A gripper

Abstract

To achieve all the objects mentioned above and that will emerge from the following detailed description the present invention relates to a gripper (10) connected to at least one robot by means of at least one chassis (21) for performing manufacturing operations such as nailing, drilling, and assembly of workpieces. Accordingly, its novelty is that, in order to move simultaneously in two different axes, it comprises at least one first table (22) connected to said chassis (21), it comprises at least one sheet (221) movable on said first table (22) in the direction of y-axis (y) by means of at least one movement mechanism (30), it comprises at least one second table (23) connected to said sheet (221) and movable together with the sheet (221), it comprises at least one working group (231) movable on said second table (23) in the direction of x-axis (x) by means of at least one other movement mechanism (30).

Description

[0001] A GRIPPER

[0002] TECHNICAL FIELD

[0003] The invention relates to a gripper connected to at least one robot by means of at least one chassis for performing manufacturing operations such as nailing, drilling, and assembly of workpieces.

[0004] PRIOR ART

[0005] Robot grippers are mechanical devices that a robot uses to grasp, transport, place, or manipulate objects. Grippers are usually an apparatus or device located at the joint at the end of the robot arms. Robot grippers play an important role in robotic systems used in various industrial and service sectors.

[0006] Wooden pallets are flat platforms made of wood material, which are usually used to carry, store and transport loads. These pallets are widely used in industrial logistics and material transportation processes. Wooden pallets are preferred in various industries, storage areas, and transportation operations due to their many advantages.

[0007] Pallet nailing grippers are used to join pallets in an automated manner. The existing grippers are transferred to the operation area with the movement of the robot arm and the nails are driven sequentially. In other words, the nails to be driven cannot be driven in one go. After the first driven nail, the robot moves and takes the gripper to the next operation area. As a result, grippers are unable to adapt to changing pallets and operation times are extended. As a result, production slows down, consumed energy increases, and therefore costs also increase. In addition, efficiency decreases.

[0008] As a result, all the above-mentioned problems have made it imperative to make an innovation in the relevant technical field.

[0009] SUMMARY OF THE INVENTION The present invention relates to a gripper for eliminating the above-mentioned disadvantages and bringing new advantages to the relevant technical field.

[0010] An object of the invention is to introduce a gripper capable of operating simultaneously on two different axes of the working plane.

[0011] Another object of the invention is to introduce a gripper that automatically adapts to different types of pallets.

[0012] Another object of the invention is to introduce a gripper capable of performing nailing, drilling, cutting, screwing, assembling operations.

[0013] Another object of the invention is to introduce a gripper in which the need for manual adjustment is eliminated.

[0014] To achieve all the objects mentioned above and that will emerge from the following detailed description the present invention relates to a gripper connected to at least one robot by means of at least one chassis for performing manufacturing operations such as nailing, drilling, and assembly of workpieces. Accordingly, its novelty is that, in order to move simultaneously in two different axes, it comprises at least one first table connected to said chassis, it comprises at least one sheet movable on said first table in the direction of y-axis by means of at least one movement mechanism, it comprises at least one second table connected to said sheet and movable together with the sheet, it comprises at least one working group movable on said second table in the direction of x-axis by means of at least one other movement mechanism. Thus, a gripper capable of moving on the x and y axis, adapting to different types of pallets, not requiring manual adjustment, having increased mobility and thus saving time has been obtained.

[0015] A possible embodiment of the invention is characterized in that it comprises at least one drive element to drive said movement mechanism, and said drive element is a servo motor. Thus, since the position of the operation areas in space is known, the gripper quickly automatically transfers the working group to the operation area. A possible embodiment of the invention is characterized in that said first table and said second table comprise at least one slide each for allowing linear movement. Thus, the sheet and the working group can move linearly.

[0016] A possible embodiment of the invention is characterized in that it comprises at least one damping group to dampen vibrations transmitted to the gripper during operation, and said damping group comprises at least one spring and at least one pneumatic piston. Thus, the vibrations that occur during the operation are prevented from causing problems after a while.

[0017] A possible embodiment of the invention is characterized in that said working group is a nail gun and the workpiece is a pallet. Thus, the nail positions are standardized by ensuring that the nails always reach the desired position.

[0018] A possible embodiment of the invention is characterized that the movement mechanism is a rack-pinion gear mechanism, and the movement mechanism consists of two rack gears and one pinion gear. Thus, the sheets and working groups can move simultaneously on the x and y axes, thus increasing the mobility of the gripper.

[0019] A possible embodiment of the invention is characterized in that there are two sheets connected with said rack gears. Thus, two different sheets can move together with the movement mechanism having a single drive element.

[0020] A possible embodiment of the invention is characterized in that it comprises at least one transport group for transporting the workpiece to the desired area. Thus, after the operation, the products are automatically delivered to the desired area.

[0021] A possible embodiment of the invention is characterized in that said transport group comprises at least one movable arm rotatable around its own axis by means of at least one pneumatic piston and at least one fixed arm. This ensures that the workpiece is stable during transportation and ensures safety.

[0022] BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 shows a representative isometric view of the gripper of the invention. Fig. 2 shows a representative front view of the gripper of the invention.

[0024] Fig. 3 shows a representative side view of the gripper of the invention.

[0025] Fig. 4 shows a representative bottom view of the gripper of the invention.

[0026] Fig. 5 shows a representative top view of the gripper of the invention.

[0027] DETAILED DESCRIPTION OF THE INVENTION

[0028] In this detailed description, the gripper (10) of the invention is explained by way of example only for a better understanding of the subject, which shall not create any limiting effect.

[0029] Fig. 1 shows a representative isometric view of the gripper (10) of the invention. The gripper (10) is connected to the robot and performs various manufacturing operations. In a preferred embodiment of the invention, said operation is to drive nails into the workpiece. Said workpiece is a pallet. However, in alternative embodiments, in addition to pallets, various joining operations such as drilling, screwing, cutting, assembling, welding can be performed on various metal, plastic, or other wooden materials. Thanks to the gripper (10), the robot, in addition to its movement in space, can also move in two different axes according to the operation surface and can perform operations in multiple operation areas simultaneously. Thus, time efficiency is achieved. In addition, as in the prior art, the need for manual adjustment for each pallet can be eliminated, resulting in a gripper (10) capable of automatically adapting to the changed workpiece, i.e. the pallet, thanks to its increased mobility.

[0030] The gripper (10) comprises at least one chassis (21). Said chassis (21 ) allows the gripper (10) to be connected with the robot. The chassis (21) is made of plates, leaving the inside hollow. Thus, the weight can be reduced.

[0031] The gripper (10) comprises at least one first table (22). Said first table (22) is connected to at least one other surface of the chassis (21 ). The first table (22) is essentially a plate rectangular in shape. In alternative embodiments, it may have various polygonal geometries such as circular or square.

[0032] The gripper (10) comprises at least one sheet (221). Said sheet (221) is connected to the first table (22) by means of at least one slide (40). The number of said slides (40) is two. Thus, the sheet (221 ) has freedom of movement in the direction of the y-axis (y) on the first table (22). The number of sheets (221 ) is two.

[0033] The first table (22) comprises at least one movement mechanism (30). Said movement mechanism (30) is located below the first table (22). The movement mechanism (30) allows the sheet (221) to move with at least one trolley on said slide (40). The movement mechanism (30) essentially enables at least two sheets (221 ) to move toward and away from each other in the direction of y-axis (y) on the first table (22). Said movement is simultaneous. However, in alternative embodiments, the sheets (221 ) can also move independently of each other.

[0034] In order to achieve this, the movement mechanism (30) is the rack-pinion gear mechanism. The preferred embodiment of the invention consists of at least two rack gears and at least one pinion gear. In this way, the sheet (221 ) is capable of moving back and forth together with the rack gear extending on the y-axis (y) by means of a pinion gear driven by at least one drive element (50). To make it even clearer, the movement mechanism (30) allows the sheets (221 ) provided at the bottom of the first table (22) to simultaneously approach the center point and move away from the center point of the first table (22). In alternative embodiments, the sheets (221) can also move independently. Said drive element (50) is a servo motor. The drive element (50) can also be a pneumatic piston. Thanks to the servo motor, manual adjustment according to changing operation areas is eliminated. Thus, when the operation is to be carried out on different workpieces, since the position of the operation area is known, the servo motor provides direct movement to the operation area.

[0035] The gripper (10) comprises at least one second table (23) connected to the sheet (221 ). Said second table (23) is located at the bottom of the sheet (221). Therefore, the second table (23) also can move on the y-axis (y) together with the sheet (221). The number of the second table (23) is equal to the number of sheets (221). The second table (23) is also a plate rectangular in shape. In alternative embodiments, it may have various polygonal geometries such as circular or square.

[0036] The second table comprises a movement mechanism (30) as in the first table (22). Said movement mechanism (30) is located on the lower surface of the second table (23). The second table comprises at least one slide (40). Said slide (40) is configured on the same surface as the movement mechanism (30).

[0037] The second table (23) comprises at least one working group (231). Said working group (231 ) is connected to the slide (40) by means of at least one trolley such that it is under the second table (23). The working group (231 ) is essentially the group that performs the operation to be carried out. In the preferred embodiment of the invention, the working group (231) is a nail gun. However, in alternative embodiments, it can also be various tools such as drills and knives.

[0038] There are two of the working group (231) on each second table (23). The working group (231 ) is able to move on the x-axis (x) on the slide (40) by means of the movement mechanism (30). In a preferred embodiment of the invention, two working groups (231) on a single sheet (221 ) are configured to approach or move away from each other on the second table (23) simultaneously. However, in alternative embodiments, the working groups (231 ) can also move independently.

[0039] The second table (23) comprises at least one damping group (232) between it and the working group (231). Thus, during the operation, the forces transmitted to the gripper (10) can be damped. The damping group (232) consists of at least one spring and at least one pneumatic piston.

[0040] The gripper comprises at least one transport group (60). Said transport group (60) is connected at least at one end with the first table (22). The transport group (60) is configured to transport the product to the desired area after operation. In order to achieve this, it comprises at least one fixed arm (62). Said fixed arm (62) engages with the product, in this case the pallet, and allows it to be lifted together with the gripper (10). There are two fixed arms (62). The transport group (60) comprises at least one movable arm (61) to ensure that the product is fixed. The movable arm (61 ) can rotate around its own axis. Thus, the product is fixed by being clamped between the movable arm (61) and the fixed arm (62) and a safe transportation can be achieved. The movable arm (61) is driven by at least one drive element (50). In a preferred embodiment of the invention, the drive element (50) driving said movable arm (61 ) is a pneumatic piston. The movable arm (61 ) is provided as much as the number of fixed arms (62).

[0041] In the light of all of the described, the invention operates as follows: According to the operation to be performed, the determined 4 working groups (231) are connected to 2 second tables (23) such that they are movable on the x-axis (x). Working groups on the second table can simultaneously move closer and further away from each other on the x-axis (x). The sheet (221) to which the second table is connected is also configured such that it is slidable on the first table (22) in the direction of the y-axis (y). In this way, working groups can move simultaneously on two different axes. In order to ensure the transportation of the products after the operation, the carrier group compresses the workpiece with the fixed arm (62) and the movable arm (61 ) and transports the workpiece to the desired area.

[0042] Therefore, a gripper (10) that easily adapts to changing pallet sizes and geometries, eliminates the need for the robot to make any movement in addition to the robot's movement in space, and shortens operation times and increases production efficiency with the ability to perform operations on two different axes within the gripper (10) itself. In other words, the need for manual adjustment according to each pallet type or size is eliminated, and the operation is carried out in a much faster manner. In addition, by driving both sheets (221) or working groups (231) with a single movement mechanism (30), the number of drive elements (50) and movement mechanisms (30) required is reduced, thus reducing weight and cost.

[0043] The scope of protection of the invention is specified in the appended claims and cannot be limited to what is described for illustrative purposes in this detailed description. It is clear that a person skilled in the art can produce similar embodiments in the light of what is explained above, without deviating from the main theme of the invention.

[0044] REFERENCE NUMERALS GIVEN IN THE DRAWING

[0045] 10 Gripper 20 Operation Group

[0046] 21 Chassis

[0047] 22 First Table

[0048] 221 Sheet 23 Second Table

[0049] 231 Working Group

[0050] 232 Damping Group

[0051] 30 Movement Mechanism

[0052] 40 Slide 50 Drive Element

[0053] 60 Transport Group

[0054] 61 Movable Arm

[0055] 62 Fixed Arm

[0056] (x) X-axis (y) Y-axis

Claims

CLAIMS1 . A gripper (10) connected to at least one robot by means of at least one chassis (21 ) for performing manufacturing operations such as nailing, drilling, and assembly of workpieces, characterized in that, in order to move simultaneously in two different axes, it comprises at least one first table (22) connected to said chassis (21 ), it comprises at least one sheet (221) movable on said first table (22) in the direction of y-axis (y) by means of at least one movement mechanism (30), it comprises at least one second table (23) connected to said sheet (221 ) and movable together with the sheet (221), it comprises at least one working group (231) movable on said second table (23) in the direction of x-axis (x) by means of at least one other movement mechanism (30).

2. A gripper (10) according to claim 1 , characterized in that it comprises at least one drive element (50) for driving said movement mechanism (30).

3. A gripper (10) according to claim 2, characterized in that said drive element (50) is a servo motor.

4. A gripper (10) according to claim 1 , characterized in that said first table (22) and said second table (23) comprise at least one slide each for allowing linear movement.

5. A gripper (10) according to claim 1 , characterized in that it comprises at least one damping group (232) for damping vibrations transmitted to the gripper (10) during operation.

6. A gripper (10) according to claim 5, characterized in that said damping group (232) comprises at least one spring and at least one pneumatic piston.

7. A gripper (10) according to claim 1 , characterized in that said working group (231 ) is a nail gun.

8. A gripper (10) according to claim 1 , characterized in that the movement mechanism (30) is a rack-pinion gear mechanism.

9. A gripper (10) according to claim 1 , characterized in that the movement mechanism (30) comprises two rack gears and one pinion gear.

10. A gripper (10) according to claim 8, characterized in that there are two sheets(221 ) connected to said rack gears.11 . A gripper (10) according to claim 1 , characterized in that it comprises at least one transport group (60) for transporting the workpiece to the desired area.

12. A gripper (10) according to claim 11 , characterized in that said transport group (60) comprises at least one movable arm (61 ) rotatable around its own axis by means of at least one pneumatic piston and at least one fixed arm (62).

13. A gripper (10) according to claim 1 , characterized in that the workpiece is a pallet.

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