Clamping device for truss robot

Abstract

The utility model belongs to the technical field of industrial automation, and particularly relates to a clamping device for a truss robot. A bottom plate is installed at the bottom end of a connecting rod, a sliding groove is formed in the bottom plate, a two-way lead screw is rotationally arranged in the sliding groove, positioning rods are symmetrically arranged on the two sides of the two-way lead screw, and the positioning rods are connected with the two-way lead screw. A driven gear is arranged at the top end of the two-way screw rod; the bearing air cylinder can provide power for linear motion, the height position of the bearing plate can be adjusted according to needs so as to adapt to workpieces of different heights, the bearing motor can drive the rotating rod to rotate so as to drive the bearing plate to rotate, and therefore the bearing plate can bear the workpieces at the proper angle and position, and the work efficiency is improved. After the clamping plate clamps the workpiece, the bearing plate can provide support in time, the design can effectively prevent the workpiece from falling or shaking due to gravity or external force in the carrying process, the device is particularly suitable for large-sized, heavy or irregular-shaped workpieces, and the practicability and universality of the device are enhanced.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation technology, specifically a clamping device for gantry robots. Background Technology

[0002] Gantry robots, also known as Cartesian coordinate robots or gantry robots, are multi-functional, multi-degree-of-freedom, and manipulators in industrial applications that can achieve automatic control, reprogrammability, multi-functionality, multi-degree-of-freedom, and spatial Cartesian relationships between their degrees of freedom. They are capable of moving objects and manipulating tools to complete various tasks.

[0003] The specific design and structure of gripping devices for gantry robots may vary depending on the manufacturer and application requirements, but generally they include the following key components: gripper mechanism and transmission mechanism. The gripper mechanism is the part that directly contacts the object being gripped. Its structure is designed according to factors such as the shape, size, weight, and surface characteristics of the object being gripped. Common types include parallel grippers, suitable for gripping objects with flat surfaces; and V-shaped grippers, which can be used to grip cylindrical objects. The transmission mechanism is used to transmit the power from the drive mechanism to the gripper mechanism to realize the opening and closing movement of the gripper. Common transmission methods include gear and rack transmission, lead screw and nut transmission, and linkage transmission.

[0004] Currently available clamping devices for gantry robots, when used for large, heavy, or irregularly shaped workpieces, rely solely on clamping plates for gripping. During handling, these devices may fall or sway due to instability of the center of gravity, gravity, or external interference. If the device cannot adapt well to different workpieces, it may require frequent replacement or adjustment of components when handling different types of workpieces, or it may even be unable to handle certain special workpieces, which will seriously affect handling efficiency. Utility Model Content

[0005] To overcome the shortcomings of existing technologies and address the problems of existing equipment, this utility model proposes a clamping device for gantry robots.

[0006] The technical solution adopted by this utility model to solve its technical problem is a clamping device for a gantry robot, including a connecting rod, a base plate installed at the bottom end of the connecting rod, a groove formed on the base plate, a bidirectional lead screw rotatably arranged in the groove, positioning rods symmetrically arranged on both sides of the bidirectional lead screw, a driven gear at the top end of the bidirectional lead screw, a motor bracket on the base plate, a clamping motor on the motor bracket, a transmission gear on the output end of the clamping motor, and the transmission gear meshing with the driven gear for transmission; two transmission sliders are slidably arranged in the groove, each transmission slider having a threaded hole, each end of the bidirectional lead screw rotatably passing through one transmission slider, and each of the two positioning rods passing through a positioning hole formed on the transmission slider.

[0007] Preferably, each of the two transmission sliders is provided with a fixed plate at its bottom end, and each fixed plate is provided with a plurality of buffer springs. The other end of each buffer spring is provided with a clamping plate. The buffer springs provide a buffering effect during the clamping process. When clamping the workpiece, the buffer springs can absorb part of the impact force, avoiding damage to the workpiece surface due to excessive clamping force. At the same time, they can also adapt to workpieces of different sizes and shapes, making the clamping more flexible and reliable. The clamping plate is in direct contact with the workpiece, which can increase the contact area with the workpiece, improve the friction, and ensure a more secure clamping of the workpiece.

[0008] Preferably, a cylinder mounting bracket is provided on each side of the base plate, and a support cylinder is installed on the two cylinder mounting brackets. A mounting plate is provided at the output end of the support cylinder, and a support motor is installed on the mounting plate. A rotating rod is provided at the output end of the support motor, and a support plate is welded to the bottom end of the rotating rod. The support cylinder can provide power for linear motion and can adjust the height position of the support plate as needed to adapt to workpieces of different heights. It has the advantages of fast response speed, large output force, and simple structure, and can quickly complete the lifting and lowering action of the support plate.

[0009] Preferably, both cylinder mounting brackets are provided with threaded holes, and fixing nuts are rotatably installed in the threaded holes. Both cylinder mounting brackets are fixed to the base plate by fixing nuts. The cylinder mounting brackets provide a foundation for the installation and fixation of the cylinders, ensuring the stability and accuracy of the cylinder installation. The fixing nuts fix the cylinder mounting brackets to the base plate by threaded connection. This connection method is convenient for disassembly and installation, and facilitates the maintenance, replacement or adjustment of the cylinder position, thus improving the maintainability of the device.

[0010] Preferably, the two clamping plates and the two supporting plates are arranged at right angles. The two clamping plates are used to clamp the workpiece, and the two supporting plates are used to support the workpiece after it is clamped by the two clamping plates. The right angle arrangement allows the supporting plates to provide stable support from the side after the workpiece is clamped. Together with the clamping plates, they form a more stable clamping and supporting structure. This design is particularly suitable for some regularly shaped workpieces that require side support, and can effectively prevent the workpiece from tilting or falling during transportation.

[0011] Preferably, the clamping motor, the two supporting cylinders, and the two supporting motors are all externally connected to a controller. The controller is used to control the start and stop of the clamping motor, the two supporting cylinders, and the two supporting motors. The controller controls the start and stop of the externally connected clamping motor, the two supporting cylinders, and the two supporting motors, thereby realizing the automated and intelligent operation of the entire clamping device.

[0012] The advantages of this invention are as follows: the supporting cylinder can provide the power for linear motion, and the height of the supporting plate can be adjusted as needed to accommodate workpieces of different heights. The supporting motor can drive the rotating rod to rotate, thereby driving the supporting plate to rotate. This allows the supporting plate to support the workpiece at a suitable angle and position. After the clamping plate has finished clamping the workpiece, the supporting plate can provide timely support. This design can effectively prevent the workpiece from falling or shaking due to gravity or external force during transportation. It is especially suitable for large, heavy or irregularly shaped workpieces, enhancing the practicality and versatility of the device. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure;

[0015] Figure 2 This is a schematic diagram of the overall cross-sectional structure;

[0016] Figure 3 This is a schematic diagram of the clamping device structure;

[0017] Figure 4 This is a schematic diagram of the support device structure;

[0018] Figure 5 This is a partial structural diagram of the support device;

[0019] In the diagram: 1. Connecting rod; 2. Base plate; 3. Slide groove; 4. Positioning rod; 5. Two-way lead screw; 6. Transmission slider; 7. Fixing plate; 8. Buffer spring; 9. Clamping plate; 10. Motor bracket; 11. Motor clamping; 12. Transmission gear; 13. Driven gear; 14. Cylinder mounting bracket; 15. Cylinder support; 16. Fixing nut; 17. Mounting plate; 18. Motor support; 19. Rotating rod; 20. Support plate. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0021] Please see Figure 1-5 As shown, a clamping device for a gantry robot includes a connecting rod 1, a base plate 2 mounted on the bottom end of the connecting rod 1, a sliding groove 3 formed on the base plate 2, a bidirectional lead screw 5 rotatably mounted in the sliding groove 3, positioning rods symmetrically arranged on both sides of the bidirectional lead screw 5, a driven gear 13 mounted on the top end of the bidirectional lead screw 5, a motor bracket 10 mounted on the base plate 2, a clamping motor 11 mounted on the motor bracket 10, a transmission gear 12 mounted on the output end of the clamping motor 11, and the transmission gear 12 meshing with the driven gear 13 for transmission.

[0022] During operation, in order to clamp the workpiece, the controller sends a start signal to the clamping motor 11, and the clamping motor 11 starts to run. Its output end drives the transmission gear 12 to rotate. Since the transmission gear 12 and the driven gear 13 mesh with each other, the rotation of the transmission gear 12 will drive the driven gear 13 to rotate synchronously. The rotation of the driven gear 13 causes the bidirectional lead screw 5 to rotate in the slide groove 3. The threads at both ends of the bidirectional lead screw 5 turn in opposite directions. When the bidirectional lead screw 5 rotates, the two transmission sliders 6 that are engaged with it through the threaded holes will move towards each other in the slide groove 3. As the transmission sliders 6 move towards each other, the two clamping plates 9 will gradually approach the workpiece. When the clamping plates 9 contact the workpiece, the buffer spring 8 will play a buffering role. When the buffer spring 8 is fully compressed, the workpiece is stably clamped.

[0023] Two transmission sliders 6 are slidably arranged in the groove 3. Both transmission sliders 6 are provided with threaded holes. The two ends of the bidirectional lead screw 5 rotate through one transmission slider 6 respectively. The two positioning rods 4 pass through a positioning hole opened on the transmission slider 6 respectively. A fixing plate 7 is provided at the bottom of both transmission sliders 6. Several buffer springs 8 are provided on both fixing plates 7. A clamping plate 9 is provided at the other end of the buffer springs 8.

[0024] During operation, in order to release the workpiece, the controller reverses the clamping motor 11 to make it rotate in reverse, the bidirectional lead screw 5 also rotates in reverse, and the two transmission sliders 6 move in opposite directions, causing the two clamping plates 9 to release the workpiece. At the same time, the controller controls the supporting cylinder 15 and the supporting motor 18 to make the supporting plate 20 return to the initial position, completing the entire work cycle.

[0025] A cylinder mounting bracket 14 is provided on each side of the base plate 2. A supporting cylinder 15 is installed on the two cylinder mounting brackets 14. A mounting plate 17 is provided at the output end of the supporting cylinder 15. A supporting motor 18 is installed on the mounting plate 17. A rotating rod 19 is provided at the output end of the supporting motor 18. A supporting plate 20 is welded to the bottom end of the rotating rod 19. Threaded holes are provided on both cylinder mounting brackets 14. A fixing nut 16 is rotatably installed in the threaded holes. Both cylinder mounting brackets 14 are fixedly installed on the base plate 2 by fixing nuts 16.

[0026] The two clamping plates 9 and the two supporting plates 20 are arranged at right angles. The two clamping plates 9 are used to clamp the workpiece, and the two supporting plates 20 are used to support the workpiece after it is clamped by the two clamping plates 9. The clamping motor 11, the two supporting cylinders 15 and the two supporting motors 18 are all externally connected to a controller. The controller is used to control the start and stop of the clamping motor 11, the two supporting cylinders 15 and the two supporting motors 18.

[0027] During operation, in order to support the workpiece, after the two clamping plates 9 have finished clamping the workpiece, the controller sends a start signal to the support cylinder 15. The support cylinder 15 starts working, and its output end pushes the mounting plate 17 to make linear motion, thereby adjusting the height position of the support motor 18 mounted on the mounting plate 17, as well as the rotating rod 19 connected to the support motor 18 and the support plate 20, so that the support plate 20 can move to a suitable support position. When the support plate 20 moves to a suitable height, the controller sends a control signal to the support motor 18 according to the specific situation of the workpiece. The support motor 18 starts to run, and its output end drives the rotating rod 19 to rotate. The support plate 20 welded to the bottom end of the rotating rod 19 then rotates to a suitable angle, providing a stable support for the workpiece.

[0028] Working principle: In order to perform a workpiece clamping operation, the controller sends a start signal to the clamping motor 11, and the clamping motor 11 starts to run. Its output end drives the transmission gear 12 to rotate. Since the transmission gear 12 and the driven gear 13 mesh with each other, the rotation of the transmission gear 12 will drive the driven gear 13 to rotate synchronously. The rotation of the driven gear 13 causes the bidirectional lead screw 5 to rotate in the slide groove 3. The threads at both ends of the bidirectional lead screw 5 have opposite directions. When the bidirectional lead screw 5 rotates, the two transmission sliders 6 that are engaged with it through the threaded holes will move towards each other in the slide groove 3. As the transmission sliders 6 move towards each other, the two clamping plates 9 will gradually approach the workpiece. When the clamping plates 9 contact the workpiece, the buffer spring 8 will play a buffering role. When the buffer spring 8 is fully compressed, the workpiece is stably clamped.

[0029] To support the workpiece, after the two clamping plates 9 have clamped the workpiece, the controller sends a start signal to the support cylinder 15. The support cylinder 15 starts working, and its output end pushes the mounting plate 17 to make linear motion, thereby adjusting the height position of the support motor 18 mounted on the mounting plate 17, the rotating rod 19 connected to the support motor 18, and the support plate 20, so that the support plate 20 can move to a suitable support position. When the support plate 20 moves to a suitable height, the controller sends a control signal to the support motor 18 according to the specific situation of the workpiece. The support motor 18 starts to run, and its output end drives the rotating rod 19 to rotate. The support plate 20 welded to the bottom of the rotating rod 19 then rotates to a suitable angle, providing a stable support for the workpiece.

[0030] In order to release the workpiece, the controller reverses the clamping motor 11 to make it rotate in reverse, the bidirectional lead screw 5 also rotates in reverse, the two transmission sliders 6 move in opposite directions, driving the two clamping plates 9 to release the workpiece. At the same time, the controller controls the support cylinder 15 and the support motor 18 to make the support plate 20 return to the initial position, completing the entire work cycle.

[0031] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A gripping device for a truss robot, characterized by: Includes a connecting rod (1), a base plate (2) is installed at the bottom end of the connecting rod (1), a sliding groove (3) is provided on the base plate (2), a bidirectional lead screw (5) is rotatably arranged in the sliding groove (3), positioning rods (4) are symmetrically arranged on both sides of the bidirectional lead screw (5), a driven gear (13) is provided at the top of the bidirectional lead screw (5), a motor bracket (10) is provided on the base plate (2), a clamping motor (11) is provided on the motor bracket (10), a transmission gear (12) is provided on the output end of the clamping motor (11), and the transmission gear (12) meshes with the driven gear (13) for transmission. Two transmission sliders (6) are slidably arranged in the groove (3). Both transmission sliders (6) are provided with threaded holes. The two ends of the bidirectional lead screw (5) rotate through one transmission slider (6) respectively. The two positioning rods (4) pass through a positioning hole opened on the transmission slider (6) respectively.

2. The gripping device for a truss robot according to claim 1, characterized by: Each of the two transmission sliders (6) has a fixed plate (7) at its bottom end, and each of the two fixed plates (7) has a plurality of buffer springs (8). The other end of each buffer spring (8) has a clamping plate (9).

3. The gripping device for a truss robot according to claim 1, characterized by: A cylinder mounting bracket (14) is provided on each side of the base plate (2). A supporting cylinder (15) is installed on the two cylinder mounting brackets (14). A mounting plate (17) is provided at the output end of the supporting cylinder (15). A supporting motor (18) is installed on the mounting plate (17). A rotating rod (19) is provided at the output end of the supporting motor (18). A supporting plate (20) is welded to the bottom end of the rotating rod (19).

4. The gripping device for a truss robot according to claim 3, characterized in that: Both cylinder mounting brackets (14) are provided with threaded holes, and a fixing nut (16) is rotatably installed in the threaded holes. Both cylinder mounting brackets (14) are fixed on the base plate (2) by the fixing nut (16).

5. The gripping device for a truss robot according to claim 2, characterized by: The two clamping plates (9) are arranged at right angles to the two supporting plates (20), and the two clamping plates (9) are used to clamp the workpiece, and the two supporting plates (20) are used to support the workpiece after the two clamping plates (9) clamp it.

6. The gripping device for a truss robot according to claim 1, characterized by: Each of the clamping motor (11), the two supporting cylinders (15) and the two supporting motors (18) is connected to an external controller, which is used to control the start and stop of the clamping motor (11), the two supporting cylinders (15) and the two supporting motors (18).

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