CN103922139A - Automatic handling device for spools - Google Patents

Abstract

The invention discloses a device for automatic transport of I-shaped wheels, which is suitable for automatic grabbing and putting of I-shaped wheels, wire reels and the like. The device consists of a supporting device, a driving device and a mechanical automatic clamping gripper; the motor on the driving device is installed on the supporting plate of the supporting device, and the two ends of the mounting rod of the driving device are matched with the guide rail plate of the supporting device through bearings; the mechanical The mechanical automatic clamping gripper is connected with the installation rod of the driving device through the connecting rod to realize the connection between the mechanical automatic clamping gripper and the driving device. The invention can realize the handling process of automatic grabbing and dropping of workpieces, and is especially suitable for workpieces such as I-beams and wire reels, which are large at both ends and small in the middle, and have a large mass, which is difficult to realize automatic grabbing and dropping, and is difficult to realize manual handling.

Description

Device for automatic handling of I-wheels

Technical field:

The invention relates to an automatic conveying device, which is mainly applicable to the conveying device for automatic grabbing and dropping of I-shaped wheels, wire reels and the like.

Background technique:

In the prior art, robots have been widely used in production and processing in various industries, which not only improves work efficiency, but also saves labor costs. However, due to technical limitations, in today's field of workpiece handling, such as I-shaped wheels and wire reels, which are large at both ends and small in the middle, and have a large mass, most of them are carried out by manual handling, and the labor cost invested in this way is relatively large. , Low production efficiency. When the workers take out the workpiece, the manual operation is not only inefficient, but also has certain safety hazards in the production because the personnel are directly in contact with the product in process.

Now, on the basis of a mechanical automatic clamping gripper, an automatic handling method is invented for workpieces such as I-shaped wheels, wire reels, etc., which are large at both ends and small in the middle, and have a large mass. The device realizes the handling process of automatic grabbing and automatic delivery of these parts.

Invention content:

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide an automatic handling device that can not only realize automatic clamping of workpieces, but also automatic delivery of workpieces.

A device for automatic handling of I-wheels provided by the present invention consists of a support device, a drive device and a mechanical automatic clamping gripper:

The supporting device comprises a frame plate 3, a connecting rod 4, a support plate 10, a rail plate 8, a universal wheel 1, a column 2 and a pillar 11, and the rail plate 8 is fixedly connected to the frame plate 3, The frame plate 3 is fixedly connected by the connecting rod 4, the column 2 is fixedly connected with the frame plate 3, and the support plate 10 and the column 11 are fixedly connected on the column 2 by screws, so The universal wheel 1 is installed under the column 2.

The driving device includes a motor 9, a speed reducer 7, a master arm 6, a slave arm 5, a first slave arm joint 15A, a second slave arm joint 15B, a third slave arm joint 15C and a mounting rod 14. The reducer 7 is installed on the support plate 10, the motor 9 is installed on the reducer 7, the active arm 6 is connected to the output shaft of the reducer 7, and the driven arm 5 is a "human ", the three protruding ends of the driven arm 5 are respectively fixedly connected with the first driven arm joint 15A, the second driven arm joint 15B and the third driven arm joint 15C through screws, and the first A slave arm joint 15A is located at the protruding end of the "herringbone" shape of the slave arm 5, the first slave arm joint 15A is connected with the master arm 6 through a bearing, the slave arm joint 15B and the slave arm joint 15B are The boom joint 15C is located at the other two ends of the "herringbone" shape of the slave arm 5, the slave arm joint 15B and the slave arm joint 15C are connected to the installation rod 14 through bearings, and the two ends of the installation rod 14 Cooperate with the circular arc guide rail of described guide rail plate 8 through bearing.

The mechanical automatic clamping gripper includes a cage 13, a sliding cylinder 16, a claw 17, a snap ring 12, a connecting rod 18, a telescopic spring 19, a copper sleeve 20, a compression spring 21, a sliding claw drum 22, and a sliding claw Cover 23, mandrel 24 and copper top sleeve 27; The upper end of the connecting rod 18 is fixedly connected with the installation rod 14 by screws; The lower end of the connecting rod 18 is connected to the cage 13 by threads; The copper sleeve 20 is fixedly connected to the upper end of the mandrel 24; the mandrel 24 is set in the cage 13, and the mandrel 24 is slidably fitted with the cage 13 through the copper sleeve 20; the telescopic The spring 19 is arranged in the cage 13, one end of the telescopic spring 19 bears against the lower end of the connecting rod 18, and the other end of the telescopic spring 19 bears against the upper end surface of the mandrel 24; the compression spring 21. Sliding claw cylinder 22, sliding claw sleeve 23, and sliding cylinder 16 are set on the mandrel 24 from top to bottom; the compression spring 21 is set on the mandrel 24, and the compression spring 21 One end withstands the mandrel 24, and the other end withstands the upper end surface of the sliding claw drum 22; the claw 17 is respectively connected to the extension arm of the sliding cylinder 16 and the mandrel through the bolt 26 and the hinge pin 25. The lower end of 24 is connected; the snap ring 12 is fixedly connected with the claw 17; the inner surface of the snap ring 12 is equipped with a rubber pad 28; the copper top sleeve 27 is fixedly set on the lowermost end of the mandrel 24 .

The outer wall of the sliding tube 16 is provided with four bosses and grooves, the bosses and the grooves are arranged in a staggered manner, the boss is provided with two slide grooves, and the lower end of the sliding tube 16 has two extensions. Outlet arm, each of the lower parts of the two outstretching arms is provided with a threaded hole; the lower end of the sliding claw drum 22 is provided with four sliding claws and grooves, the sliding claws and the grooves are arranged in a staggered manner, and the sliding claws The end of the slider is an inclined plane; the four bosses and the grooves of the slider 16 are respectively slidably matched with the four grooves and the sliders of the slider drum 22; the upper end of the slider sleeve 23 is provided with Eight indexing claws, the indexing claws are protruding triangles, the grooves between the indexing claws are concave triangles, the indexing claws and the grooves are arranged in a staggered manner, and the sliding claw sleeve 23 is provided with There are four bosses, and the four bosses of the sliding claw sleeve 23 and the four grooves of the sliding cylinder 16 realize sliding fit.

The cage 13 is a stepped cavity structure, and the top of the cage 13 is provided with threaded holes. The mandrel 24 is stepped, and the lower end of the shaft is provided with a hole. The claw 17 is provided with a small hole and a long hole, the small hole is connected with the extension arm of the slider 16 through a bolt 26, and the long hole is connected with the mandrel through a hinge pin 25 The holes on the 24 are connected.

The motor 9 on the driving device is installed on the support plate 10 of the supporting device, and the two ends of the mounting rod 14 of the driving device cooperate with the guide rail plate 8 of the supporting device through bearings; The gripper is connected with the installation rod 14 of the driving device through the connecting rod 18, so as to realize the connection between the mechanical automatic clamping gripper and the driving device.

The device of the present invention can realize the handling process of automatic grabbing and dropping of workpieces, and is especially suitable for such as I-beams, wire reels, etc., which have large ends, small middle ends and high quality, which are difficult to realize automatic grabbing and dropping, and difficult to realize manual handling. artifact.

Description of drawings:

The structural representation of Fig. 1 device of the present invention;

Fig. 2 is one of the structural schematic diagrams of the driving device and the mechanical automatic clamping gripper in the device of the present invention;

Fig. 3 is the second structural schematic diagram of the driving device and the mechanical automatic clamping gripper in the device of the present invention;

One of the structural schematic diagrams of the mechanical automatic clamping gripper in the device of the present invention in Fig. 4;

Fig. 5 is the second schematic diagram of the structure of the mechanical automatic clamping gripper in the device of the present invention;

The cross-sectional view of the cage structure in the device of the present invention in Fig. 6;

The structural schematic diagram of the slide cylinder in the device of the present invention in Fig. 7;

The schematic diagram of the mandrel structure in the device of the present invention in Fig. 8;

Fig. 9 is a schematic diagram of the structure of the sliding claw drum in the device of the present invention;

Fig. 10 is a schematic diagram of the structure of the sliding claw sleeve in the device of the present invention;

Fig. 11 is a schematic diagram of the claw structure in the device of the present invention;

Fig. 12 is a schematic diagram of the clasp structure in the device of the present invention.

Fig. 13 is a structural schematic diagram of the hinge pin in the device of the present invention.

In the figure: 1. Universal wheel; 2. Upright column; 3. Rack plate; 4. Connecting frame rod; 5. Follower arm; 10. Support plate; 11. Pillar; 12. Snap ring; 13. Cage; 14. Mounting rod; 15A, first follower arm joint; 15B, second follower arm joint; 15C, third follower arm joint ; 16, sliding cylinder; 17, hand claw; 18, connecting rod; 19, telescopic spring; 20, copper sleeve; 21, compression spring; 22, sliding claw drum; 23, sliding claw cover; , hinge pin; 26, bolt; 27, copper top sleeve; 28, rubber pad.

Detailed ways:

As shown in Fig. 1, Fig. 2 and Fig. 3, a kind of automatic handling device provided by the present invention includes a supporting device, a driving device, and a mechanical automatic clamping grip; 4. Support plate 10, guide rail plate 8, universal wheel 1, column 2 and pillar 15; said support plate 10, column 2, and pillar 15 are channel steel; said guide rail plate 8 is fixedly connected by several arc-shaped steel plates composition; the guide rail plate 8 is fixedly connected to the frame plate 3; the supporting device is composed of two symmetrically arranged frame plates 3, and the two frame plates 3 pass through the connecting rods 4 is fixedly connected; the column 2 supports the frame plate 3; the support plate 10 and the column 15 are fixedly connected on the column 2 by screws; the universal wheel 1 is installed on the Below the column 2.

As shown in Fig. 1, Fig. 2, Fig. 3, described driving device comprises motor 9, speed reducer 7, master arm 6, slave arm 5, first slave arm joint 15A, second slave arm joint 15B, The third driven arm joint 15C and the mounting rod 14; the reducer 7 is installed on the support plate 10 on the frame plate 3; the motor 9 is installed on the reducer 7; the active arm 5 is installed on the motor 9; the slave arm 5 is in the shape of a "herringbone", and the three protruding ends of the slave arm 5 are fixedly connected with the slave arm joint 15 by screws; The boom joint 15A is connected with the main arm 6 through a bearing, and the other two extended ends of the slave arm 5: the slave boom joints 15B and 15C are connected with the installation rod 14 through a bearing; the installation The two ends of the rod 14 cooperate with the guide rail plate 8 on the frame plate 3 through bearings; it can be realized that the driving arm 6 drives the slave arm 5 to move under the drive of the motor 9, and the slave arm 5 drives the mounting rod 14 to press the machine. The track motion of the guide rail plate 8 on the shelf plate 3.

As shown in Figures 4 and 5, the mechanical automatic clamping gripper includes a cage 13, a sliding cylinder 16, a claw 17, a snap ring 12, a connecting rod 18, a telescopic spring 19, a copper sleeve 20, a compression spring 21, Sliding claw drum 22, sliding claw sleeve 23, mandrel 24, hinge pin 25, bolt 26, copper top sleeve 27 and rubber pad 28; the upper end of the connecting rod 18 is fixedly connected with the mounting rod 14 by screws; the holding The frame 13 is a stepped cavity with threaded holes at the top; the outer wall of the sliding cylinder 16 (see Figure 7) has four bosses and grooves, the bosses and grooves are arranged in a staggered manner, and each boss has a Two chutes, the lower end of the sliding tube 16 has two extension arms, each of which has a threaded hole in the lower part of the two extending arms; the sliding tube 16 is fixedly connected in the cage 13 to form a holding rack slide.

The connecting rod 18 is provided with threads to be connected with the threaded holes of the holder 13 . There are four sliding claws and grooves at the lower end of the sliding claw drum 22 (see Fig. 9), the sliding claws and the grooves are arranged in a staggered manner, and each sliding claw is cut into an inclined plane; the four bosses of the sliding cylinder 16 and The grooves are slidably matched with the four grooves and the sliding claws of the sliding claw drum 22 respectively.

There are eight indexing claws on the upper end of the sliding claw cover 23 (see Figure 10), the indexing claws form a protruding triangle, the grooves between the indexing claws are also concave triangles, the claws and the grooves are arranged in a staggered manner, and the sliding claws There are four bosses on the outside of the cover 23, and the four bosses of the sliding pawl cover 23 and the four grooves of the sliding cylinder 16 realize sliding fit.

The mandrel 24 (see Fig. 8) is stepped, and the lower end of the shaft is provided with a hole; the copper sleeve 20 is installed on the mandrel 24, so that the mandrel 24 is placed in the cage Relative sliding in the sliding cylinder; the sliding cylinder 16, the sliding claw drum 22, the sliding claw cover 23, the telescopic spring 19, and the compression spring 21 are all set on the mandrel 24; one end of the telescopic spring 19 withstands the The uppermost end surface of the cage 13 cavity, the other end against the upper end surface of the mandrel 24; the compression spring 21 is sleeved on the mandrel 24, and one end of the compression spring 21 is against the mandrel 24 , the other end of the compression spring 21 bears against the upper end surface of the claw drum 22; the claw drum 22 is on the mandrel 24, and is installed in the cage sliding tube to realize The four bosses and grooves of the sliding cylinder 16 are slidably matched with the four grooves and the sliding claws of the sliding claw drum 22 respectively; the sliding claw sleeve 23 is sleeved on the mandrel 24 and installed In the sliding sleeve 16, and make the four bosses of the sliding claw sleeve 23 and the four grooves of the sliding sleeve 16 realize sliding fit, the sliding claw sleeve 23 is mounted on the sliding claw rotation. Under the cylinder 22, the four sliding claws of the sliding claw drum 22 and the eight indexing claws of the sliding claw sleeve 23 realize claw-to-claw; the copper top sleeve 27 is fixedly sleeved on the mandrel 24 superior.

A small hole and a long hole are provided on the claw 17 (see Fig. 11); the inner inclined surface of the snap ring 12 (see Fig. 12) is an arc surface; the small hole on the claw 17 passes through the bolt 26 is connected with the extension arm of the sliding cylinder 16, and the long hole on the claw 17 is connected with the hole on the mandrel 24 through the hinge pin 25 (see Figure 13); the sliding cylinder The two extending arms of 16 are respectively equipped with a claw 17, and the two claws 17 are respectively installed on both sides of the mandrel 24; the snap ring 12 is fixedly connected with the claw 17; the rubber pad 28 is installed On the inner surface of the snap ring 12.

The process of realizing the automatic grabbing and dropping function of the present invention is: driven by the motor 9, the driving arm 6 drives the slave arm 5 to move, and the slave arm 5 drives the mounting rod 14 according to the track of the rail plate 8 on the frame plate 3 Movement, the installation rod 14 carries the mechanical automatic clamping gripper to realize the function of grabbing and dropping; the copper top sleeve 27 on the mandrel 24 of the mechanical automatic clamping gripper withstands the workpiece so that the snap ring 12 clamps the workpiece, In the process of upward grabbing, snap ring 12 can clamp the workpiece and can not slip off. When putting it down, the copper top cover 27 on the mandrel 24 withstands the workpiece and makes snap ring 12 sheets open the next workpiece.

Claims (7)

1. for the device of I-beam wheel automatic transporting, this device is comprised of bracing or strutting arrangement, actuating device and mechanical type Automatic-clamping handgrip, described bracing or strutting arrangement comprises frame plate (3), side link (4), stay bearing plate (10), guide-rail plate (8), cardan wheel (1), column (2) and pillar (11), described guide-rail plate (8) is connected on described frame plate (3), described frame plate (3) is connected by described side link (4), described column (2) is connected with described frame plate (3), described stay bearing plate (10), pillar (11) are connected in described column (2) above by screw, and described cardan wheel (1) is arranged under described column (2), described actuating device comprises motor (9), retarder (7), master arm (6), slave arm (5), the first slave arm joint (15A), the second slave arm joint (15B), the 3rd slave arm joint (15C) and mounting rod (14), described retarder (7) is arranged on described stay bearing plate (10), described motor (9) is arranged on described retarder (7), described master arm (6) connects the output shaft of described retarder (7), described slave arm (5) is " people " font, three external parts of described slave arm (5) by screw respectively with described the first slave arm joint (15A), the second slave arm joint (15B) and the 3rd slave arm joint (15C) are connected, described the first slave arm joint (15A) is positioned at the external part of described slave arm 5 " people " font, described the first slave arm joint (15A) connects with described master arm (6) by bearing, described slave arm joint 15B and slave arm joint 15C are positioned at the other two ends of described slave arm (5) " people " font, described slave arm joint 15B and slave arm joint 15C connect with described mounting rod (14) by bearing, match with the arc guide rail of described guide-rail plate (8) by bearing in described mounting rod (14) two ends, described mechanical type Automatic-clamping handgrip comprises retainer (13), slide cartridge (16), paw (17), snap ring (12), pipe link (18), coil tension spring (19), copper sheathing (20), Compress Spring (21), sliding pawl rotating cylinder (22), sliding pawl cover (23), mandrel (24) and copper top cover (27), described pipe link (18) upper end and described mounting rod (14) are connected by screw, and the lower end of described pipe link (18) is connected with described retainer (13) by screw thread, described copper sheathing (20) is connected in described mandrel (24) upper end, described mandrel (24) is arranged in described retainer (13), and described mandrel (24) is the bearing fit with described retainer (13) by described copper sheathing (20) realization, described coil tension spring (19) is arranged in described retainer (13), the lower end of described pipe link (18) is withstood in one end of described coil tension spring (19), and the other end of described coil tension spring (19) withstands described mandrel (24) upper surface, described Compress Spring (21), sliding pawl rotating cylinder (22), sliding pawl cover (23), slide cartridge (16) are sleeved on described mandrel (24) from top to bottom, described copper top cover (27) is fixedly set in described mandrel (24) bottom, it is upper that described Compress Spring (21) is sleeved on described mandrel (24), and one end of described Compress Spring (21) withstands mandrel (24), and the other end of described Compress Spring (21) withstands described sliding pawl rotating cylinder (22) upper surface, described paw (17) connects with the extension arm of described slide cartridge (16) and the lower end of described mandrel (24) respectively by bolt (26) and turning hinge pin (25), described snap ring (12) is connected with described paw (17).

2. according to claim 1 for the device of I-beam wheel automatic transporting, the outer wall that it is characterized in that described slide cartridge (16) is provided with four boss and groove, described boss and groove are staggered, described boss is provided with two chutes, there are two extension arms the lower end of described slide cartridge (16), and described two extension arm bottoms are respectively provided with a tapped bore.

3. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described sliding pawl rotating cylinder (22) lower end is provided with four sliding pawls and groove, described sliding pawl and groove are staggered, and the end of described sliding pawl is inclined-plane.

4. according to claim 1 for the device of I-beam wheel automatic transporting, the upper end that it is characterized in that described sliding pawl cover (23) is provided with eight calibration pawls, the triangle of described calibration pawl for protruding, groove between described calibration pawl is recessed triangle, described calibration pawl pawl and groove are staggered, and described sliding pawl cover (23) outside is provided with four boss.

5. a kind of device for I-beam wheel automatic transporting according to claim 1, is characterized in that being provided with rubber pad (28) on the inside face of described snap ring (12).

6. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described retainer (13) is notch cuttype cavity structure, the top of described retainer (13) is provided with tapped bore.

7. according to claim 1 for the device of I-beam wheel automatic transporting, it is characterized in that described paw (17) is provided with an aperture and a slotted hole, described aperture is connected by bolt (26) and the extension arm of described slide cartridge (16), and described slotted hole connects with the hole on described mandrel (24) by turning hinge pin (25).