Rotary gripper mechanism

Abstract

The utility model relates to material transfer technical field discloses rotary gripper mechanism, including the gripper mechanism for clamping tray, X axle module, Y axle module, Z axle module, the gripper mechanism installs on Z axle module, still include the rotation mechanism of driving Z axle module rotation, through the collaborative work of X axle module, Y axle module, Z axle module and rotation mechanism, can freely shift material in three -dimensional space, and can rotate (90 DEG) in horizontal direction, effectively cope with the situation that the height difference exists between the starting point and the end point of material or the position is not on the same straight line. Utilize the cooperation of photoelectric sensor and inductive sheet, after the rotation of rotary disc 90 DEG, photoelectric sensor detects inductive sheet, then utilizes the locking positioning of positioning mechanism to rotary disc, ensures the accuracy of material transfer. Buffer and proximity switch can effectively limit the rotation angle of Z axle module, prevent mechanical collision or damage caused by excessive rotation.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, specifically a rotary gripper mechanism. Background Technology

[0002] Material handling refers to all operational activities that move raw materials, work-in-process (semi-finished products), finished products, or packaging materials from one place to another within the production process or between logistics nodes.

[0003] In daily material handling, since the starting point and ending point of material storage may be at different heights and not on the same straight line, a rotary gripper structure is used to transfer materials.

[0004] The rotary gripper transfer structure is a core component of an automated material handling device that integrates rotary motion and gripping functions. It uses an end effector (i.e., a "gripper" or "claw") that can rotate around its own axis to perform a series of transfer operations such as gripping, changing the orientation (azimuth angle) of materials, and placing them.

[0005] Traditional material handling structures lack multi-directional transfer and rotation capabilities, making it difficult to adapt to situations where there is a height difference or positional offset between the material storage point and the target point. Therefore, we need to propose a rotating gripper mechanism. Utility Model Content

[0006] The purpose of this utility model is to provide a rotating gripper mechanism that, through the coordinated work of the X-axis module, Y-axis module, Z-axis module and rotating mechanism, can freely transfer materials in three-dimensional space and can rotate (90°) in the horizontal direction, effectively addressing situations where there is a height difference between the starting point and the ending point of the material or the positions are not on the same straight line, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a rotary gripper mechanism, comprising a gripper mechanism for holding a pallet, an X-axis module for driving the pallet to move along the X-axis, a Y-axis module for driving the pallet to move along the Y-axis, and a Z-axis module for driving the pallet to move along the Z-axis, wherein the gripper mechanism is mounted on the Z-axis module;

[0008] It also includes a rotation mechanism for driving the Z-axis module to rotate, a base plate is mounted on the slide of the Y-axis module, and the rotation mechanism includes a rotating disk rotatably mounted on the base plate, with the Z-axis module mounted on the rotating disk;

[0009] A sensor plate is installed on the rotating disk, a connecting frame is connected to the base plate, a photoelectric sensor for detecting the sensor plate is installed on the connecting frame, and a positioning mechanism for positioning the rotating disk is also installed on the base plate.

[0010] Preferably, the gripper mechanism includes a fixed plate connected to the slide of the Z-axis module. A finger cylinder is mounted on the side of the fixed plate. An upper clamping plate that moves upward and a lower clamping plate that moves downward are respectively connected to the piston rod of the finger cylinder. A connecting plate that is pinned to the tray is connected to the upper clamping plate.

[0011] Preferably, the base plate is further equipped with a drive component for driving the rotating disk to rotate, and the drive component is rotatably configured to mesh with gear one and gear two. A bracket is fixed on the base plate, and a motor for driving gear one to rotate is mounted on the bracket.

[0012] Preferably, the bracket is further equipped with two fixing plates, each fixing plate having a damper that limits excessive rotation of the Z-axis module. A mounting bracket is mounted on the top of the fixing plates, and a proximity switch for detecting when the Z-axis module has rotated to the correct position is mounted on the mounting bracket.

[0013] Preferably, the rotating disk has four notches arranged in a circular array on its side, and the sensing element is located above one of the notches. The positioning mechanism includes a fixed frame connected to the bottom of the base plate, and a lifting cylinder is installed on the fixed frame. When the sensing element moves to the photoelectric sensor detection position, one end of the piston rod of the lifting cylinder aligns with the notch near the sensing element.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This utility model, through the coordinated work of the X-axis module, Y-axis module, Z-axis module and rotating mechanism, can freely transfer materials in three-dimensional space and can rotate in the horizontal direction (90°), effectively dealing with situations where there is a height difference between the starting point and the ending point of the material or the positions are not on the same straight line.

[0016] 2. This utility model utilizes the cooperation of a photoelectric sensor and an induction plate. After the rotating disk rotates 90°, the photoelectric sensor detects the induction plate, and then the positioning mechanism locks and positions the rotating disk to ensure the accuracy of material transfer.

[0017] 3. This utility model is equipped with a buffer and a proximity switch on the bracket, which can effectively limit the rotation angle of the Z-axis module, prevent mechanical collisions or damage caused by excessive rotation, improve operational safety, and extend the service life of the equipment. Attached Figure Description

[0018] Figure 1 This is an isometric view of the present invention;

[0019] Figure 2 This is a front view of the present utility model;

[0020] Figure 3 This is a schematic diagram of the gripper mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the rotating mechanism and the positioning mechanism of this utility model;

[0022] Figure 5 This utility model Figure 4 Enlarged view of part A in the middle.

[0023] In the diagram: 1. X-axis module; 2. Y-axis module; 3. Z-axis module; 4. Grip mechanism; 41. Fixing plate one; 42. Finger cylinder; 43. Upper clamping plate; 44. Lower clamping plate; 45. Connecting plate; 5. Rotation mechanism; 51. Motor; 52. Gear one; 53. Gear two; 54. Rotary disk; 55. Notch; 56. Sensing plate; 57. Connecting frame; 58. Photoelectric sensor; 6. Positioning mechanism; 61. Fixing frame; 62. Lifting cylinder; 7. Base plate; 8. Bracket; 9. Fixing plate two; 10. Buffer; 11. Mounting frame; 12. Proximity switch. Detailed Implementation

[0024] 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.

[0025] Please see Figure 1-5 The present invention provides a technical solution: a rotating gripper mechanism, including a gripper mechanism 4 for clamping a pallet, an X-axis module 1 for driving the pallet to move along the X-axis, a Y-axis module 2 for driving the pallet to move along the Y-axis, and a Z-axis module 3 for driving the pallet to move along the Z-axis, wherein the gripper mechanism 4 is mounted on the Z-axis module 3.

[0026] With the cooperation of X-axis module 1, Y-axis module 2, and Z-axis module 3, the gripper mechanism 4 can be driven to move the pallet arbitrarily in three directions.

[0027] It also includes a rotation mechanism 5 that drives the Z-axis module 3 to rotate. The maximum rotation angle of the rotation mechanism 5 is 90°, that is, the rotation mechanism 5 can drive the tray to rotate in the horizontal direction. The slide of the Y-axis module 2 is equipped with a base plate 7. The rotation mechanism 5 includes a rotating disk 54 that is rotatably mounted on the base plate 7. The Z-axis module 3 is mounted at the center position on the rotating disk 54.

[0028] A sensor 56 is mounted on the rotating disk 54, and a connecting frame 57 is connected to the base plate 7. A photoelectric sensor 58 for detecting the sensor 56 is mounted on the connecting frame 57.

[0029] The base plate 7 is also equipped with a positioning mechanism 6 for positioning the rotating disk 54. When the sensing plate 56 moves to the position of the photoelectric sensor 58, it is detected that the sensing plate 56 has moved into place, that is, the rotating disk 54 has rotated 90°, and the positioning mechanism 6 positions the rotating disk 54.

[0030] The gripper mechanism 4 includes a fixing plate 41 connected to the slide of the Z-axis module 3. There are two fixing plates 41, which are respectively connected to the two sides of the slide of the Z-axis module 3. Finger cylinders 42 are installed on the side of the fixing plate 41. Each finger cylinder 42 has an upper clamping plate 43 that moves upward and a lower clamping plate 44 that moves downward connected to the piston rod. The two upper clamping plates 43 are connected to a connecting plate 45 that is pinned to the tray.

[0031] The connecting plate 45 is provided with a positioning pin, and the tray is provided with a positioning hole. The positioning pin is set in conjunction with the positioning hole.

[0032] Operate the finger cylinder 42 to drive the upper clamping plate 43 to move upward and the lower clamping plate 44 to move downward, placing the tray between the upper clamping plate 43 and the lower clamping plate 44. Align the positioning pin with the positioning hole on the tray. Operate the finger cylinder 42 again to bring the upper clamping plate 43 and the lower clamping plate 44 closer together and clamp the tray.

[0033] The base plate 7 is also equipped with a drive component that drives the rotating disk 54 to rotate. The drive component is equipped with a rotating gear 52 and a gear 53 that mesh with each other. A bracket 8 is fixed on the base plate 7, and a motor 51 that drives the gear 52 to rotate is installed on the bracket 8.

[0034] Specifically, a rotating column is rotatably mounted on the base plate 7, a gear 53 is sleeved on the outer wall of the rotating column, and a rotating disk 54 is mounted on the top of the rotating column.

[0035] During rotation, motor 51 drives gear 52 to rotate. Under the meshing of gear 52 and gear 53, the rotating column is driven to rotate, and the rotating column then drives the rotating disk 54 to rotate.

[0036] Two fixing plates 9 are also installed on the bracket 8. A buffer 10 is installed on each fixing plate 9 to limit excessive rotation of the Z-axis module 3. A mounting bracket 11 is installed on the top of each fixing plate 9, and a proximity switch 12 is installed on the mounting bracket 11 to detect when the Z-axis module 3 has rotated to the correct position. The proximity switch 12 is an M8 proximity switch.

[0037] The rotating disk 54 has four notches 55 arranged in a ring array on its side. The sensing plate 56 is located above one of the notches 55. The positioning mechanism 6 includes a fixing frame 61 connected to the bottom of the base plate 7. A lifting cylinder 62 is installed on the fixing frame 61. When the sensing plate 56 moves to the detection position of the photoelectric sensor 58, one end of the piston rod of the lifting cylinder 62 is aligned with the notch 55 near the sensing plate 56.

[0038] When the gripper mechanism 4 picks up the material, it rotates 90° through the rotating mechanism 5. The sensing plate 56 moves to the detection position of the photoelectric sensor 58. A notch 55 adjacent to the sensing plate 56 is located directly above the lifting cylinder 62. The piston rod of the lifting cylinder 62 is inserted into the notch 55 to position the rotating disk 54 and prevent it from continuing to rotate.

[0039] In use, the gripper mechanism 4 is moved to the position where the material needs to be picked up by the cooperation of the X-axis module 1, Y-axis module 2 and Z-axis module 3. The clamps (upper clamp 43 and lower clamp 44) in the gripper mechanism 4 are aligned with the tray containing the material. The finger cylinder 42 is run to open the clamps, drive the upper clamp 43 to move up and the lower clamp 44 to move down, and place the tray between the upper clamp 43 and the lower clamp 44. The positioning pin on the connecting plate 45 is aligned with the positioning hole on the tray. Then the finger cylinder 42 is run again to bring the upper clamp 43 and the lower clamp 44 closer together to clamp the tray, and the positioning pin is inserted into the positioning hole to complete the picking up of the tray.

[0040] Then, the pallet is moved horizontally in a linear fashion using X-axis module 1 and Y-axis module 2, and rotated horizontally (90°) using rotating mechanism 5. Specifically, motor 51 drives gear 1 52 to rotate, and under the meshing of gear 1 52 and gear 2 53, the rotating disk 54 is driven to rotate. The rotating disk 54 drives Z-axis module 3 to rotate, and then the pallet is rotated 90° through gripper mechanism 4, so that the pallet is moved above the material endpoint. Then, the height of the pallet is lowered by Z-axis module 3, so that the pallet is placed stably at the material endpoint, and the gripper mechanism 4 is released.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotary gripper mechanism, characterized in that: It includes a gripper mechanism (4) for holding a pallet, an X-axis module (1) for driving the pallet to move along the X-axis, a Y-axis module (2) for driving the pallet to move along the Y-axis, and a Z-axis module (3) for driving the pallet to move along the Z-axis, wherein the gripper mechanism (4) is mounted on the Z-axis module (3). It also includes a rotating mechanism (5) for driving the Z-axis module (3) to rotate. A base plate (7) is mounted on the slide of the Y-axis module (2). The rotating mechanism (5) includes a rotating disk (54) rotatably mounted on the base plate (7). The Z-axis module (3) is mounted on the rotating disk (54). The rotating disk (54) is equipped with a sensor (56), the base plate (7) is connected to a connecting frame (57), the connecting frame (57) is equipped with a photoelectric sensor (58) for detecting the sensor (56), and the base plate (7) is also equipped with a positioning mechanism (6) for positioning the rotating disk (54).

2. The rotary gripper mechanism according to claim 1, characterized in that: The gripper mechanism (4) includes a fixed plate (41) connected to the slide of the Z-axis module (3). A finger cylinder (42) is installed on the side of the fixed plate (41). An upper clamping plate (43) that moves upward and a lower clamping plate (44) that moves downward are respectively connected to the piston rod of the finger cylinder (42). A connecting plate (45) that is pinned to the tray is connected to the upper clamping plate (43).

3. The rotary gripper mechanism according to claim 1, characterized in that: The base plate (7) is also equipped with a drive component that drives the rotating disk (54) to rotate. The drive component rotates and meshes with gear one (52) and gear two (53). The base plate (7) is fixed with a bracket (8). The bracket (8) is equipped with a motor (51) that drives gear one (52) to rotate.

4. The rotary gripper mechanism according to claim 3, characterized in that: Two fixing plates (9) are also installed on the bracket (8). A buffer (10) is installed on the fixing plate (9) to limit the excessive rotation of the Z-axis module (3). A mounting bracket (11) is installed on the top of the fixing plate (9). A proximity switch (12) is installed on the mounting bracket (11) to detect the rotation of the Z-axis module (3) into position.

5. The rotary gripper mechanism according to claim 1, characterized in that: The rotating disk (54) has four notches (55) arranged in a ring array on its side. The sensing plate (56) is located above one of the notches (55). The positioning mechanism (6) includes a fixing frame (61) connected to the bottom of the base plate (7). A lifting cylinder (62) is installed on the fixing frame (61). When the sensing plate (56) moves to the detection position of the photoelectric sensor (58), one end of the piston rod of the lifting cylinder (62) is aligned with the notch (55) near the sensing plate (56).

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