Double-gripper quick-change module of door-type robot

Abstract

The utility model relates to industrial automation equipment field especially relates to a door type mechanical hand double gripper quick change module, including mechanical arm, mechanical arm is provided with the sliding ring, and the sliding ring has two mutually sealed and can mutually rotate round plate constitution, and mechanical arm is installed with drive assembly, and the sliding ring is located between mechanical arm and drive assembly, and drive assembly is connected with two connecting seats of sliding, and the connecting seat is slidably connected with the clamping arm, and the air pipe one end communicates with the sliding ring, and the air pipe middle part passes drive assembly, and the air pipe other end extends to the inside of connecting seat and is connected with the sucking disc, and the sucking disc is pasted with the clamping arm end part of inserting the connecting seat, and the connecting seat is provided with the extrusion assembly for stabilizing the clamping arm. Through the cooperation of the sliding ring, the air pipe and the sucking disc, the sliding ring keeps the air pressure of the air pipe stable, the sucking disc adsorbs the clamping arm end surface through the negative pressure, thereby realizing the quick fixing and releasing of the clamping arm, achieving the purpose of free screwing, shortening the gripper replacement time.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment, and in particular to a quick-change module for a gantry robot with dual grippers. Background Technology

[0002] As an important actuator in industrial automation, gantry robots are widely used in material handling, assembly, and sorting due to their gantry frame structure and multi-degree-of-freedom motion characteristics. Their dual-gripper design can simultaneously or independently grip objects of different shapes and sizes, significantly improving operational efficiency and flexibility. However, existing gantry robot dual-gripper modules generally use a traditional connection method with multiple screws for rigid fixation, that is, the mechanical connection between the gripper and the end effector of the robot arm is achieved through the cooperation of bolts and nuts.

[0003] In existing technologies, the fixation of the gripper and the robotic arm typically relies on the even tightening of multiple screws to ensure clamping accuracy and structural stability. However, the operation of tightening or loosening each screw individually is time-consuming, especially in production line switching scenarios where grippers need to be frequently changed, significantly increasing equipment downtime. When changes in production tasks lead to changes in the shape or size of the object being gripped, operators must first completely loosen all fixing screws, adjust the gripper position, and then retighten them. This process is cumbersome and prone to structural deformation or positioning deviations due to uneven screw tightening force. Furthermore, screw connections are susceptible to loosening due to vibration during long-term use, requiring regular maintenance and inspection, further reducing system reliability.

[0004] In summary, the traditional multi-screw fixing method has become a key bottleneck restricting the operating efficiency and applicability of gantry robots. Utility Model Content

[0005] To overcome the drawback of low replacement efficiency, this utility model provides a quick-change module for a portal robot with dual grippers, aiming to solve the above-mentioned shortcomings.

[0006] A portal-type robotic arm with a dual gripper quick-change module includes a robotic arm. The robotic arm is equipped with a slip ring, which consists of two mutually sealed and rotatable circular plates. The robotic arm is equipped with a drive assembly. The slip ring is located between the robotic arm and the drive assembly. The drive assembly is slidably connected to two connecting seats. The drive assembly is provided with a power slide rail for driving the connecting seats to slide. A clamping arm is slidably connected inside the connecting seats. One end of an air pipe communicates with the slip ring, the middle of the air pipe passes through the drive assembly, and the other end of the air pipe extends into the connecting seat and is connected to a suction cup. The suction cup is in contact with the end of the clamping arm inserted into the connecting seat. An air pump is connected to the outside of the slip ring. A squeezing assembly for stabilizing the clamping arm is provided inside the connecting seat.

[0007] Optionally, the extrusion assembly includes a top block, and the bottom of the connecting seat has a movable cavity. The top block is slidably connected to the bottom of the movable cavity. A plurality of return springs are provided in the movable cavity. The lower end of the return spring is connected to the connecting seat, and the upper end of the return spring is connected to the bottom surface of the top block. The top surface of the top block is set as an inclined surface.

[0008] Optionally, a rubber pad is connected to the top surface of the top block.

[0009] Optionally, a plurality of rollers are rotatably connected to the bottom of the connecting seat, and the rollers roll and rub against the clamping arm.

[0010] Optionally, a lever is slidably connected to the top of the connecting seat, and the bottom end of the lever is in contact with the end face of the clamping arm.

[0011] Optionally, an anti-friction ring is connected inside the drive assembly, and the air tube passes through the anti-friction ring.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. By cooperating with the slip ring, air tube and suction cup, the slip ring keeps the air tube pressure stable, and the suction cup uses negative pressure to adsorb the end face of the clamping arm, thereby realizing the quick fixing and release of the clamping arm, achieving the purpose of eliminating the need to tighten screws and shortening the gripper replacement time.

[0014] 2. By cooperating with the return spring and the inclined surface of the top block in the extrusion assembly, the top block is pressed down when the clamping arm is inserted, and the return spring stores the elastic force. When the clamping arm is withdrawn, the spring rebounds and pushes the top block up, thereby realizing the automatic positioning and stable clamping of the clamping arm, solving the problem of traditional screw fixing requiring repeated tightening and loosening and easy positioning deviation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the installation structure of the slip ring and air tube of this utility model.

[0017] Figure 3 This is a cross-sectional view of the installation structure of the connector and suction cup of this utility model.

[0018] Figure 4 This is a cross-sectional view of the mounting structure of the reset spring and top block of this utility model.

[0019] Explanation of reference numerals in the attached drawings: 1_robotic arm, 2_drive assembly, 3_slip ring, 301_air tube, 4_suction cup, 5_connecting seat, 6_gripper arm, 7_moving chamber, 8_reset spring, 9_top block, 10_rubber pad, 11_roller, 12_pulling block, 13_anti-friction ring. Detailed Implementation

[0020] The following description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention.

[0021] Example: A quick-change module for a portal robot's dual grippers, such as... Figures 1-4 As shown, the system includes a robotic arm 1, a drive assembly 2, a slip ring 3, an air pipe 301, a suction cup 4, a connecting seat 5, a clamping arm 6, and a compression assembly. The robotic arm 1 is equipped with a slip ring 3, which consists of two mutually sealed and rotatable circular plates. The contact surface of the circular plates of the slip ring 3 is made of polytetrafluoroethylene to reduce the coefficient of rotational friction. The robotic arm 1 is equipped with a drive assembly 2, and the slip ring 3 is located between the robotic arm 1 and the drive assembly 2. The drive assembly 2 is slidably connected to two connecting seats 5, and the drive assembly 2 is equipped with a power slide rail for driving the connecting seats 5 to slide. The clamping arm 6 is slidably connected inside the connecting seats 5. One end of the air pipe 301 is connected to the slip ring 3, the middle of the air pipe 301 passes through the drive assembly 2, and the other end of the air pipe 301 extends into the connecting seat 5 and is connected to a suction cup 4. The suction cup 4 is in contact with the end of the clamping arm 6 inserted into the connecting seat 5. An air pump is connected to the outside of the slip ring 3, and a compression assembly for stabilizing the clamping arm 6 is provided inside the connecting seat 5.

[0022] like Figure 3 and Figure 4 As shown, the extrusion assembly includes a return spring 8 and a top block 9. The bottom of the connecting seat 5 has a movable cavity 7. The top block 9 is slidably connected to the bottom of the movable cavity 7. Several return springs 8 are arranged in the movable cavity 7. The lower end of the return spring 8 is connected to the connecting seat 5, and the upper end of the return spring 8 is connected to the bottom surface of the top block 9. The top surface of the top block 9 is provided with an inclined surface facing the port of the connecting seat 5. The surface of the inclined surface is plated with hard chrome to enhance wear resistance.

[0023] like Figure 4 As shown, it also includes a rubber pad 10. The top surface of the top block 9 is connected to the rubber pad 10. The surface of the rubber pad 10 is provided with transverse stripes to increase the coefficient of friction with the end face of the clamping arm 6.

[0024] like Figure 3 As shown, it also includes rollers 11. Several rollers 11 are rotatably connected to the bottom of the connecting seat 5. The rollers 11 roll and rub against the clamping arm 6. The rollers 11 adopt a deep groove ball bearing structure and are filled with grease to convert sliding friction into rolling friction and reduce the resistance when the clamping arm 6 is inserted.

[0025] like Figure 2 and Figure 3 As shown, it also includes a lever 12, which is slidably connected to the top of the connecting seat 5, and the bottom end of the lever 12 is in contact with the end face of the clamping arm 6.

[0026] like Figure 2As shown, it also includes an anti-friction ring 13. The drive assembly 2 is connected to the anti-friction ring 13, and the air tube 301 passes through the anti-friction ring 13. The anti-friction ring 13 is made of polyoxymethylene resin to reduce frictional loss between the air tube 301 and the drive assembly 2.

[0027] When installing the clamping arm 6, the operator first aligns the end of the clamping arm 6 with the inlet of the connecting seat 5 and gently pushes the clamping arm 6 so that its bottom enters the connecting seat 5. The bottom of the clamping arm 6 first contacts the rotating roller 11 at the bottom of the connecting seat 5. After being pressed, the roller 11 rotates around its own axis, converting sliding friction into rolling friction and reducing the resistance when the clamping arm 6 is inserted. The clamping arm 6 continues to be pushed into the connecting seat 5, and its end gradually contacts the rubber pad 10 on the top surface of the top block 9. At this time, the inclined surface of the end of the clamping arm 6 and the inclined surface of the top surface of the top block 9 are pressed together. After being pressed, the top block 9 slides inward along the movable cavity 7, and the return spring 8 in the movable cavity 7 is simultaneously compressed, storing elastic potential energy. As the clamping arm 6 continues to be pushed in, the elastic force of the return spring 8 is transmitted to the top surface of the clamping arm 6 through the top block 9, pushing the top surface of the clamping arm 6 to fit tightly against the inner wall of the connecting seat 5. The contact area increases, generating a uniformly distributed frictional force, so that the clamping arm 6 remains stable in a static state and is not easily shaken or dislodged by external forces.

[0028] Once the end of the clamping arm 6 is fully engaged with the suction cup 4, the air pump is activated. The air pump draws air from between the suction cup 4 and the clamping arm 6 through the slip ring 3 and the air pipe 301, creating a negative pressure environment. The suction cup 4 then adheres to the end face of the clamping arm 6, further enhancing the fixing effect. At this point, the end of the clamping arm 6 contacts the lever 12. The lever 12 provides initial positioning within the top groove of the connecting seat 5, preventing the clamping arm 6 from being over-inserted. After installing one clamping arm 6, the other clamping arm 6 is installed following the same steps. Subsequently, the drive assembly 2 drives the connecting seat 5 to slide and adjust the spacing. The robotic arm 1 controls the drive assembly 2 to rotate and adjust the orientation. The slip ring 3 ensures stable air pressure in the air pipe 301 through a sealed rotation structure. The rubber pad 10 undergoes elastic deformation when the clamping arm 6 shakes slightly, absorbing vibration energy. Simultaneously, the deformation increases the contact friction with the clamping arm 6, improving clamping stability.

[0029] When the clamping arm 6 needs to be replaced to accommodate objects of different shapes, the operator first switches the air pump to the operating mode and injects compressed air into the suction cup 4 through the air pipe 301. This disrupts the negative pressure environment between the suction cup 4 and the end face of the clamping arm 6, causing the suction cup 4 to detach from the clamping arm 6. Then, the operator uses a finger or tool to move the lever 12 on the top of the connecting seat 5. The lever 12 moves along the groove towards the clamping arm 6, its bottom contacting the end face of the clamping arm 6 and applying an outward force, pushing the clamping arm 6 to slide outward along the inner wall of the connecting seat 5. During the sliding process, the end of the clamping arm 6 gradually disengages from the inclined surface of the top block 9. The return spring 8, having lost its compression, begins to rebound, pushing the top block 9 to slide upward along the movable cavity 7. The top block 9 remains in contact with the end face of the clamping arm 6, assisting the clamping arm 6 to slide out smoothly. After the clamping arm 6 has completely slid out of the connecting seat 5, the original clamping arm 6 is removed, and a new clamping arm 6 with the appropriate shape is reinserted into the connecting seat 5 following the above installation steps. This completes the adjustment of the clamping method.

[0030] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A quick-change module for a portal robot's dual grippers, characterized in that, The system includes a robotic arm (1), which is equipped with a slip ring (3). The slip ring (3) consists of two circular plates that are sealed to each other and can rotate relative to each other. The robotic arm (1) is equipped with a drive assembly (2). The slip ring (3) is located between the robotic arm (1) and the drive assembly (2). The drive assembly (2) is slidably connected to two connecting seats (5). The drive assembly (2) is equipped with a power slide rail for driving the connecting seats (5) to slide. A clamping arm (6) is slidably connected inside the connecting seat (5). One end of an air pipe (301) is connected to the slip ring (3). The middle part of the air pipe (301) passes through the drive assembly (2). The other end of the air pipe (301) extends into the connecting seat (5) and is connected to a suction cup (4). The suction cup (4) is in contact with the end of the clamping arm (6) inserted into the connecting seat (5). An air pump is connected to the outside of the slip ring (3). A squeezing assembly for stabilizing the clamping arm (6) is provided inside the connecting seat (5).

2. The quick-change module for a portal robot's dual grippers according to claim 1, characterized in that, The extrusion assembly includes a top block (9), and a movable cavity (7) is opened at the bottom of the connecting seat (5). The top block (9) is slidably connected to the bottom of the movable cavity (7). A plurality of return springs (8) are provided in the movable cavity (7). The lower end of the return spring (8) is connected to the connecting seat (5), and the upper end of the return spring (8) is connected to the bottom surface of the top block (9). The top surface of the top block (9) is set as an inclined surface.

3. The quick-change module for a portal robot's dual grippers according to claim 2, characterized in that, The top surface of the top block (9) is connected to a rubber pad (10).

4. A quick-change module for a portal robot's dual grippers according to claim 3, characterized in that, The bottom of the connecting seat (5) is rotatably connected to several rollers (11), and the rollers (11) roll and rub against the clamping arm (6).

5. A quick-change module for a portal robot's dual grippers according to claim 4, characterized in that, The top of the connecting seat (5) is slidably connected to a lever (12), and the bottom end of the lever (12) is in contact with the end face of the clamping arm (6).

6. A quick-change module for a portal robot's dual grippers according to claim 5, characterized in that, The drive assembly (2) is internally connected to an anti-friction ring (13), and the air tube (301) passes through the anti-friction ring (13).

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