Truss robot gripper quick change device

Abstract

The utility model discloses a truss robot gripper quick change device belongs to truss robot technical field. This kind of truss robot gripper quick change device, including truss robot, docking mechanism and fixed establishment, the docking mechanism includes gripper body, the upper end fixed mounting of gripper body has the connecting sleeve, the inboard of connecting sleeve is along the axis of connecting sleeve and is opened with several locking grooves in circumference, the fixed establishment includes fixed block, the top of fixed block is with the end effector of truss robot connection, the outside of fixed block is along the axis of fixed block and is opened with several recesses in circumference, the inside of recess all is equipped with steel ball, the fixed block is inserted with connecting sleeve, the steel ball is with locking groove and is jointed, the bottom of fixed block is embedded and is installed with electromagnet, the bottom of electromagnet is with the inside bottom magnetic suction connection of connecting sleeve, the utility model discloses can effectively improve the practicality of truss robot gripper quick change device, has higher practical value.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically a quick-change device for a gantry robot gripper. Background Technology

[0002] As a core piece of equipment in the field of automated production, gantry robots are widely used in automotive manufacturing, electronics assembly, and logistics sorting due to their advantages of high positioning accuracy and large operating range. In actual production, gantry robots need to be equipped with different types of grippers (such as clamping grippers, suction grippers, and lifting grippers) according to the shape and weight characteristics of different materials (such as automotive parts, electronic components, and packaging boxes) to achieve precise material gripping and transfer.

[0003] Based on the above, the inventors have discovered the following problems: Most existing methods for replacing gantry robot grippers involve fixing the gripper to the robot's end effector with multiple bolts. When disassembling an old gripper, operators need to use wrenches or power tools to unscrew the multiple fixing bolts on the connection surface between the end effector and the gripper one by one. When installing a new gripper, the mounting holes of the gripper need to be positioned with the connection surface of the robot's end effector, and all the unscrewed fixing bolts need to be reinstalled. This results in a significant amount of time being spent on replacing the gripper, impacting the company's production efficiency.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and provided a quick-change device for the gripper of a gantry robot, in order to achieve a more practical value. Utility Model Content

[0005] The purpose of this utility model is to provide a quick-change device for a gantry robot gripper, so as to solve the problem mentioned in the background art that most existing methods for changing gantry robot grippers involve fixing the gripper to the robot end effector with multiple bolts.

[0006] In view of the above problems, the technical solution proposed by this utility model is as follows:

[0007] A quick-change device for a gantry robot gripper includes a gantry robot, a docking mechanism, and a fixing mechanism. The docking mechanism includes a gripper body, with a connecting sleeve fixedly installed at the upper end of the gripper body. The inner side of the connecting sleeve has several locking grooves circumferentially arranged along its axis. The fixing mechanism includes a fixing block, the top of which is connected to the end effector of the gantry robot. The outer side of the fixing block has several grooves circumferentially arranged along its axis, each groove containing a steel ball. The fixing block is inserted into the connecting sleeve, and the steel balls are engaged with the locking grooves. An electromagnet is embedded at the bottom of the fixing block, and the bottom of the electromagnet is magnetically connected to the inner bottom of the connecting sleeve.

[0008] Furthermore, the inner side of the connecting sleeve is provided with a plurality of limiting grooves along the circumferential direction of the connecting sleeve axis, and the outer side of the fixing block is provided with a plurality of limiting blocks along the circumferential direction of the fixing block axis, and the limiting grooves and the limiting blocks are slidably connected.

[0009] The beneficial effects of adopting the above-mentioned further solution are that the limiting groove of the connecting sleeve and the limiting block of the fixed block slide together, which plays a precise guiding role during docking, ensuring that the fixed block is quickly inserted into the connecting sleeve and aligned with the snap-fit ​​position of the steel ball and the locking groove, thus avoiding docking misalignment; at the same time, the limiting structure can prevent relative rotation between the gripper body and the fixed block, ensuring the stability of the gripper posture during gripping and improving gripping accuracy.

[0010] Furthermore, the fixed block is internally rotatably connected to a bidirectional screw, and slide rods are fixedly installed on both sides of the bidirectional screw.

[0011] The beneficial effects of adopting the above-mentioned further solution are that the bidirectional screw inside the fixed block provides power for the movement of the frustum-shaped clamping block, and the sliding rods at both ends guide and limit the frustum-shaped clamping block, ensuring that the clamping block moves smoothly along a straight line and avoiding deviation that would prevent the steel ball from being accurately clamped; the bidirectional screw and the sliding rod cooperate to provide a stable transmission basis for the locking and unlocking action of the steel ball, and improve the reliability of the fixing mechanism.

[0012] Furthermore, both ends of the bidirectional screw are threaded with frustum-shaped abutment blocks, and both sides of the frustum-shaped abutment blocks are slidably connected to a pair of slide rods.

[0013] The beneficial effect of adopting the above-mentioned further solution is that when the bidirectional screw rotates, it drives the frustum-shaped clamping blocks at both ends to move synchronously towards or away from each other along the slide bar. The frustum-shaped structure can act precisely on the steel ball through the inclined surface to achieve clamping or releasing of the steel ball. The slide bar restricts the rotation of the frustum-shaped clamping blocks to ensure that they only move along the axial direction, ensuring uniform clamping force and avoiding uneven force on the steel ball leading to jamming failure.

[0014] Furthermore, the frustum-shaped abutment blocks are mirror-shaped, and the inclined surfaces of a pair of frustum-shaped abutment blocks abut against the outer side of the steel ball.

[0015] The beneficial effects of adopting the above-mentioned further solution are that the mirror-set frustum-shaped clamping blocks can simultaneously clamp the steel balls from both sides, so that the steel balls are evenly embedded in the locking groove, enhancing the locking stability; the inclined surface of the frustum-shaped clamping block fits against the outer side of the steel ball, increasing the contact area, avoiding excessive local force that could cause wear on the steel ball or locking groove, and extending the service life of the component; at the same time, the inclined surface transmission can convert the axial force of the clamping block into the radial clamping force of the steel ball, improving the locking strength.

[0016] Furthermore, a worm gear is fitted at the top of the bidirectional screw, and a worm is rotatably connected to the inside of the fixing block on one side of the worm gear, with the worm and the worm gear meshing with each other.

[0017] The beneficial effects of adopting the above-mentioned further solution are that the meshing of the worm and worm wheel can change the direction of power transmission, adapt to the internal structural layout of the fixed block, and facilitate the operation of the knob from the outside; the worm and worm wheel transmission has self-locking properties, and after adjustment, the position of the bidirectional screw can be fixed to prevent the frustum-shaped clamping block from moving due to vibration or external force, ensuring the stable engagement of the steel ball and the locking groove, and preventing the gripper body from loosening.

[0018] Furthermore, a knob is rotatably connected to one side of the upper end of the fixing block, and the central shaft of one side of the knob is connected to one end of the worm gear.

[0019] The advantage of adopting the above-mentioned further solution is that the knob is directly connected to the worm gear, and the operator can easily drive the worm gear to mesh with the worm wheel by turning the knob, thereby driving the bidirectional screw to rotate without the need for additional tools, further improving the convenience of gripper replacement.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows: In this gantry robot gripper quick-change device, the gripper body of the docking mechanism is inserted into the fixing block of the fixing mechanism via a connecting sleeve. The steel ball on the outside of the fixing block engages with the locking groove of the connecting sleeve, forming a mechanical fixation. Simultaneously, the electromagnet at the bottom of the fixing block is magnetically connected to the connecting sleeve, facilitating initial docking of the gripper body. The end effector of the gantry robot connects to the fixing block, enabling rapid replacement of the gripper body without complex disassembly procedures. This adapts to the rapid switching requirements of the gantry robot for gripping different workpieces, improving operational efficiency. The double fixing structure ensures that the gripper body does not detach or shift during gripping and handling, guaranteeing operational safety. The limiting groove of the connecting sleeve... The sliding engagement with the limiting block of the fixed block provides precise guidance during docking, ensuring that the fixed block quickly inserts into the connecting sleeve and aligns with the locking position of the steel ball and the locking groove, preventing docking misalignment. Simultaneously, the limiting structure prevents relative rotation between the gripper body and the fixed block, ensuring stable gripper posture and improving gripping accuracy. The mirrored frustum-shaped abutment block simultaneously abuts the steel ball from both sides, ensuring even embedding of the steel ball into the locking groove and enhancing locking stability. The inclined surface of the frustum-shaped abutment block fits against the outer side of the steel ball, increasing the contact area and preventing excessive localized force that could cause wear on the steel ball or locking groove, thus extending component lifespan. Furthermore, the inclined surface transmission converts the axial force of the abutment block into the radial locking force of the steel ball, improving locking strength. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the quick-change device for the gripper of the gantry robot disclosed in an embodiment of the present invention. Figure 1 ;

[0022] Figure 2 This is a three-dimensional structural diagram of the quick-change device for the gripper of the gantry robot disclosed in an embodiment of the present invention. Figure 2 ;

[0023] Figure 3 This is a three-dimensional structural diagram of the gripper body and fixing block of the quick-change device for the gantry robot gripper disclosed in this embodiment of the utility model;

[0024] Figure 4 This is a schematic diagram of the internal three-dimensional structure of the fixing block and connecting sleeve of the quick-change device for the gantry robot gripper disclosed in this embodiment of the utility model. Figure 1 ;

[0025] Figure 5 This is a schematic diagram of the internal three-dimensional structure of the fixing block and connecting sleeve of the quick-change device for the gantry robot gripper disclosed in this embodiment of the utility model. Figure 2 .

[0026] In the diagram: 1. Gantry robot; 2. Docking mechanism; 201. Gripper body; 202. Connecting sleeve; 203. Locking groove; 204. Limiting groove; 3. Fixing mechanism; 301. Fixing block; 302. Steel ball; 303. Limiting block; 304. Knob; 305. Bidirectional screw; 306. Worm gear; 307. Worm; 308. Frustum-shaped clamping block; 309. Slide bar. Detailed Implementation

[0027] 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.

[0028] Please see Figure 1 - Figure 5 This utility model provides a technical solution: a quick-change device for a gantry robot gripper, including a gantry robot 1, a docking mechanism 2, and a fixing mechanism 3. The docking mechanism 2 includes a gripper body 201, and a connecting sleeve 202 is fixedly installed on the upper end of the gripper body 201. Several locking grooves 203 are formed circumferentially along the axis of the connecting sleeve 202 on the inner side. The fixing mechanism 3 includes a fixing block 301. The top end of the fixing block 301 is connected to the end effector of the gantry robot 1. Several grooves are formed circumferentially along the axis of the fixing block 301 on the outer side. Steel balls 302 are provided inside the grooves. The fixing block 301 is inserted into the connecting sleeve 202, and the steel balls 302 are engaged with the locking grooves 203. An electromagnet is embedded in the bottom end of the fixing block 301, and the bottom end of the electromagnet is magnetically connected to the bottom end of the inner side of the connecting sleeve 202.

[0029] As an embodiment of this utility model, further, the inner side of the connecting sleeve 202 is provided with a plurality of limiting grooves 204 along the circumferential direction of the axis of the connecting sleeve 202, and the outer side of the fixing block 301 is provided with a plurality of limiting blocks 303 along the circumferential direction of the axis of the fixing block 301. The limiting grooves 204 and the limiting blocks 303 are slidably connected, and the limiting grooves 204 of the connecting sleeve 202 and the limiting blocks 303 of the fixing block 301 are slidably engaged, which plays a precise guiding role during docking, ensuring that the fixing block 301 is quickly inserted into the connecting sleeve 202 and aligned with the snap-fit ​​position of the steel ball 302 and the locking groove 203, avoiding docking misalignment; at the same time, the limiting structure can prevent relative rotation between the gripper body 201 and the fixing block 301, ensuring the stability of the gripper posture during gripping and improving gripping accuracy.

[0030] As an embodiment of this utility model, the fixed block 301 is further rotatably connected to a bidirectional screw 305. Slide rods 309 are fixedly installed on both sides of the bidirectional screw 305. The bidirectional screw 305 in the fixed block 301 provides power for the movement of the frustum-shaped clamping block 308. The slide rods 309 at both ends guide and limit the frustum-shaped clamping block 308, ensuring that the clamping block moves smoothly along a straight line and avoiding deviation that could prevent precise clamping of the steel ball 302. The bidirectional screw 305 and slide rods 309 cooperate to provide a stable transmission basis for the locking and unlocking action of the steel ball 302, improving the reliability of the fixing mechanism 3.

[0031] As an embodiment of this utility model, both ends of the bidirectional screw 305 are threadedly connected to frustum-shaped abutment blocks 308. Both sides of the frustum-shaped abutment blocks 308 are slidably connected to a pair of slide rods 309. When the bidirectional screw 305 rotates, it drives the frustum-shaped abutment blocks 308 at both ends to move synchronously towards or away from each other along the slide rods 309. The frustum-shaped structure can accurately act on the steel ball 302 through the inclined surface to achieve the abutment or release of the steel ball 302. The slide rods 309 restrict the rotation of the frustum-shaped abutment blocks 308 to ensure that they only move along the axial direction, ensuring uniform abutment force and avoiding uneven force on the steel ball 302, which may lead to jamming failure.

[0032] As an embodiment of this utility model, the frustum-shaped abutment blocks 308 are further mirror-arranged, with the inclined surfaces of both frustum-shaped abutment blocks 308 abutting against the outer side of the steel ball 302. The mirror-arranged frustum-shaped abutment blocks 308 can simultaneously abut against the steel ball 302 from both sides, so that the steel ball 302 is evenly embedded in the locking groove 203, enhancing the locking stability. The inclined surfaces of the frustum-shaped abutment blocks 308 are in contact with the outer side of the steel ball 302, increasing the contact area and avoiding excessive local force that could cause wear on the steel ball 302 or the locking groove 203, thus extending the service life of the components. At the same time, the inclined surface transmission can convert the axial force of the abutment blocks into the radial locking force of the steel ball 302, improving the locking strength.

[0033] As an embodiment of this utility model, the top end of the bidirectional screw 305 is fitted with a worm gear 306, and the inside of the fixing block 301 is rotatably connected to one side of the worm gear 306. The worm gear 307 and the worm gear 306 mesh with each other. The meshing of the worm gear 307 and the worm gear 306 can change the direction of power transmission, adapt to the internal structural layout of the fixing block 301, and facilitate the operation of the knob 304 from the outside. The transmission between the worm gear 307 and the worm gear 306 has self-locking property. After adjustment, the position of the bidirectional screw 305 can be fixed to prevent the frustum-shaped clamping block 308 from moving due to vibration or external force, ensuring the stable engagement state of the steel ball 302 and the locking groove 203, and preventing the gripper body 201 from loosening.

[0034] As an embodiment of this utility model, a knob 304 is rotatably connected to one side of the upper end of the fixing block 301. The central shaft of one side of the knob 304 is connected to one end of the worm 307. The knob 304 is directly connected to the worm 307. The operator can easily drive the worm 307 to mesh with the worm wheel 306 by rotating the knob 304, thereby driving the bidirectional screw 305 to rotate without the need for additional tools, further improving the convenience of gripper replacement.

[0035] Specifically, the working principle of this gantry robot gripper quick-change device is as follows: First, select the appropriate gripper body 201 according to the workpiece to be gripped, aligning the limiting block 303 on the outer side of the fixed block 301 with the limiting groove 204 on the inner side of the connecting sleeve 202. Then, lower the fixed block 301 to insert it into the connecting sleeve 202. Simultaneously, energize the electromagnet at the bottom of the fixed block 301, achieving initial docking and positioning between the fixed block 301 and the connecting sleeve 202 through magnetic attraction. Next, rotate the knob 304 at the upper end of the fixed block 301, driving the worm gear 307 to rotate. The worm gear 307 meshes with the worm wheel 306, causing the bidirectional screw 305 to rotate within the fixed block 301. Because the threads at both ends of the bidirectional screw 305 are opposite, it drives the frustum-shaped... The clamping block 308 moves synchronously towards the sliding rod 309. The inclined surface of the frustum-shaped clamping block 308 presses against the steel ball 302 in the groove, pushing the steel ball 302 outward and embedding it into the locking groove 203 of the connecting sleeve 202, forming a mechanical clamp. The self-locking property of the worm gear 306 and worm 307 ensures a stable clamping state. After docking is completed, the gantry robot 1 can perform gripping operations through the gripper body 201. When the gripper needs to be replaced, the knob 304 is rotated in the opposite direction to move the frustum-shaped clamping block 308 away from each other, releasing the steel ball 302. The electromagnet power supply is disconnected, and the gantry robot 1 is controlled to drive the fixing block 301 to disengage from the connecting sleeve 202. Then, the new gripper body 201 is docked, thus achieving a fast and precise replacement of the gripper.

[0036] It should be noted that all standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Furthermore, since this application is mainly used to protect mechanical devices, this application will not explain the control method and circuit connection in detail.

Claims

1. A quick-change device for a gantry robot gripper, characterized in that, The system includes a gantry robot (1), a docking mechanism (2), and a fixing mechanism (3). The docking mechanism (2) includes a gripper body (201), and a connecting sleeve (202) is fixedly installed on the upper end of the gripper body (201). Several locking grooves (203) are opened circumferentially along the axis of the connecting sleeve (202) on the inner side of the connecting sleeve (202). The fixing mechanism (3) includes a fixing block (301), the top of the fixing block (301) is connected to the end effector of the gantry robot (1), and several grooves are opened circumferentially along the axis of the fixing block (301) on the outer side of the fixing block (301). Steel balls (302) are provided inside the grooves. The fixing block (301) is inserted into the connecting sleeve (202), and the steel balls (302) are engaged with the locking grooves (203). An electromagnet is embedded in the bottom end of the fixing block (301), and the bottom end of the electromagnet is magnetically connected to the bottom end of the inner side of the connecting sleeve (202).

2. The quick-change device for a gantry robot gripper according to claim 1, characterized in that, The inner side of the connecting sleeve (202) is provided with a plurality of limiting grooves (204) along the circumferential direction of the axis of the connecting sleeve (202), and the outer side of the fixing block (301) is provided with a plurality of limiting blocks (303) along the circumferential direction of the axis of the fixing block (301). The limiting grooves (204) and the limiting blocks (303) are slidably connected.

3. The quick-change device for a gantry robot gripper according to claim 1, characterized in that, The fixed block (301) is internally rotatably connected to a bidirectional screw (305), and slide rods (309) are fixedly installed on both sides of the bidirectional screw (305).

4. The quick-change device for a gantry robot gripper according to claim 3, characterized in that, Both ends of the bidirectional screw (305) are threaded with frustum-shaped abutment blocks (308), and both sides of the frustum-shaped abutment blocks (308) are slidably connected to a pair of slide rods (309).

5. A quick-change device for a gantry robot gripper according to claim 4, characterized in that, The pair of frustum-shaped abutting blocks (308) are mirror images of each other, and the inclined surfaces of the pair of frustum-shaped abutting blocks (308) abut against the outer side of the steel ball (302).

6. A quick-change device for a gantry robot gripper according to claim 5, characterized in that, The top end of the bidirectional screw (305) is fitted with a worm gear (306), and the inside of the fixed block (301) is rotatably connected to a worm (307) on one side of the worm gear (306), and the worm (307) and the worm gear (306) mesh with each other.

7. A quick-change device for a gantry robot gripper according to claim 6, characterized in that, A knob (304) is rotatably connected to one side of the upper end of the fixed block (301), and the central axis of one side of the knob (304) is connected to one end of the worm gear (307).

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