CN210762877U - Feeding gantry manipulator clamp - Google Patents
Feeding gantry manipulator clamp Download PDFInfo
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- CN210762877U CN210762877U CN201921671054.5U CN201921671054U CN210762877U CN 210762877 U CN210762877 U CN 210762877U CN 201921671054 U CN201921671054 U CN 201921671054U CN 210762877 U CN210762877 U CN 210762877U
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- grabbing
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Abstract
The utility model provides a material loading gantry manipulator clamp, which comprises a frame with a certain height away from the ground and a grabbing moving mechanism linearly moving on the frame, wherein the grabbing moving mechanism comprises a grabbing mechanism and a moving mechanism, the grabbing mechanism comprises a mounting seat, grabs and a transmission device, the grabs are relatively arranged on two sides of the mounting seat, and the transmission device is used for driving the grabs on two sides to synchronously move in opposite directions; the transmission device is a belt conveyor, a belt on the belt conveyor is arranged along the moving direction of the grippers, the belt on the belt conveyor forms a first transmission section and a second transmission section which are opposite in moving direction, and the first transmission section and the second transmission section are fixedly connected with the grippers on two sides respectively. The utility model discloses realize snatching the stability, the synchronism of process, provide the high power of grabbing.
Description
Technical Field
The utility model particularly relates to a material loading portal manipulator anchor clamps.
Background
When the traditional manipulator realizes a loading and unloading task, the mode is single, the working condition environment adaptability is poor, and the flexibility is small. The gantry manipulator can complete feeding and discharging and material conveying simultaneously according to working conditions, and meanwhile, the bearing capacity and the task mode are adjusted according to task working conditions, so that the gantry manipulator has high flexibility.
However, the stability and synchronism of the two sides of the current gantry manipulator are poor.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a material loading portal manipulator anchor clamps realizes snatching the stability, the synchronism of process, provides the high power of grabbing.
The utility model adopts the following technical scheme:
a feeding gantry manipulator clamp comprises a rack with a certain height away from the ground and a grabbing and moving mechanism which moves linearly on the rack, wherein the grabbing and moving mechanism comprises a grabbing mechanism and a moving mechanism, the grabbing mechanism comprises a mounting seat, grabs and transmission devices, the grabs are oppositely arranged on two sides of the mounting seat, and the transmission devices are used for driving the grabs on the two sides to synchronously move in opposite directions; the transmission device is a belt conveyor, a belt on the belt conveyor is arranged along the moving direction of the grippers, the belt on the belt conveyor forms a first transmission section and a second transmission section which are opposite in moving direction, and the first transmission section and the second transmission section are fixedly connected with the grippers on two sides respectively.
Preferably, the lower surface of the mounting seat is provided with a guide rail extending along the direction of the belt, and the hand grips are respectively hung below the guide rail through sliding blocks matched with the guide rail; the hand grips are respectively provided with a door-shaped member and are respectively hung below the belt through the door-shaped members; the door-shaped components on the grippers on the two sides are fixedly connected with the first transmission section and the second transmission section respectively.
Preferably, the grippers extend along the width direction of the workpiece respectively, the mounting seat is composed of a rectangular frame, the transmission device is mounted in the middle of the mounting seat along the length direction of the mounting seat, the guide rails are symmetrically distributed on two sides of the transmission device, and two ends of the grippers in the length direction are matched with the corresponding guide rails through the sliding blocks respectively.
Preferably, the middle part of the mounting seat is symmetrically provided with two mutually parallel belt conveyors, the middle part of each belt conveyor is provided with a driving wheel, the two driving wheels are connected with the same driving shaft, and the driving shaft is driven to rotate by a motor arranged on the mounting seat; tension adjusting wheels are respectively arranged at the two sides of the driving wheel; driven wheels are respectively arranged at two ends of the mounting seat in the length direction, and a belt is wound among the driving wheel, the driven wheels and the tension adjusting wheel to form a first transmission section positioned above and a second transmission section positioned below; the hand grips are hung below the belt through door-shaped members corresponding to the belt conveyors respectively, and the two door-shaped members on the same hand grip are fixedly connected with the first transmission sections or the second transmission sections of the two belt conveyors simultaneously.
Preferably, the gripper comprises a gripper seat and a gripper mechanism, the gripper seat extends along the width direction of the workpiece, the gripper mechanism is uniformly distributed with a plurality of gripper mechanisms along the length direction of the gripper seat, and the gripper mechanisms on the grippers on the two sides correspond to each other.
Preferably, the clamping jaw mechanism comprises a connecting seat and a clamping jaw, the connecting seat is provided with a sliding rail extending along the direction of the belt, and the sliding rail is provided with a sliding block in a sliding manner; the clamping jaw is fixed on the sliding block; the clamping jaw is characterized in that sliding columns and stop blocks of parallel sliding rails are respectively arranged at two ends of the sliding block on the connecting seat, the clamping jaw can slide along the sliding columns, nuts are further sleeved on the sliding columns, the clamping jaws can be compressed tightly by the nuts and the stop blocks, elastic pieces are further connected between the nuts and the clamping jaws, and buffering pieces are further connected between the clamping jaws and the stop blocks.
The utility model has the advantages that: the whole gripper assembly only uses one speed reducing motor, and the synchronous opposite movement of the grippers at two sides is ensured by a vertical dislocation fixing mode of a belt, so that the stability and the synchronism of the gripping process are realized, and high gripping force is provided; meanwhile, the hand grab can provide a certain degree of buffering.
Drawings
The accompanying drawings are included to provide a preferred understanding of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the gripping mechanism of the present invention;
FIG. 3 is a schematic view of the structure at the bottom of FIG. 2;
fig. 4 is a schematic structural view of the clamping jaw mechanism of the present invention.
Labeled as: 1. a frame; 2. a grabbing mechanism; 3. a moving mechanism; 4. a product stacking tray; 5. a conveyor; 6. a mounting seat; 7. a gripper; 8. a belt conveyor; 9. a belt; 10. a first transmission section; 11. a second transmission section; 12. a guide rail; 13. a slider; 14. a gate member; 15. a driving wheel; 16. a drive shaft; 17. a motor; 18. a tension adjusting wheel; 19. a driven wheel; 20. a jaw seat; 21. a jaw mechanism; 22. a connecting seat; 23. a clamping jaw; 24. a slide rail; 25. a slider; 26. a traveler; 27. a stopper; 28. a nut; 29. an elastic member; 30. a buffer.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 4, the loading gantry manipulator fixture according to the embodiment includes a rack 1 having a certain height from the ground and a grabbing moving mechanism linearly moving on the rack 1, wherein the grabbing moving mechanism includes a grabbing mechanism 2 and a moving mechanism 3, a product stacking tray 4 and a conveyor 5 are distributed below the rack 1 and located in the linear moving direction of the grabbing moving mechanism, the grabbing mechanism 2 includes a mounting seat 6, grippers 7 oppositely disposed on both sides of the mounting seat 6, and a transmission device for driving the grippers 7 on both sides to synchronously move in opposite directions; after the operator determines that the product pallet 4 is placed at the correct position, the equipment is started; the grabbing mechanism 2 is driven by the moving mechanism 3 to move to the position above the product, and the grippers 7 on the two sides of the grabbing mechanism 2 move back to the corresponding width; the grabbing mechanism 2 descends, the grabs 7 on the two sides move relatively and are tightened, and a product is grabbed; the grabbing mechanism 2 rises to a safe height and moves above the conveyor 5 under the drive of the moving mechanism 3; the grabbing mechanism 2 descends, and the product is placed on the conveyor 5; when the photoelectric sensor on the conveyor 5 detects that the product is placed in place, the gripper 7 is released and ascends; starting the next round of product grabbing, and circulating the process;
the transmission device is a belt conveyor 8, a belt 9 on the belt conveyor 8 is arranged along the moving direction of the grippers 7, the belt 9 on the belt conveyor 8 forms a first transmission section 10 and a second transmission section 11 which are opposite in moving direction, the first transmission section 10 and the second transmission section 11 are fixedly connected with the grippers 7 on the two sides respectively, the belt conveyor 8 is driven to rotate through a motor, synchronous movement of the grippers 7 on the two sides can be achieved, synchronous opposite movement of the grippers 7 on the two sides is guaranteed through an up-and-down staggered fixing mode of the belt 9, and stability and synchronism of a gripping process are achieved.
Specifically, the lower surface of the mounting seat 6 is provided with a guide rail 12 extending along the direction of the belt 9, and the hand grips 7 are respectively hung below the guide rail 12 through slide blocks 13 matched with the guide rail 12; the hand grips 7 are respectively provided with a door-shaped member 14, and the hand grips 7 are respectively hung below the belt 9 through the door-shaped members 14; the door-shaped components 14 on the hand grips 7 on the two sides are respectively and fixedly connected with the first transmission section 10 and the second transmission section 11; the grippers 7 extend along the width direction of the workpiece respectively, the mounting seat 6 consists of a rectangular frame, the belt conveyor 8 is mounted in the middle of the mounting seat 6 along the length direction of the mounting seat 6, the guide rails 12 are symmetrically distributed on two sides of the belt conveyor 8, and two ends of the grippers 7 in the length direction are matched with the corresponding guide rails 12 through the sliding blocks 13 respectively; two mutually parallel belt conveyors 8 are symmetrically arranged in the middle of the mounting seat 6, a driving wheel 15 is arranged in the middle of each belt conveyor 8, the two driving wheels 15 are connected with a same driving shaft 16, and the driving shaft 16 is driven to rotate by a motor 17 arranged on the mounting seat 6; tension adjusting wheels 18 are respectively arranged at the two sides of the driving wheel 15; driven wheels 19 are respectively arranged at two ends of the mounting seat 6 in the length direction, and a belt 9 is wound among the driving wheel 15, the driven wheels 19 and the tension adjusting wheel 18 to form a first transmission section 10 positioned above and a second transmission section 11 positioned below; the hand grips 7 are hung below the belt 9 through door-shaped members 14 corresponding to the belt conveyors 8 respectively, and two door-shaped members 14 on the same hand grip 7 are fixedly connected with the first transmission sections 10 or the second transmission sections 11 of the two belt conveyors 8 at the same time.
Specifically, the gripper 7 comprises a gripper seat 20 and a gripper mechanism 21, the gripper seat 20 extends along the width direction of the workpiece, the gripper mechanism 21 is uniformly distributed along the length direction of the gripper seat 20, and the gripper mechanisms 21 on the grippers 7 on two sides correspond to each other; the clamping jaw mechanism 21 comprises a connecting seat 22 and a clamping jaw 23, a sliding rail 24 extending along the direction of the belt 9 is arranged on the connecting seat 22, and a sliding block 25 is arranged on the sliding rail 24 in a sliding manner; the clamping jaw 23 is fixed on the sliding block 25; a sliding column 26 and a stop block 27 of a parallel sliding rail 24 are respectively arranged at two ends of the sliding block 25 on the connecting seat 22, the clamping jaw 23 can slide along the sliding column 26, a nut 28 is further sleeved on the sliding column 26, the clamping jaw 23 can be tightly pressed on the stop block 27 by the nut 28, an elastic piece 29 is further connected between the nut 28 and the clamping jaw 23, a buffer piece 30 is further connected between the clamping jaw 23 and the stop block 27, and the clamping jaw 23 compresses the buffer piece 30 during assembly; the grippers 7 on the two sides move relatively to tighten up, so that a product is gripped, after the grippers 7 contact the product, the product extrudes the clamping jaws 23 on the two sides, the clamping jaws 23 extrude the elastic pieces 29 to move on the sliding columns 26, and meanwhile, the sliding blocks 25 slide on the sliding rails 24, the buffer pieces 30 reset for a section of displacement and still attach to the clamping jaws 23, so that the clamping jaws 23 buffer, and certainly, the buffer displacement of the clamping jaws 23 is very small and does not need to be designed into an overlarge movement range; meanwhile, according to the actual size of the product, the position of the clamping jaw 23 on the sliding column 26 can be adjusted in advance through the nuts 28 on the two sides, and only the buffer members 30 with different thicknesses need to be replaced.
The utility model discloses a theory of operation:
after the operator determines that the product pallet 4 is placed at the correct position, the equipment is started; the grabbing mechanism 2 is driven by the moving mechanism 3 to move to the position above the product, and the grippers 7 on the two sides of the grabbing mechanism 2 move back to the corresponding width; the grabbing mechanism 2 descends, the grabs 7 on the two sides move relatively and are tightened, and a product is grabbed; the grabbing mechanism 2 rises to a safe height and moves above the conveyor 5 under the drive of the moving mechanism 3; the grabbing mechanism 2 descends, and the product is placed on the conveyor 5; when the photoelectric sensor on the conveyor 5 detects that the product is placed in place, the gripper 7 is released and ascends; the next cycle of product grabbing begins.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The feeding gantry manipulator clamp is characterized by comprising a rack with a certain height away from the ground and a grabbing and moving mechanism which moves linearly on the rack, wherein the grabbing and moving mechanism comprises a grabbing mechanism and a moving mechanism, the grabbing mechanism comprises a mounting seat, grabs and transmission devices, the grabs are oppositely arranged on two sides of the mounting seat, and the transmission devices are used for driving the grabs on the two sides to synchronously move in opposite directions; the transmission device is a belt conveyor, a belt on the belt conveyor is arranged along the moving direction of the grippers, the belt on the belt conveyor forms a first transmission section and a second transmission section which are opposite in moving direction, and the first transmission section and the second transmission section are fixedly connected with the grippers on two sides respectively.
2. The loading gantry manipulator fixture of claim 1, wherein a guide rail extending along a belt direction is arranged on the lower surface of the mounting base, and the grippers are respectively hung below the guide rail through sliding blocks matched with the guide rail; the hand grips are respectively provided with a door-shaped member and are respectively hung below the belt through the door-shaped members; the door-shaped components on the grippers on the two sides are fixedly connected with the first transmission section and the second transmission section respectively.
3. The loading gantry manipulator fixture of claim 2, wherein the grippers respectively extend along a width direction of the workpiece, the mounting base is composed of a rectangular frame, the transmission device is mounted in the middle of the mounting base along a length direction of the mounting base, the guide rails are symmetrically distributed on two sides of the transmission device, and two ends of the grippers in the length direction are respectively matched with the corresponding guide rails through the sliding blocks.
4. The feeding gantry manipulator clamp of claim 3, wherein two parallel belt conveyors are symmetrically arranged in the middle of the mounting base, driving wheels are arranged in the middle of the belt conveyors, the two driving wheels are connected with a same driving shaft, and the driving shaft is driven to rotate by a motor arranged on the mounting base; tension adjusting wheels are respectively arranged at the two sides of the driving wheel; driven wheels are respectively arranged at two ends of the mounting seat in the length direction, and a belt is wound among the driving wheel, the driven wheels and the tension adjusting wheel to form a first transmission section positioned above and a second transmission section positioned below; the hand grips are hung below the belt through door-shaped members corresponding to the belt conveyors respectively, and the two door-shaped members on the same hand grip are fixedly connected with the first transmission sections or the second transmission sections of the two belt conveyors simultaneously.
5. The loading gantry robot gripper of any one of claims 1 to 4, wherein the gripper comprises a gripper seat and a plurality of gripper mechanisms, the gripper seat extends along the width direction of the workpiece, the plurality of gripper mechanisms are uniformly distributed along the length direction of the gripper seat, and the gripper mechanisms on the grippers on two sides correspond to each other.
6. The feeding gantry manipulator fixture of claim 5, wherein the clamping jaw mechanism comprises a connecting base and a clamping jaw, the connecting base is provided with a slide rail extending along a belt direction, and the slide rail is provided with a slide block in a sliding manner; the clamping jaw is fixed on the sliding block; the clamping jaw is characterized in that sliding columns and stop blocks of parallel sliding rails are respectively arranged at two ends of the sliding block on the connecting seat, the clamping jaw can slide along the sliding columns, nuts are further sleeved on the sliding columns, the clamping jaws can be compressed tightly by the nuts and the stop blocks, elastic pieces are further connected between the nuts and the clamping jaws, and buffering pieces are further connected between the clamping jaws and the stop blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921671054.5U CN210762877U (en) | 2019-10-08 | 2019-10-08 | Feeding gantry manipulator clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921671054.5U CN210762877U (en) | 2019-10-08 | 2019-10-08 | Feeding gantry manipulator clamp |
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| Publication Number | Publication Date |
|---|---|
| CN210762877U true CN210762877U (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921671054.5U Active CN210762877U (en) | 2019-10-08 | 2019-10-08 | Feeding gantry manipulator clamp |
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| Country | Link |
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| CN (1) | CN210762877U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276354A (en) * | 2020-10-19 | 2021-01-29 | 佛山市宏石激光技术有限公司 | A laser cutting welding intelligence production line for car seat handrail |
| CN115258661A (en) * | 2022-07-29 | 2022-11-01 | 珠海恒格微电子装备有限公司 | Tongs device and material transfer system thereof |
-
2019
- 2019-10-08 CN CN201921671054.5U patent/CN210762877U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276354A (en) * | 2020-10-19 | 2021-01-29 | 佛山市宏石激光技术有限公司 | A laser cutting welding intelligence production line for car seat handrail |
| CN112276354B (en) * | 2020-10-19 | 2022-04-15 | 广东宏石激光技术股份有限公司 | A laser cutting welding intelligence production line for car seat handrail |
| CN115258661A (en) * | 2022-07-29 | 2022-11-01 | 珠海恒格微电子装备有限公司 | Tongs device and material transfer system thereof |
| CN115258661B (en) * | 2022-07-29 | 2024-03-19 | 珠海恒格微电子装备有限公司 | Tongs device and material transfer system thereof |
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