A three-channel truss manipulator gripping mechanism

Abstract

This utility model belongs to the technical field of robotic gripping mechanisms, and in particular, it is a three-channel truss robotic gripping mechanism. It includes a frame, with side rails on the side walls of the frame. Three side arms are slidably connected to the side rails, and one end of each side arm is fixedly connected to a fixed rail. Upper and lower cylinders are embedded inside the fixed rails, and mounting frames are fixedly connected to the output ends of the upper and lower cylinders. A bidirectional cylinder is located below the mounting frame, and symmetrical right-angle grippers are fixedly connected to the output ends of the bidirectional cylinders. This utility model achieves multi-station parallel operation through a three-channel design, significantly improving bearing processing efficiency; the side arm movement range driven by the push cylinder and stroke motor covers the frame, meeting wide-area gripping needs; the symmetrical bidirectional cylinders cooperate with the central circumferential cylinder to enhance gripping stability and workpiece adaptability; and the precise guiding design of each component ensures operational accuracy and effectively adapts to flexible production requirements.

Description

Technical Field

[0001] This utility model relates to the field of robotic gripping mechanism technology, specifically a three-channel truss robotic gripping mechanism. Background Technology

[0002] In precision manufacturing fields such as bearing processing, gantry cranes are core equipment in automated production, and the efficiency and stability of their gripping mechanisms directly affect the production line's capacity and product quality. Traditional single-channel or dual-channel gripping mechanisms suffer from limited operating range and weak multi-station coordination capabilities. When faced with the continuous processing requirements of batch bearings, they are prone to long gripping intervals and poor process connections, making it difficult to meet the pace of high-speed production.

[0003] Meanwhile, the gripper designs of existing gripping mechanisms are mostly designed for single-specification workpieces, resulting in poor adaptability to gripping bearings of different sizes. The adjustment process is cumbersome and the accuracy is difficult to guarantee. In addition, the layout of the drive components in some mechanisms is unreasonable, resulting in a limited range of movement trajectory coverage. When handling materials across workstations, the overall position needs to be adjusted frequently, which not only increases the operation time but may also affect the consistency of bearing machining accuracy due to repeated positioning errors.

[0004] With the increasing demands for flexibility in automated production lines from intelligent manufacturing, traditional gripping mechanisms can no longer meet the flexible switching requirements of multi-variety, small-batch bearing production. Therefore, developing a three-channel gantry robot gripping mechanism has become key to solving the efficiency bottleneck of current bearing processing production lines. Summary of the Invention

[0005] Technical problems to be solved To address the shortcomings of existing technologies, this utility model provides a three-channel truss robotic gripping mechanism, which solves the problems mentioned in the background section.

[0006] (II) Technical Solution To achieve the above objectives, this utility model specifically adopts the following technical solution: A three-channel truss manipulator gripping mechanism includes a frame, side rails on the side walls of the frame, three side arms slidably connected to the side rails, a fixed rail fixedly connected to one end of each side arm, upper and lower cylinders embedded inside the fixed rails, a mounting frame fixedly connected to the output ends of the upper and lower cylinders, a bidirectional cylinder below the mounting frame, symmetrical right-angle grippers fixedly connected to the output ends of the bidirectional cylinders, a circumferential cylinder fixedly connected to the bottom of the mounting frame, a circumferential gripper fixedly connected to the output end of the circumferential cylinder, the first front side wall fixedly connected to the output end of a push cylinder, and the two rear side arms fixedly connected to the moving ends of a stroke motor.

[0007] Furthermore, the side wall of the mounting bracket engages and slides with the fixed rail.

[0008] Furthermore, the bidirectional cylinders are symmetrically arranged on the mounting bracket, with a circumferential cylinder in the middle.

[0009] Furthermore, the push cylinder is fixedly mounted on the top of the frame.

[0010] Furthermore, the stroke motor is fixedly mounted on the top of the frame, and the installation positions do not interfere with each other.

[0011] Furthermore, the travel path of the stroke motor and the actuating cylinder covers the length of the frame.

[0012] (III) Beneficial Effects Compared with the prior art, this utility model provides a three-channel truss manipulator gripping mechanism, which has the following advantages: This utility model achieves multi-station parallel operation through a three-channel design, significantly improving bearing processing efficiency; the side arm movement range driven by the push cylinder and stroke motor covers the frame, meeting wide-area gripping needs; the symmetrical bidirectional cylinder and the middle circumferential cylinder work together to enhance gripping stability and workpiece adaptability; the precise guiding design of each component ensures operational accuracy and effectively adapts to flexible production needs. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the mounting frame structure of this utility model; Figure 3 This is a side view of the structure of this utility model; Figure 4 This is a front view structural diagram of the present invention; Figure 5 This is a top view of the structure of this utility model.

[0014] In the diagram: 1. Frame; 2. Side rail; 3. Side arm; 4. Fixed rail; 5. Upper and lower cylinders; 6. Mounting bracket; 7. Two-way cylinder; 8. Right-angle gripper; 9. Circumferential cylinder; 10. Circumferential gripper; 11. Push cylinder; 12. Stroke motor. Detailed Implementation

[0015] 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 protection scope of the present utility model.

[0016] Example like Figure 1-5 As shown, an embodiment of this utility model proposes a three-channel truss manipulator gripping mechanism, including a frame 1, which provides a stable installation foundation and support for the entire mechanism, ensures the installation position and movement space of each component, and is the main load-bearing body of the mechanism; The side wall of the frame 1 is provided with a side rail 2, which provides guidance for the horizontal movement of the side arm 3, ensuring that the side arm 3 slides stably along the fixed rail 4 and ensuring the movement accuracy. Three side arms 3 are slidably connected to the side rail 2, serving as an intermediate structure connecting the frame 1 and the gripping component. By moving on the side rail 2, the gripping component is driven to adjust its horizontal position, thereby realizing the position allocation for multi-channel operation. One end of the side arm 3 is fixedly connected to a fixed rail 4, which provides installation space for the upper and lower cylinders 5 and guides the vertical movement of the mounting frame 6, ensuring the stability and verticality of the movement of the mounting frame 6. The fixed rail 4 is internally fitted with upper and lower cylinders 5, which provide driving force and drive the mounting frame 6 to move up and down along the fixed rail 4, thereby adjusting the vertical position of the gripping component to meet the gripping requirements at different heights. The output end of the upper and lower cylinders 5 is fixedly connected to the mounting bracket 6, which serves as the mounting carrier for the gripping execution component. The bracket transmits the driving force of the upper and lower cylinders 5 to the gripping component, and at the same time, the stability of the gripping component's movement is ensured through cooperation with the fixed rail 4. The mounting bracket 6 is equipped with a bidirectional cylinder 7 below, which provides bidirectional driving force to drive the right-angle gripper 8 to open and close, thereby clamping and releasing the workpiece. The symmetrical arrangement ensures balanced clamping force. The output end of the bidirectional cylinder 7 is fixedly connected to a symmetrical right-angle gripper 8, which directly contacts the workpiece. The workpiece is stably clamped by the drive of the bidirectional cylinder 7. The right-angle structure is suitable for gripping workpieces with regular shapes. The bottom of the mounting bracket 6 is also fixedly connected to a circumferential cylinder 9, which provides a three-axis driving force in the circumferential direction to drive the circumferential gripper 10 to rotate or open and close, and work with the right-angle gripper 8 to achieve more stable gripping or adapt to the gripping needs of workpieces of different shapes. The output end of the circumferential cylinder 9 is fixedly connected to a circumferential gripper 10, which enhances the wrapping and clamping stability of the workpiece through circumferential movement, and is especially suitable for gripping round workpieces. The first side wall at the front end is fixedly connected to the output end of the push cylinder 11, providing a driving force for the horizontal movement of the front side arm 3, pushing it to move along the side rail 2, thereby realizing the position adjustment of the front gripping channel; The two side arms 3 at the rear end are fixedly connected to the moving end of the stroke motor 12; providing the driving force for horizontal movement of the two side arms 3 at the rear end, and achieving precise position adjustment of the two gripping channels at the rear end by precisely controlling the motor stroke, thus ensuring the coordination of multi-channel operation.

[0017] The working principle of this three-channel truss robotic gripper mechanism during bearing processing is as follows: The frame 1 provides overall support, and the side rails 2 on its side walls provide sliding paths for the three side arms 3. The front side arm 3 is driven by a push cylinder 11 to move along the side rail 2, while the rear two side arms 3 are driven independently by stroke motors 12. The movement paths of the push cylinders 11 and stroke motors 12 cover the length of the frame 1, allowing for a wide range of position adjustments. An upper and lower cylinder 5 is installed in the fixed rail 4 at one end of each side arm 3. The mounting bracket 6 connected to its output end can engage and slide along the fixed rail 4, moving up and down under the drive of the upper and lower cylinders 5. Symmetrically arranged bidirectional cylinders 7 below the mounting bracket 6 drive right-angle grippers 8 to clamp the bearings. The central circumferential cylinder 9 drives circumferential grippers 10, enabling more stable gripping or operation at specific angles, thus completing the gripping and handling operations during bearing processing.

[0018] like Figure 2 As shown, in some embodiments, the side wall of the mounting bracket 6 engages and slides with the fixed rail 4; the engagement structure strictly limits the movement trajectory of the mounting bracket 6, ensuring that it can only move along the set direction of the fixed rail 4, avoiding deviation caused by uneven force or vibration, and ensuring the positional accuracy of the gripping component.

[0019] like Figure 3 As shown, in some embodiments, the bidirectional cylinder 7 is symmetrically arranged on the mounting frame 6, with a circumferential cylinder 9 in the middle; the three together constitute the gripping drive assembly below the mounting frame 6.

[0020] like Figure 5 As shown, in some embodiments, the push cylinder 11 is fixedly installed on the top of the frame 1; as the power source of the front side arm 3, the push cylinder 11 drives the front side arm 3 to move horizontally along the side rail 2 through the telescopic action, thereby realizing the position adjustment of the front gripping channel.

[0021] like Figure 5 As shown, in some embodiments, the stroke motor 12 is fixedly installed on the top of the frame 1, and the installation positions do not interfere with each other; as the power source of the two side arms 3 at the rear end, the stroke motor 12 drives the corresponding side arm 3 to move independently along the side rail 2 by precisely controlling the movement of the moving end, so as to realize the position adjustment of the two gripping channels at the rear end and meet the needs of multi-station simultaneous operation.

[0022] like Figure 5As shown, in some embodiments, the travel paths of the stroke motor 12 and the push cylinder 11 cover the length of the frame 1; ensuring that the side arm 3 at the front end driven by the push cylinder 11, and the two side arms 3 at the rear end driven by the stroke motor 12, can drive their respective connected fixed rails 4, mounting brackets 6, grippers, and other grasping components to move freely within the entire length of the frame 1. This allows the mechanism to cover the entire working area reached by the frame 1, meeting the grasping and handling needs at different locations.

[0023] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A three-channel gantry robot gripping mechanism comprising a gantry (1), characterized in that: The side wall of the frame (1) is provided with a side rail (2), and three side arms (3) are slidably connected on the side rail (2). One end of the side arm (3) is fixedly connected to a fixed rail (4). The fixed rail (4) is inlaid with an upper and lower cylinder (5). The output end of the upper and lower cylinder (5) is fixedly connected to a mounting bracket (6). The mounting bracket (6) is provided with a bidirectional cylinder (7) below it. The output end of the bidirectional cylinder (7) is fixedly connected to a symmetrical right-angle gripper (8). The bottom of the mounting bracket (6) is also fixedly connected to a circumferential cylinder (9). The output end of the circumferential cylinder (9) is fixedly connected to a circumferential gripper (10). The first side wall at the front end is fixedly connected to the output end of the push cylinder (11). The two side arms (3) at the rear end are respectively fixedly connected to the moving end of the stroke motor (12).

2. A three-channel gantry robot gripping mechanism according to claim 1, characterized in that: The side wall of the mounting bracket (6) engages and slides with the fixed rail (4).

3. A three-channel trussbot gripper mechanism according to claim 1, characterized in that: The bidirectional cylinder (7) is symmetrically arranged on the mounting bracket (6), with a circumferential cylinder (9) in the middle.

4. The three-channel truss manipulator gripping mechanism according to claim 1, characterized in that: The push cylinder (11) is fixedly installed on the top of the frame (1).

5. The three-channel trussbot gripper mechanism of claim 1, wherein: The stroke motor (12) is fixedly installed on the top of the frame (1), and the installation positions do not interfere with each other.

6. A three-channel gantry robot gripping mechanism according to claim 5, characterized in that: The travel paths of the stroke motor (12) and the push cylinder (11) cover the length of the frame (1).

Images