Interactive hand clamping mechanism

Abstract

The utility model discloses an interactive hand clamping mechanism, which comprises an X-axis cross beam, an X-axis cross beam, an X-axis cross beam, a Y-axis cross beam, a Y-axis cross beam, a Y-axis cross beam and a Y-axis cross beam, the upper clamping hand module reciprocates along the X-axis cross beam in the upper clamping hand moving area; the upper clamping hand module comprises an upper clamping hand, an upper clamping hand X-axis translation seat and a Y-axis driving unit; the Y-axis driving unit drives the upper clamping hand to extend towards one side part of the X-axis cross beam to wait for materials and to retract to avoid one side part deviating from the X-axis cross beam; the lower clamping hand module reciprocates along the X-axis cross beam in the lower clamping hand moving area; the lower clamping hand module comprises a lower clamping hand, a lower clamping hand X-axis translation seat and a Z-axis driving unit for driving the lower clamping hand to move in the Z-axis direction relative to the lower clamping hand X-axis translation seat; and the Z-axis driving unit drives the lower clamping hand to ascend for material waiting and descend for avoiding. The structural compactness, the movement precision, the working stability and the structural reliability are improved.

Description

Technical Field

[0001] This utility model relates to the field of woodworking machinery, and in particular to an interactive gripping mechanism. Background Technology

[0002] With the rapid development of the modern furniture manufacturing industry, the requirements for processing precision and production efficiency of panel furniture are increasing. Automated woodworking equipment such as six-sided drills and CNC panel saws have become the mainstream equipment for processes such as drilling and grooving of panels. Among these machines, the gripper mechanism, as the core component for holding and conveying panels, directly affects the processing cycle and finished product quality of the entire machine due to the continuity of its movements and the accuracy of its positioning.

[0003] Currently, most woodworking equipment on the market is equipped with two sets of gripper mechanisms, which complete the drilling of boards through the alternating movements of the two sets of grippers. For example, in a six-sided drilling machine, the grippers hold the board and move it along the crossbeam, transporting the board to each processing station, and the drill bit assembly drills holes on all six sides of the board. In existing technology, such as an intelligent double-gripper crossbeam alternating processing device, alternating processing is achieved through two symmetrically set stations, which improves processing efficiency to a certain extent. However, it still has some shortcomings: the front and rear height settings require the gripper structure to be extended, which on the one hand leads to a large and less compact size of the mechanism, and more importantly, during operation, the grippers extend through the cantilever structure to avoid obstacles. Under high-speed drilling or heavy-load conditions, the cantilever structure is prone to vibration and deformation, resulting in unstable gripping and affecting accuracy; moreover, its avoidance and lifting movements have a large stroke, limiting further improvement in efficiency.

[0004] Therefore, a new technical solution needs to be researched to address the above problems. Utility Model Content

[0005] In view of this, the present invention addresses the deficiencies of the existing technology, and its main objective is to provide an interactive gripping mechanism. Through the structural arrangement of an upper gripping module and a lower gripping module, it clearly distinguishes that the upper gripping module is responsible for extending / retracting along the Y-axis, while the lower gripping module is responsible for rising / falling along the Z-axis. This results in clearer action logic, larger clearance space, and faster and smoother clearance actions, improving the flexibility and efficiency of alternating actions. At the same time, the spatial layout is optimized, and the entire cyclic gripping mechanism is improved in terms of structural compactness, motion accuracy, working stability, and structural reliability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An interactive gripper mechanism, comprising:

[0008] The X-axis crossbeam has its top serving as the upper gripper area and one side serving as the lower gripper area.

[0009] An upper gripper module reciprocates along the X-axis crossbeam in the upper gripper's active area; the upper gripper module includes an upper gripper, an upper gripper X-axis translation seat, and a Y-axis drive unit that drives the upper gripper to displace relative to the upper gripper X-axis translation seat along the Y-axis; the Y-axis drive unit drives the upper gripper to extend outward toward one side of the X-axis crossbeam for material preparation and retract away from the side of the X-axis crossbeam to avoid material movement;

[0010] The lower gripper module reciprocates along the X-axis of the crossbeam in the lower gripper's active area; the lower gripper module includes a lower gripper, a lower gripper X-axis translation seat, and a Z-axis drive unit that drives the lower gripper to move relative to the lower gripper X-axis translation seat along the Z-axis; the Z-axis drive unit drives the lower gripper to rise to await material and to descend to avoid it.

[0011] As a preferred embodiment, the Y-axis drive unit and the upper gripper are connected together to a Y-axis translation seat. The Y-axis drive unit includes a swing cylinder and a first gear driven to rotate by the swing cylinder. The rotation center axis of the first gear is arranged along the Z-axis. The upper gripper X-axis translation seat is provided with a Y-axis rack. The first gear meshes with the Y-axis rack. When the swing cylinder is working, the first gear rotates along the Y-axis rack, so that the Y-axis drive unit, the upper gripper, and the Y-axis translation seat are displaced together relative to the upper gripper X-axis translation seat along the Y-axis.

[0012] As a preferred embodiment, the upper gripper X-axis translation seat is provided with a Y-axis guide rail, and the Y-axis translation seat is displaced along the Y-axis guide rail.

[0013] As a preferred embodiment, the Z-axis drive unit includes a lifting cylinder, a first Z-axis rack, and a tower wheel. The lower gripper is connected to a Z-axis lifting seat, and a second Z-axis rack is provided on the Z-axis lifting seat. The lifting cylinder drives the first Z-axis rack to move up and down. The first Z-axis rack meshes with the pinion of the tower wheel, and the pinion of the tower wheel meshes with the second Z-axis rack, causing the lower gripper to move along the Z-axis.

[0014] As a preferred embodiment, the lower gripper X-axis translation seat is further provided with a lower gripper height locking unit for positioning the rising position of the lower gripper.

[0015] As a preferred embodiment, the lower gripper height locking unit includes an X-axis cylinder and a locking block. The X-axis cylinder drives the locking block to move along the X-axis. A locking engagement part is provided on the Z-axis lifting seat. The locking block moves along the X-axis to the top of the locking engagement part to achieve a stop positioning. Moving away from the locking engagement part in the opposite direction unlocks the device.

[0016] As a preferred embodiment, the locking engagement part is a roller, and the central axis of the roller is arranged along the Y-axis.

[0017] As a preferred embodiment, the locking block is provided with a locking groove that extends through the locking block along the Y-axis. The locking groove has an inlet and outlet facing the locking mating part, and the upper stop arm of the locking groove achieves a stop positioning with the upper part of the locking mating part.

[0018] As a preferred embodiment, the X-axis crossbeam is a double crossbeam, which includes an upper crossbeam and a lower crossbeam arranged opposite each other, the upper gripper module is disposed on the top of the upper crossbeam, and the lower gripper module is disposed on one side of the lower crossbeam;

[0019] Alternatively, the X-axis crossbeam may be a single crossbeam, with the upper gripper module disposed on the top of the single crossbeam and the lower gripper module disposed on one side of the single crossbeam.

[0020] As a preferred embodiment, there are two upper gripper modules and two lower gripper modules.

[0021] Compared with the prior art, this utility model has significant advantages and beneficial effects. Specifically, as can be seen from the above technical solution, it mainly distinguishes between the upper and lower gripper modules through the structural arrangement of the upper gripper module responsible for Y-axis (horizontal extension / retraction) displacement and the lower gripper module responsible for Z-axis (vertical upward / downward) displacement. This division of labor makes the action logic clearer, the avoidance space larger, and the avoidance action fast and stable. The horizontal avoidance of the upper gripper and the vertical avoidance of the lower gripper form a three-dimensional intersection, which greatly improves the flexibility and efficiency of alternating actions. At the same time, by optimizing the spatial layout, that is, by setting the top and side of the crossbeam as independent gripper activity areas, physical isolation in space is achieved, avoiding the risk of collision between the upper and lower gripper modules when moving in the X-axis, and providing a safe and clear spatial layout for subsequent alternating processing.

[0022] Furthermore, by refining the specific division of labor among motion axes, introducing gear and rack precision transmission, and adding a mechanical locking unit, the entire cyclic gripper mechanism has been significantly improved in terms of structural compactness, motion accuracy, working stability, and structural reliability.

[0023] To more clearly illustrate the structural features and effects of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0024] Figure 1 This is a perspective view of a double-beam circulating gripper mechanism according to Embodiment 1 of this utility model;

[0025] Figure 2 yes Figure 1 A magnified view of a portion of the image;

[0026] Figure 3 This is a perspective view of the upper clamping hand module according to Embodiment 1 of this utility model;

[0027] Figure 4 This is a perspective view of the lower clamping hand module according to Embodiment 1 of this utility model;

[0028] Figure 5 This is a diagram showing the displacement direction of the upper clamping module on the crossbeam along the X-axis in Embodiment 1 of this utility model;

[0029] Figure 6 This is a diagram showing the displacement direction of the lower clamping module on the X-axis of the crossbeam in Embodiment 1 of this utility model;

[0030] Figure 7 This is a perspective view of a single-beam circulating gripper mechanism according to Embodiment 2 of this utility model.

[0031] Reference numerals: Single crossbeam 100, upper crossbeam 101, lower crossbeam 102, upper gripper module 200, top X-axis guide rail 1011, side X-axis guide rail 1021, upper gripper 201, upper gripper X-axis translation seat 202, swing cylinder 203, first gear 204, Y-axis rack 205, Y-axis guide rail 206, lower gripper module 300, lower gripper 301, lower gripper X-axis translation seat 302, Z-axis lifting seat 303, lifting cylinder 304, first Z-axis rack 305, pagoda wheel 306, second Z-axis rack 307, locking mating part 308, adjusting mounting seat 3081, X-axis cylinder 309, locking block 310, locking groove 311, upper stop arm 312. Detailed Implementation

[0032] Please refer to Figures 1 to 7 As shown, it illustrates the specific structure of various embodiments of the present invention.

[0033] In the description of this utility model, it should be noted that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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, they should not be construed as limitations on this utility model.

[0034] like Figures 1 to 6As shown, it illustrates the specific structure of Embodiment 1, an interactive gripper mechanism, including: an X-axis crossbeam and an upper gripper module 200 and a lower gripper module 300 disposed on the X-axis crossbeam.

[0035] The X-axis crossbeam has a top portion serving as the upper gripper area and a side portion serving as the lower gripper area. In this embodiment, the X-axis crossbeam is a double crossbeam, comprising an upper crossbeam 101 and a lower crossbeam 102 arranged vertically opposite each other. The upper gripper module 200 is disposed on the top of the upper crossbeam 101, and the lower gripper module 300 is disposed on one side of the lower crossbeam 102. A top X-axis guide rail 1011 is provided on the top of the upper crossbeam 101, and a side X-axis guide rail 1021 is provided on one side of the lower crossbeam 102.

[0036] The upper gripper module 200 reciprocates along the X-axis of the crossbeam in the upper gripper's active area, employing a gear and rack transmission structure. Specifically, the upper gripper module 200 is equipped with a motor gear that reciprocates along a corresponding X-axis rack, which is existing technology. The upper gripper module 200 includes an upper gripper 201, an upper gripper X-axis translation seat 202, and a Y-axis drive unit that drives the upper gripper 201 to move relative to the upper gripper X-axis translation seat 202 along the Y-axis. The Y-axis drive unit drives the upper gripper 201 to extend towards one side of the X-axis crossbeam for material handling and retract away from the side facing away from the X-axis crossbeam for clearance. In this embodiment, the Y-axis drive... The unit and the upper gripper 201 are connected together to a Y-axis translation seat. The Y-axis drive unit includes a swing cylinder 203 and a first gear 204 driven to rotate by the swing cylinder 203. The rotation center axis of the first gear 204 is set along the Z-axis. The upper gripper X-axis translation seat 202 is provided with a Y-axis rack 205. The first gear 204 meshes with the Y-axis rack 205. When the swing cylinder 203 is working, the first gear 204 rotates along the Y-axis rack 205, so that the Y-axis drive unit, the upper gripper 201, and the Y-axis translation seat are displaced together relative to the upper gripper X-axis translation seat 202 along the Y-axis. The upper gripper X-axis translation seat 202 is provided with a Y-axis guide rail 206, and the Y-axis translation seat is displaced along the Y-axis guide rail 206. The oscillating cylinder 203 is used to convert the oscillation of the cylinder into precise linear motion. Compared with the traditional direct-push cylinder, this structure has higher transmission accuracy, smoother movement, more precise and controllable stroke, and the meshing of gear and rack can withstand greater radial load, ensuring the rigidity of the upper clamp in the extended working state.

[0037] The lower gripper module 300 reciprocates along the X-axis of the crossbeam in the lower gripper's active area, employing a gear and rack transmission structure. That is, the lower gripper module is equipped with a motor gear that reciprocates along the corresponding X-axis rack, which is existing technology. The lower gripper module 300 includes a lower gripper 301, a lower gripper X-axis translation seat 302, and a Z-axis drive unit that drives the lower gripper to move relative to the lower gripper X-axis translation seat 302 along the Z-axis. The Z-axis drive unit drives the lower gripper 301 to rise to await material and to descend to avoid it. In this embodiment, the Z-axis drive unit includes a lifting cylinder 304, a first Z-axis rack 305, and a pagoda wheel 306. The lower gripper 301 is connected to a Z-axis lifting seat 303. A second Z-axis rack 307 is provided on the Z-axis lifting seat 303. The lifting cylinder 304 drives the first Z-axis rack 305 to rise and fall. The first Z-axis rack 305 meshes with the pinion (second gear) of the pagoda wheel 306, and the pagoda wheel 306's large gear (third gear) meshes with the second Z-axis rack 307, causing the lower gripper 301 to move along the Z-axis.

[0038] Furthermore, a lower gripper height locking unit is also provided on the X-axis translation seat 302 of the lower gripper to position the lower gripper 301 in its rising position. By mechanically locking the rising position, the stability and reliability during machining are improved. The lower gripper height locking unit includes an X-axis cylinder 309 and a locking block 310. The X-axis cylinder 309 drives the locking block 310 to move along the X-axis. A locking engagement part 308 is provided on the Z-axis lifting seat 303. The locking block 310 moves along the X-axis to the top of the locking engagement part 308 to achieve a stop positioning, and moves away from the locking engagement part 308 to unlock. The locking engagement part 308 is a roller with its central axis set along the Y-axis. The locking block 310 is provided with a locking groove 311 that passes through the locking block 310 along the Y-axis. The locking groove 310 has an inlet and outlet facing the locking engagement part 308. The upper stop arm 312 of the locking groove 311 achieves a stop positioning with the top of the locking engagement part 308. Using rollers enables soft-contact locking. The contact between the rollers and the locking groove reduces impact and wear. Even with slight positional deviations, the rollers can smoothly enter the groove, improving the mechanism's fault tolerance and durability. The locking engagement part 308 is connected to the adjusting mounting base 3081, which is mounted on the Z-axis lifting seat 303 to adjust the Z-axis mounting position. After the lower gripper 301 rises to the working position, it is mechanically locked, preventing accidental drop of the lower gripper due to vibration or air pressure fluctuations during high-speed, heavy-load machining, significantly enhancing clamping stability and machining accuracy. Compared to the common method in traditional technology that uses cylinder lifting to position the lower gripper's rising height, which is less reliable due to the instability of the air source, this embodiment uses a common cylinder, but cleverly extends and retracts along the X-axis to limit the height in the Z-axis. Even if the locking block deviates in the X-axis position, its positioning of the locking engagement part at the correct height will remain accurate.

[0039] During operation, the upper clamping module 200 extends along the X-axis to the end of the X-axis beam, then retracts along the Y-axis, returns to the feeding end along the X-axis, and extends along the Y-axis to await material; at the same time, the lower clamping module 300 feeds the plate along the X-axis to the processing area for processing.

[0040] The lower clamping module 300 moves along the X-axis to the end of the X-axis beam, exits the plate, descends along the Z-axis, returns to the feeding end along the X-axis, and rises along the Z-axis to wait for material; this cycle repeats.

[0041] like Figure 7As shown, this illustrates the specific structure of Embodiment 2. Embodiment 2 is essentially the same as Embodiment 1, with the main difference being that the X-axis crossbeam is a single crossbeam 100. The upper gripper module 200 is located at the top of the single crossbeam 100, and the lower gripper module 300 is located on one side of the single crossbeam 100. The top X-axis guide rail 1011 and the side X-axis guide rail 1021 are respectively located at the top and one side of the single crossbeam 100. The cyclic operation flow of the four grippers is the same as in Embodiment 1.

[0042] The key design feature of this invention lies in its structural arrangement of an upper and lower gripper module. The upper gripper module is responsible for Y-axis (horizontal extension / retraction) displacement, while the lower gripper module is responsible for Z-axis (vertical upward / downward) displacement. This division of labor makes the action logic clearer, provides more space for maneuvering, and ensures rapid and smooth maneuvering. The horizontal maneuvering of the upper gripper and the vertical maneuvering of the lower gripper form a three-dimensional intersection, greatly improving the flexibility and efficiency of alternating actions. Simultaneously, by optimizing the spatial layout—specifically, by setting the top and sides of the crossbeam as independent gripper activity areas—physical isolation is achieved, avoiding the risk of collision between the upper and lower gripper modules during X-axis movement. This provides a safe and clear spatial layout for subsequent alternating processing.

[0043] Furthermore, by refining the specific division of labor among motion axes, introducing gear and rack precision transmission, and adding a mechanical locking unit, the entire cyclic gripper mechanism has been significantly improved in terms of structural compactness, motion accuracy, working stability, and structural reliability.

[0044] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An interactive gripper mechanism, characterized in that, include: The X-axis crossbeam has its top serving as the upper gripper area and one side serving as the lower gripper area. An upper gripper module reciprocates along the X-axis crossbeam in the upper gripper's active area; the upper gripper module includes an upper gripper, an upper gripper X-axis translation seat, and a Y-axis drive unit that drives the upper gripper to displace relative to the upper gripper X-axis translation seat along the Y-axis; the Y-axis drive unit drives the upper gripper to extend outward toward one side of the X-axis crossbeam for material preparation and retract away from the side of the X-axis crossbeam to avoid material movement; The lower gripper module reciprocates along the X-axis of the crossbeam in the lower gripper's active area; the lower gripper module includes a lower gripper, a lower gripper X-axis translation seat, and a Z-axis drive unit that drives the lower gripper to move relative to the lower gripper X-axis translation seat along the Z-axis; the Z-axis drive unit drives the lower gripper to rise to await material and to descend to avoid it.

2. The interactive gripping mechanism according to claim 1, characterized in that, The Y-axis drive unit and the upper gripper are connected together to a Y-axis translation seat. The Y-axis drive unit includes a swing cylinder and a first gear driven to rotate by the swing cylinder. The rotation center axis of the first gear is set along the Z-axis. The upper gripper X-axis translation seat is provided with a Y-axis rack. The first gear meshes with the Y-axis rack. When the swing cylinder is working, the first gear rotates along the Y-axis rack, so that the Y-axis drive unit, the upper gripper, and the Y-axis translation seat are displaced together relative to the upper gripper X-axis translation seat along the Y-axis.

3. An interactive gripper mechanism according to claim 2, characterized in that, The upper gripper is provided with a Y-axis guide rail on its X-axis translation seat, and the Y-axis translation seat moves along the Y-axis guide rail.

4. An interactive gripper mechanism according to claim 1, characterized in that, The Z-axis drive unit includes a lifting cylinder, a first Z-axis rack, and a tower wheel. The lower gripper is connected to a Z-axis lifting seat, and a second Z-axis rack is provided on the Z-axis lifting seat. The lifting cylinder drives the first Z-axis rack to move up and down. The first Z-axis rack meshes with the pinion of the tower wheel, and the pinion of the tower wheel meshes with the second Z-axis rack, causing the lower gripper to move along the Z-axis.

5. An interactive gripper mechanism according to claim 4, characterized in that, The lower gripper X-axis translation seat is also provided with a lower gripper height locking unit for positioning the rising position of the lower gripper.

6. An interactive gripper mechanism according to claim 5, characterized in that, The lower gripper height locking unit includes an X-axis cylinder and a locking block. The X-axis cylinder drives the locking block to move along the X-axis. The Z-axis lifting seat is provided with a locking engagement part. The locking block moves along the X-axis to the top of the locking engagement part to achieve a stop positioning. Moving away from the locking engagement part in the opposite direction unlocks the gripper.

7. An interactive gripper mechanism according to claim 6, characterized in that, The locking engagement part is a roller, and the central axis of the roller is arranged along the Y-axis.

8. An interactive gripper mechanism according to claim 6, characterized in that, The locking block is provided with a locking groove, which extends through the locking block along the Y-axis. The locking groove has an inlet and outlet facing the locking mating part, and the upper stop arm of the locking groove achieves a stop positioning with the upper part of the locking mating part.

9. An interactive gripper mechanism according to claim 1, characterized in that, The X-axis crossbeam is a double crossbeam, which includes an upper crossbeam and a lower crossbeam arranged opposite each other. The upper gripper module is disposed on the top of the upper crossbeam, and the lower gripper module is disposed on one side of the lower crossbeam. Alternatively, the X-axis crossbeam may be a single crossbeam, with the upper gripper module disposed on the top of the single crossbeam and the lower gripper module disposed on one side of the single crossbeam.

10. An interactive gripper mechanism according to claim 1, characterized in that, There are two upper gripper modules and two lower gripper modules.

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