A card-type three-dimensional gripper device

Abstract

This application relates to the field of three-dimensional gripper technology, and in particular to a card-type three-dimensional gripper device, including a base plate, a Y-axis module disposed above the base plate, a horizontal plate disposed above the Y-axis module, a fixing frame disposed above the horizontal plate, a Z-axis module disposed inside the fixing frame, a gripper assembly for gripping the card disposed on one side of the Y-axis module, and an X-axis module disposed on one side of the horizontal plate. This application enables forward and backward movement by setting the X-axis module, Y-axis module, and Z-axis module, and by using a motor to drive a second synchronous pulley to move a synchronous belt, vertical movement is achieved by an electric guide rail driving a slide, and left and right movement is achieved by a lead screw motor driven externally. The coordination between these modules allows for multi-position adjustment of the gripper assembly, increasing flexibility and solving the problem of cumbersome manual adjustments, making the process more convenient.

Description

Technical Field

[0001] This application relates to the field of three-dimensional gripper technology, and in particular to a three-dimensional gripper device for card-type applications. Background Technology

[0002] In many industrial sectors such as modern logistics, postal sorting, library management, food packaging, and electronic product assembly, the rapid, non-destructive, and efficient grasping and transfer of flat, soft, easily deformable, and stacked objects (such as envelopes, postcards, books, biscuit boxes, PCB boards, chips, etc., hereinafter referred to as "card-type objects") is a common and critical need.

[0003] The installation position of existing robotic grippers is usually fixed, resulting in extremely poor spatial adaptability. When the object's position shifts or a product needs to be switched, cumbersome manual mechanical adjustments must be made, causing serious inconvenience during use and affecting the overall performance.

[0004] To address this, a three-dimensional gripper device for card-type applications is proposed. Utility Model Content

[0005] To address the problems mentioned in the background section, this application provides a card-type three-dimensional gripper device.

[0006] This application provides a card-type three-dimensional gripper device, which adopts the following technical solution: A three-dimensional gripper device for card-type applications includes a base plate, a Y-axis module disposed above the base plate, a horizontal plate disposed above the Y-axis module, a fixing frame disposed above the horizontal plate, a Z-axis module disposed inside the fixing frame, a gripper assembly for card gripping disposed on one side of the Y-axis module, and an X-axis module disposed on one side of the horizontal plate. The Y-axis module includes a motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, and a mounting base. The motor is fixedly connected to the top of the base plate, the second synchronous pulley is fixedly connected to the output end of the motor, the mounting base is fixedly connected to the top of the base plate, the first synchronous pulley is rotatably installed inside the mounting base, and the synchronous belt is sleeved and installed outside the first and second synchronous pulleys. The Z-axis module includes an electric guide rail, a vertical rod, and a slide block. The electric guide rail is installed inside the fixed frame, the vertical rod is fixedly connected inside the fixed frame, and the slide block is slidably installed on the outside of the vertical rod. The X-axis module includes a left side plate, a right side plate, a lead screw, and a lead screw motor. The left side plate and the right side plate are both fixedly connected to one side of the horizontal plate. The two ends of the lead screw are fixedly connected between the left side plate and the right side plate. The lead screw motor is threaded and installed to the outside of the lead screw.

[0007] Optionally, two guide rail bases are fixedly connected to the top of the base plate, and guide rails are fitted on the outside of both guide rail bases. The top of the two guide rails is fixedly connected to the bottom of the horizontal plate.

[0008] Optionally, a connecting sleeve is bolted to the outside of the synchronous belt, and the top of the connecting sleeve is fixedly installed to the bottom of the cross plate by bolts.

[0009] Optionally, a slide is fixedly connected to the top of the horizontal plate, and a movable seat is slidably mounted on the outside of the slide, with the top of the movable seat fixedly connected to the bottom of the fixed frame.

[0010] Optionally, the gripper assembly is fixedly installed to the outside of the slide.

[0011] Optionally, the outer side of the lead screw motor is fixedly connected to one side of the fixing frame.

[0012] Optionally, the timing belt is meshed with the first timing pulley and the second timing pulley.

[0013] Optionally, the electric motor, electric guide rail, and lead screw motor are all electrically connected to an external controller via wires. In summary, this application includes the following beneficial technical effects: This invention, by setting up an X-axis module, a Y-axis module, and a Z-axis module, enables forward and backward movement by driving a second synchronous pulley with a motor to move a synchronous belt, vertical movement by driving a slide block with an electric guide rail, and left and right movement by driving a lead screw motor externally. The cooperation between these modules allows for multi-position adjustment of the gripper assembly, increasing flexibility and solving the problem of cumbersome manual adjustments, making the process more convenient.

[0014] It should be understood that both the foregoing general description and the following detailed description are for illustrative purposes and do not necessarily limit the scope of this disclosure. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the subject matter of this disclosure. Furthermore, the specification and drawings serve to explain the principles of this disclosure. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the specific embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0016] Figure 1This is a schematic diagram of the first overall structure in the embodiments of this application; Figure 2 This is a schematic diagram of the Y-axis module structure in an embodiment of this application; Figure 3 This is a schematic diagram of the overall structure from a second perspective in an embodiment of this application; Figure 4 This is the front view in the embodiments of this application.

[0017] Icons: 1. Base plate; 2. Guide rail base; 3. Y-axis module; 31. Mounting seat; 32. First synchronous pulley; 33. Synchronous belt; 34. Second synchronous pulley; 35. Motor; 4. Horizontal plate; 5. Slide table; 6. Right side plate; 7. Slide block; 8. Fixing frame; 9. Electric guide rail; 10. Vertical rod; 11. Grip assembly; 12. Left side plate; 13. Lead screw motor; 14. Lead screw; 15. Moving seat; 16. Connecting sleeve; 17. Guide rail. Detailed Implementation

[0018] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0019] The following is in conjunction with the appendix Figures 1 to 4 This application will be further described in detail below. The technical solutions in the embodiments of this application will be clearly described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] This application discloses a card-type three-dimensional gripper device.

[0021] like Figures 1 to 2 As shown, a card-type three-dimensional gripper device includes a base plate 1, with a Y-axis module 3 disposed on top of the base plate 1. The Y-axis module 3 includes a motor 35, a first synchronous pulley 32, a second synchronous pulley 34, a synchronous belt 33, and a mounting base 31. The motor 35 is fixedly connected to the top of the base plate 1, and the second synchronous pulley 34 is fixedly connected to the output end of the motor 35. The second synchronous pulley 34 can be rotated by the motor 35. The mounting base 31 is fixedly connected to the top of the base plate 1. The first synchronous pulley 32 is rotatably mounted inside the mounting base 31, and the synchronous belt 33 is sleeved and mounted outside the first synchronous pulley 32 and the second synchronous pulley 34. The synchronous belt 33 can be rotated by the action of the first synchronous pulley 32 and the second synchronous pulley 34.

[0022] Please see Figures 1 to 4 The top of the base plate 1 is fixedly connected to two guide rail bases 2. Each guide rail base 2 is fitted with a guide rail 17. The top of the two guide rails 17 is fixedly connected to the bottom of the horizontal plate 4. By sliding the guide rails 17 on the guide rail bases 2, the movement of the horizontal plate 4 can be made more stable. The top of the horizontal plate 4 is fixedly connected to a slide table 5. A movable seat 15 is slidably fitted on the outside of the slide table 5. The top of the movable seat 15 is fixedly connected to the bottom of the fixed frame 8. By sliding the movable seat 15 on the outside of the slide table 5, the movement of the fixed frame 8 can be made more stable.

[0023] Please see Figure 1 and Figure 2 A gripper assembly 11 for gripping the card is provided on one side of the Y-axis module 3. The gripper assembly 11 is fixedly installed on the outside of the slide block 7. A connecting sleeve 16 is installed on the outside of the timing belt 33 by bolts. The top of the connecting sleeve 16 is fixedly installed to the bottom of the horizontal plate 4 by bolts. The timing belt 33 and the horizontal plate 4 can be connected by the connecting sleeve 16.

[0024] Please see Figure 1 A horizontal plate 4 is provided above the Y-axis module 3, and a fixed frame 8 is provided above the horizontal plate 4. A Z-axis module is provided inside the fixed frame 8. The Z-axis module includes an electric guide rail 9, a vertical rod 10, and a slide block 7. The electric guide rail 9 is installed inside the fixed frame 8, the vertical rod 10 is fixedly connected inside the fixed frame 8, and the slide block 7 is slidably installed on the outside of the vertical rod 10. The slide block 7 can be moved outside the vertical rod 10 by being driven by the electric guide rail 9.

[0025] Please see Figure 1 and Figure 3 An X-axis module is provided on one side of the horizontal plate 4. The X-axis module includes a left side plate 12, a right side plate 6, a lead screw 14, and a lead screw motor 13. The left side plate 12 and the right side plate 6 are both fixedly connected to one side of the horizontal plate 4. The two ends of the lead screw 14 are fixedly connected between the left side plate 12 and the right side plate 6. The lead screw motor 13 is threaded and installed on the outside of the lead screw 14. The lead screw motor 13 can move on the lead screw 14 through its operation. At the same time, the movement of the lead screw motor 13 can drive the fixed frame 8 to move laterally.

[0026] The implementation principle of a card-type three-dimensional gripper device according to an embodiment of this application is as follows: First, the base plate 1 is used for fixed installation. When clamping envelopes or other objects, the controller controls the motor 35. The motor 35 drives the second synchronous pulley 34 to rotate. The rotation of the second synchronous pulley 34 can engage the synchronous belt 33 to rotate. The rotation of the synchronous belt 33 can realize the rotation of the first synchronous pulley 32, making the rotation of the synchronous belt 33 more stable. The rotation of the synchronous belt 33 can drive the horizontal plate 4 in the front and back directions through the connecting sleeve 16, and slide on the guide rail base 2 using the guide rail 17, which can improve the movement stability of the horizontal plate 4.

[0027] Next, the controller controls the lead screw motor 13 to work. The nut inside the lead screw motor 13 rotates outside the lead screw 14, which can move the fixed frame 8 left and right. The fixed frame 8 can improve stability by moving outside the slide table 5 through the movable seat 15.

[0028] Finally, the controller controls the electric guide rail 9, which drives the slide 7 to move. The movement of the slide 7 allows the gripper assembly 11 to move vertically up and down, enabling the gripper assembly 11 to be adjusted to multiple positions, making it easier to grip objects in different spaces and making it more convenient to use.

[0029] Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this disclosure.

[0030] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure 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, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0032] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0033] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A three-dimensional gripper device for card-type applications, comprising a base plate (1), characterized in that: A Y-axis module (3) is provided above the base plate (1), a horizontal plate (4) is provided above the Y-axis module (3), a fixing frame (8) is provided above the horizontal plate (4), a Z-axis module is provided inside the fixing frame (8), a gripper assembly (11) for gripping the card is provided on one side of the Y-axis module (3), and an X-axis module is provided on one side of the horizontal plate (4). The Y-axis module (3) includes a motor (35), a first synchronous pulley (32), a second synchronous pulley (34), a synchronous belt (33), and a mounting base (31). The motor (35) is fixedly connected above the base plate (1), the second synchronous pulley (34) is fixedly connected to the output end of the motor (35), the mounting base (31) is fixedly connected to the top of the base plate (1), the first synchronous pulley (32) is rotatably installed inside the mounting base (31), and the synchronous belt (33) is sleeved and installed outside the first synchronous pulley (32) and the second synchronous pulley (34). The Z-axis module includes an electric guide rail (9), a vertical rod (10), and a slide block (7). The electric guide rail (9) is installed inside the fixed frame (8), the vertical rod (10) is fixedly connected inside the fixed frame (8), and the slide block (7) is slidably installed on the outside of the vertical rod (10). The X-axis module includes a left side plate (12), a right side plate (6), a lead screw (14), and a lead screw motor (13). The left side plate (12) and the right side plate (6) are both fixedly connected to one side of the horizontal plate (4). The two ends of the lead screw (14) are fixedly connected between the left side plate (12) and the right side plate (6). The lead screw motor (13) is threaded and installed to the outside of the lead screw (14).

2. The three-dimensional gripper device for card type according to claim 1, characterized in that: The top of the base plate (1) is fixedly connected to two guide rail bases (2), and guide rails (17) are fitted on the outside of the two guide rail bases (2). The top of the two guide rails (17) is fixedly connected to the bottom of the horizontal plate (4).

3. A three-dimensional gripper device for card type according to claim 1, characterized in that: The timing belt (33) is fitted with a connecting sleeve (16) by bolts. The top of the connecting sleeve (16) is fixedly installed to the bottom of the horizontal plate (4) by bolts.

4. A three-dimensional gripper device for card type according to claim 1, characterized in that: A slide (5) is fixedly connected to the top of the horizontal plate (4), and a movable seat (15) is slidably installed on the outside of the slide (5). The top of the movable seat (15) is fixedly connected to the bottom of the fixed frame (8).

5. A three-dimensional gripper device for card type according to claim 1, characterized in that: The gripper assembly (11) is fixedly installed on the outside of the slide (7).

6. A three-dimensional gripper device for card-type applications according to claim 1, characterized in that: The lead screw motor (13) is fixedly connected to one side of the fixing frame (8) on the outside.

7. A three-dimensional gripper device for card type according to claim 1, characterized in that: The timing belt (33) is meshed with the first timing pulley (32) and the second timing pulley (34).

8. A three-dimensional gripper device for card type according to claim 1, characterized in that: The electric motor (35), electric guide rail (9) and lead screw motor (13) are all electrically connected to an external controller via wires.

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