (34); the second drive mechanism (4) includes a second motor (41), a drive gear, a transmission shaft (42), two first transmission gears, a pair of intermediate transmission gears and two driven gears. The second motor (41) is installed on the first bracket (33), the drive gear is rotatably installed on the first bracket (33), the output shaft of the second motor (41) is coaxially connected to the drive gear, the two first transmission gears are respectively rotatably installed on the first bracket (33) and the second bracket (34), and the two first transmission gears are connected by transmission through the transmission shaft (42); the pair of intermediate transmission gears are respectively rotatably installed on the first bracket (33) and the second bracket (34), the two driven gears are respectively coaxially fixedly connected to the two quick-change mechanisms (5), the drive gear meshes with the corresponding first transmission gear, and the first transmission gear is connected by transmission through the intermediate transmission gear and the driven gear.

3. The component handling device according to claim 2, characterized in that Both the first bracket (33) and the second bracket (34) are provided with cavities, and the driving gear, the first transmission gear, the intermediate transmission gear and the driven gear are all located in the cavities.

4. The component handling device according to claim 1, characterized in that The quick-change mechanism (5) includes a pneumatic chuck (51) and a plug rod (52) disposed on the gripper (6). The pneumatic chuck (51) is used to clamp the plug rod (52). The pneumatic chuck (51) is rotatably mounted on the slide table (3).

5. The component handling device according to claim 4, characterized in that One end of the insertion rod (52) is provided with a guide head (521). The outer diameter of the guide head (521) gradually increases from the end away from the claw (6) to the end closer to the claw (6). The guide head (521) is provided with a groove (522) in the circumferential direction. The pneumatic chuck (51) is clamped in the groove (522).

6. The component handling device according to claim 1, characterized in that The first drive mechanism (2) includes a first motor (21), a lead screw (22) and a slide bar (23). The first motor (21) is mounted on the base (1), and the lead screw (22) is rotatably mounted on the base (1). The first motor (21) is connected to the lead screw (22) in a transmission connection. The two ends of the lead screw (22) are provided with threads with opposite helical directions. The two slides (3) are slidably connected to the two threads respectively. The slide bar (23) is fixedly mounted on the base (1) and is arranged parallel to the lead screw (22). The two slides (3) are slidably connected to the slide bar (23) respectively.

7. The component handling device according to claim 6, characterized in that The first drive mechanism (2) further includes a synchronous belt drive assembly, which includes a drive pulley, a driven pulley and a belt. The first motor (21) is mounted on the top of the base (1), and the lead screw (22) is rotatably mounted on the bottom of the base (1). The output shaft of the first motor (21) is fixedly connected to the drive pulley, and the driven pulley is coaxially fixedly connected to one end of the lead screw (22). The belt is wound around the drive pulley and the driven pulley.

8. The component handling device according to claim 6, characterized in that Each of the slides (3) includes a nut (31) and a slider (32) that are fixedly connected, the nut (31) being slidably connected to the thread, and the slider (32) being slidably connected to the slide rod (23).

9. A parts handling system characterized by, The invention includes a parts conveying device, a quick-change table (7), and a robot as described in any one of claims 1 to 8; the quick-change table (7) includes a frame (71) and placement platforms (72) respectively disposed on both sides of the frame (71), the placement platforms (72) being used to position and place the gripper (6); the robot is connected to the base (1) and is used to drive the parts conveying device and cooperate with the quick-change table (7) to change the gripper (6).

10. The component handling system of claim 9, wherein The quick-change stand (7) is provided with at least one, and at least two placement platforms (72) are arranged in a vertical array on both sides of each quick-change stand (7). The top of the placement platform (72) is provided with a detector (73), the placement platform (72) is provided with a positioning element (74), and the bottom of the gripper (6) is provided with a positioning hole (61). The positioning element (74) cooperates with the positioning hole (61) to position the gripper (6).

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