CN104925294A - Mechanical hand for screwing and bundling - Google Patents
Mechanical hand for screwing and bundling Download PDFInfo
- Publication number
- CN104925294A CN104925294A CN201510351416.2A CN201510351416A CN104925294A CN 104925294 A CN104925294 A CN 104925294A CN 201510351416 A CN201510351416 A CN 201510351416A CN 104925294 A CN104925294 A CN 104925294A
- Authority
- CN
- China
- Prior art keywords
- driving surface
- clamping driving
- fixture block
- hole
- bundling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
- B65B13/24—Securing ends of binding material
- B65B13/28—Securing ends of binding material by twisting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
- B65B27/10—Bundling rods, sticks, or like elongated objects
Abstract
The invention discloses a mechanical hand for screwing and bundling. The mechanical hand comprises a rotary clamping mechanical claw which is composed of a rotating mechanism and a clamping mechanism. A left clamping working face and a right clamping working face are arranged at the claw end of the rotary clamping mechanical claw, the left clamping working face is provided with a left clamping working face through hole and a left clamping working face clamping block, and the right clamping working face is provided with a right clamping working face through hole and a right clamping working face clamping block. The left clamping working face clamping block and the right clamping working face through hole are matched, and the right clamping working face clamping block and the left clamping working face through hole are matched. A steel wire in the through holes can be clamped, and finally the rotary clamping mechanical claw rotates to screw the steel wire, and therefore bundling of bundled bars is completed. Through the structure design of the left and right clamping working face through holes and the left and right clamping working face clamping blocks, the problem that grabbing force for baling steel wires is not enough is well solved, bundling screwing force is improved, and the problems that the claw is separated from bundles and the bundles loose are avoided.
Description
Technical field
The invention belongs to manipulator technical field, relate in particular to one and screw bundling manipulator.
Background technology
In traditional industry, packaging bundling is carried out to reinforcing bar and carries out bundling often by manually utilizing simple instrument, in hand labor situation, because working strength great Yi causes employee work tired, also probably there is industrial injury, unfavorable to safety in production, also make bundling inefficiency, bundling is of low quality simultaneously.Therefore, a kind of degree of automation high, simple to operate actv. reinforcing bar packaging binding apparatus is needed.
At present, market also has the reinforcing bar binding apparatus of some automations, but these equipment are due to inadequate to the grasp of bundling steel wire, make bundling tighten dynamics not, cause bundling to relax.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide one to screw bundling manipulator.This manipulator well solves the inadequate problem of the grasp of bundling steel wire, thus improves bundling and tighten dynamics, avoids and causes bundling to drag pawl and absent-mindedness, improve bundling efficiency, effectively reduce labor strength.
Technical solution problem of the present invention is achieved through the following technical solutions:
One screws bundling manipulator and comprises a rotation clamping mechanical gripper, and described rotation clamping mechanical gripper is made up of rotating mechanism and clamping mechanism; The pawl end rotating clamping mechanical gripper is provided with left clamping driving surface and right clamping driving surface, left clamping driving surface is provided with left clamping driving surface through hole and left clamping driving surface fixture block, right clamping driving surface is provided with right clamping driving surface through hole and right clamping driving surface fixture block, left clamping driving surface fixture block and right clamping driving surface through hole match, and right clamping driving surface fixture block and left clamping driving surface through hole match.
And, described rotating mechanism is made up of pivot arm, swivel eye, hollow shaft, transmission gear and motor, described pivot arm comprises left-handed pivoted arm and dextrorotation pivoted arm, left-handed pivoted arm and dextrorotation pivoted arm are symmetrical arranged, the top of left-handed pivoted arm and the top of dextrorotation pivoted arm are hinged on swivel eye, swivel eye is connected with hollow shaft, and hollow shaft is by transmission gear and motors.
And, described clamping mechanism is made up of clamp arm, compression hydraulic cylinder and connecting rod, described clamp arm comprises left clamp arm and right clamp arm, the bottom of left clamp arm is connected with left-handed pivoted arm, the bottom of right clamp arm is connected with dextrorotation pivoted arm, the top of left clamp arm is connected with compression hydraulic cylinder by connecting rod with the top of right clamp arm, and connecting rod is through hollow shaft and swivel eye.
And left clamping driving surface is arranged on the bottom of left-handed pivoted arm, right clamping driving surface is arranged on the bottom of dextrorotation pivoted arm.
And left clamping driving surface through hole and left clamping driving surface fixture block are disposed side by side on left clamping driving surface, right clamping driving surface through hole and right clamping driving surface fixture block are disposed side by side on right clamping driving surface.
And described left clamping driving surface fixture block and right clamping driving surface fixture block are face length of going to the bottom, upper end face is short and end face is the block structure on inclined-plane.
And, when left clamping driving surface and the mutual clamping engagement of right clamping driving surface, left clamping driving surface fixture block snaps in right clamping driving surface through hole, right clamping driving surface fixture block snaps in left clamping driving surface through hole, and the bottom surface of left clamping driving surface fixture block is higher than the bottom surface of right clamping driving surface through hole, the bottom surface of right clamping driving surface fixture block is higher than the bottom surface of left clamping driving surface through hole.
And described rotating mechanism and clamping mechanism are arranged on bracket.
And bracket can be fixed on column up or down.
And described bracket is also connected with lifting hydraulic cylinder, and lifting hydraulic cylinder is fixed on column.
Advantage of the present invention and beneficial effect are:
1, the rotation clamping mechanical gripper in the present invention can realize rotating and pinching action by rotating mechanism and clamping mechanism, and its structure is simple, reasonable in design can be effective, realize tightening function to bundling steel wire.
2, the pawl end that the present invention rotates clamping mechanical gripper is provided with left clamping driving surface and right clamping driving surface, left clamping driving surface is provided with left clamping driving surface through hole and left clamping driving surface fixture block, right clamping driving surface is provided with right clamping driving surface through hole and right clamping driving surface fixture block, left clamping driving surface fixture block and right clamping driving surface through hole match, and right clamping driving surface fixture block and left clamping driving surface through hole match.Can be clamped bundling steel wire by the through hole of above left and right clamping driving surface and the design of card block structured, improve clamping dynamics, avoid and cause bundling to drag pawl and absent-mindedness.
3, in the present invention, because the bottom surface of left clamping driving surface fixture block is higher than the bottom surface of right clamping driving surface through hole, the bottom surface of right clamping driving surface fixture block is higher than the bottom surface of left clamping driving surface through hole, be clamped between left clamping driving surface fixture block bottom surface and right clamping driving surface through hole bottom surface to make one end of steel wire, and the other end of steel wire is clamped between right clamping driving surface fixture block bottom surface and left clamping driving surface through hole bottom surface, contribute to like this improving the clamping dynamics to steel wire.
4, due to left clamping driving surface fixture block and right clamping driving surface fixture block be face length of going to the bottom, upper end face is short and end face is the block structure on inclined-plane, and the bottom surface length of the bottom surface length of left clamping driving surface fixture block and right clamping driving surface fixture block is all greater than gauge of wire, so the bottom surface of left clamping driving surface fixture block and right clamping driving surface fixture block can snap in right clamping driving surface through hole and left clamping driving surface through hole respectively, thus pass through the clamping action clamping steel wire of fixture block bottom surface and through hole bottom surface; Simultaneously by the clamping action clamping steel wire of left clamping driving surface and right clamping driving surface.
The present invention passes through through hole and the design of card block structured of the left and right clamping driving surface of gripper, well solve the problem that the grasp of bundling steel wire is inadequate, thus improve bundling and tighten dynamics, avoid and cause bundling to drag pawl and absent-mindedness to improve bundling efficiency, effectively reduce labor strength.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Structural representation when Fig. 2 is left clamping driving surface and the mutual clamping engagement of right clamping driving surface in the present invention,
Fig. 3 be the A of Fig. 2 to cutaway view,
Fig. 4 be the B of Fig. 2 to cutaway view,
Fig. 5 is that the C of Fig. 2 is to cutaway view.
Wherein: 1 is column, and 2-1 is pivot arm, and 2-2 is clamp arm, and 2-3 is swivel eye, 2-4 is hollow shaft, and 2-5 is bearing seat, and 2-6 is transmission gear, 2-7 is compression hydraulic cylinder, and 2-8 is motor, and 2-9 is bracket, 2-10a is left clamping driving surface, and 2-10b is right clamping driving surface, and a-1 is left clamping driving surface fixture block, a-2 is left clamping driving surface through hole, and b-1 is right clamping driving surface fixture block, and b-2 is right clamping driving surface through hole, 3 is lifting hydraulic cylinder, and 4 is reinforcing bar rack, and 5 is steel wire.
Detailed description of the invention
Technical scheme of the present invention is further illustrated below in conjunction with specific embodiment.
As shown in Figure 1, a kind of bundling manipulator that screws involved in the present invention comprises the rotation clamping mechanical gripper that can realize rotation and opening and closing movement, and described rotation clamping mechanical gripper is made up of rotating mechanism and clamping mechanism; The pawl end rotating clamping mechanical gripper is provided with left clamping driving surface 2-10a and right clamping driving surface 2-10b, left clamping driving surface is provided with left clamping driving surface through hole a-2 and left clamping driving surface fixture block a-1, right clamping driving surface is provided with right clamping driving surface through hole b-2 and right clamping driving surface fixture block b-1, left clamping driving surface fixture block and right clamping driving surface through hole match, and right clamping driving surface fixture block and left clamping driving surface through hole match.
Described rotating mechanism is made up of pivot arm 2-1, swivel eye 2-3, hollow shaft 2-4, transmission gear 2-6 and motor 2-8, described pivot arm 2-1 comprises left-handed pivoted arm and dextrorotation pivoted arm, left-handed pivoted arm and dextrorotation pivoted arm are symmetrical arranged, the top of left-handed pivoted arm and dextrorotation pivoted arm is hinged on swivel eye 2-3, swivel eye 2-3 is connected with hollow shaft 2-4, hollow shaft is connected with motor 2-8 by transmission gear 2-6, motor drives hollow shaft to rotate by transmission gear, pivot arm on hollow shaft driven rotary ring and swivel eye rotates, and described hollow shaft matches with bearing seat 2-5;
Described clamping mechanism is made up of clamp arm 2-2, compression hydraulic cylinder 2-7 and connecting rod, described clamp arm 2-2 comprises left clamp arm and right clamp arm, left clamp arm is connected with dextrorotation pivoted arm with left-handed pivoted arm respectively with the bottom of right clamp arm, left clamp arm is connected with the piston rod of compression hydraulic cylinder 2-7d by connecting rod with the top of right clamp arm, connecting rod is through hollow shaft 2-4 and swivel eye 2-3, compression hydraulic cylinder drive link is vertical action in hollow shaft, connecting rod drives clamp arm opening and closing movement, and clamp arm driven rotary arm does opening and closing movement simultaneously;
See accompanying drawing 2-5, described left clamping driving surface 2-10a and in a center of symmetry setting identical with right clamping driving surface 2-10b structure, wherein left clamping driving surface is arranged on the bottom of left-handed pivoted arm, and right clamping driving surface is arranged on the bottom of dextrorotation pivoted arm, left clamping driving surface through hole a-2 and left clamping driving surface fixture block a-1 is disposed side by side on left clamping driving surface, and right clamping driving surface through hole b-2 and right clamping driving surface fixture block b-1 is disposed side by side on right clamping driving surface, described left clamping driving surface fixture block a-1 and right clamping driving surface fixture block b-1 is face length of going to the bottom, upper end face is short and end face is the block structure on inclined-plane, during work, the steel wire 5 of bundling is penetrated successively in the through hole of right clamping driving surface and left clamping driving surface, then left clamping driving surface and the mutual clamping engagement of right clamping driving surface, left clamping driving surface fixture block card a-1 enters in right clamping driving surface through hole b-2, right clamping driving surface fixture block b-1 snaps in left clamping driving surface through hole a-2, and the bottom surface of left clamping driving surface fixture block is higher than the bottom surface of right clamping driving surface through hole, the bottom surface of right clamping driving surface fixture block is higher than the bottom surface of left clamping driving surface through hole, be clamped between left clamping driving surface fixture block bottom surface and right clamping driving surface through hole bottom surface to make steel wire 5, and steel wire is clamped between right clamping driving surface fixture block bottom surface and left clamping driving surface through hole bottom surface.Due to left clamping driving surface fixture block and right clamping driving surface fixture block be face length of going to the bottom, upper end face is short and end face is the block structure on inclined-plane, and the bottom surface length of the bottom surface length of left clamping driving surface fixture block and right clamping driving surface fixture block is all greater than gauge of wire, so the bottom surface of the bottom surface of left clamping driving surface fixture block and right clamping driving surface fixture block can snap in right clamping driving surface through hole and left clamping driving surface through hole respectively, thus pass through the clamping action clamping steel wire of fixture block bottom surface and through hole bottom surface.Simultaneously by the clamping action clamping steel wire of left clamping driving surface and right clamping driving surface.
Described rotating mechanism and clamping mechanism are arranged on bracket 2-9, and bracket can be fixed on column 3 up or down.Described bracket 2-9 is also connected with lifting hydraulic cylinder 3-1, and lifting hydraulic cylinder is fixed on column, and lifting hydraulic cylinder controls the position of bracket on column 3.
The present invention is also provided with reinforcing bar rack 4, for placing tendon immediately below rotation clamping mechanical gripper.
When the present invention uses, rotation clamping mechanical gripper is made to drop to the bottom of tendon, then in the bottom of tendon, the steel wire of bundling is penetrated successively in the left clamping driving surface through hole and right clamping driving surface through hole rotating clamping mechanical gripper, subsequently lifting hydraulic cylinder action, whole rotation clamping mechanical gripper is driven to rise, after arriving specified altitude assignment, rotate clamping mechanical gripper clamped closed, now left clamping driving surface and the mutual clamping engagement of right clamping driving surface, left clamping driving surface fixture block snaps in right clamping driving surface through hole, right clamping driving surface fixture block snaps in left clamping driving surface through hole, thus the steel wire in clamping through hole, finally rotate clamping mechanical gripper rotation and tighten steel wire, thus complete the bundling to tendon.The present invention, by the through hole of the left and right clamping driving surface of gripper and the design of card block structured, well solves the problem that the grasp of bundling steel wire is inadequate, thus improves bundling and tighten dynamics, avoids and causes bundling to drag pawl and absent-mindedness.
Above to invention has been exemplary description; should be noted that; when not departing from core of the present invention, any simple distortion, amendment or other those skilled in the art can not spend the equivalent replacement of creative work all to fall into protection scope of the present invention.
Claims (10)
1. screw a bundling manipulator, it is characterized in that, comprise a rotation clamping mechanical gripper, described rotation clamping mechanical gripper is made up of rotating mechanism and clamping mechanism; The pawl end rotating clamping mechanical gripper is provided with left clamping driving surface and right clamping driving surface, left clamping driving surface is provided with left clamping driving surface through hole and left clamping driving surface fixture block, right clamping driving surface is provided with right clamping driving surface through hole and right clamping driving surface fixture block, left clamping driving surface fixture block and right clamping driving surface through hole match, and right clamping driving surface fixture block and left clamping driving surface through hole match.
2. one according to claim 1 screws bundling manipulator, it is characterized in that: described rotating mechanism is made up of pivot arm, swivel eye, hollow shaft, transmission gear and motor, described pivot arm comprises left-handed pivoted arm and dextrorotation pivoted arm, left-handed pivoted arm and dextrorotation pivoted arm are symmetrical arranged, the top of left-handed pivoted arm and the top of dextrorotation pivoted arm are hinged on swivel eye, swivel eye is connected with hollow shaft, and hollow shaft is by transmission gear and motors.
3. one according to claim 2 screws bundling manipulator, it is characterized in that: described clamping mechanism is made up of clamp arm, compression hydraulic cylinder and connecting rod, described clamp arm comprises left clamp arm and right clamp arm, the bottom of left clamp arm is connected with left-handed pivoted arm, the bottom of right clamp arm is connected with dextrorotation pivoted arm, the top of left clamp arm is connected with compression hydraulic cylinder by connecting rod with the top of right clamp arm, and connecting rod is through hollow shaft and swivel eye.
4. one according to claim 2 screws bundling manipulator, it is characterized in that: left clamping driving surface is arranged on the bottom of left-handed pivoted arm, and right clamping driving surface is arranged on the bottom of dextrorotation pivoted arm.
5. one according to claim 1 screws bundling manipulator, it is characterized in that: left clamping driving surface through hole and left clamping driving surface fixture block are disposed side by side on left clamping driving surface, right clamping driving surface through hole and right clamping driving surface fixture block are disposed side by side on right clamping driving surface.
6. one according to claim 1 screws bundling manipulator, it is characterized in that: described left clamping driving surface fixture block and right clamping driving surface fixture block are face length of going to the bottom, upper end face is short and end face is the block structure on inclined-plane.
7. one according to claim 1 screws bundling manipulator, it is characterized in that: when left clamping driving surface and the mutual clamping engagement of right clamping driving surface, left clamping driving surface fixture block snaps in right clamping driving surface through hole, right clamping driving surface fixture block snaps in left clamping driving surface through hole, and the bottom surface of left clamping driving surface fixture block is higher than the bottom surface of right clamping driving surface through hole, the bottom surface of right clamping driving surface fixture block is higher than the bottom surface of left clamping driving surface through hole.
8. one according to claim 1 screws bundling manipulator, it is characterized in that: described rotating mechanism and clamping mechanism are arranged on bracket.
9. one according to claim 8 screws bundling manipulator, it is characterized in that: bracket can be fixed on column up or down.
10. one according to claim 9 screws bundling manipulator, it is characterized in that: described bracket is also connected with lifting hydraulic cylinder, and lifting hydraulic cylinder is fixed on column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510351416.2A CN104925294B (en) | 2015-06-23 | 2015-06-23 | One kind screws bundling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510351416.2A CN104925294B (en) | 2015-06-23 | 2015-06-23 | One kind screws bundling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104925294A true CN104925294A (en) | 2015-09-23 |
| CN104925294B CN104925294B (en) | 2017-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510351416.2A Active CN104925294B (en) | 2015-06-23 | 2015-06-23 | One kind screws bundling manipulator |
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| CN (1) | CN104925294B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105414961A (en) * | 2015-12-29 | 2016-03-23 | 山西顾德宝丰重工机械有限公司 | Grabbing manipulator for carrier roller |
| CN108216721A (en) * | 2017-12-21 | 2018-06-29 | 西安理工大学 | A kind of pneumatic manipulator device of binding reinforcing bars |
| CN108545236A (en) * | 2018-04-28 | 2018-09-18 | 王传祥 | Iron wire extrusion bundling equipment |
| CN108557141A (en) * | 2018-04-28 | 2018-09-21 | 王传祥 | A kind of iron wire automatic flexible strapping machine |
| CN110589064A (en) * | 2019-09-17 | 2019-12-20 | 太原科技大学 | Anchor rod bundling device |
| CN110934416A (en) * | 2019-11-28 | 2020-03-31 | 安徽省潜山县志发机电配件有限公司 | Brush filament turn bundle equipment for industrial brush production |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD125118A1 (en) * | 1976-05-07 | 1977-04-06 | ||
| CN1050165A (en) * | 1989-08-21 | 1991-03-27 | 伯塔拉姆公司 | Have binding apparatus that improves the distortion head and the bander that especially supplies to tie up the iron wire wire rod that is provided with this device |
| CN102887238A (en) * | 2012-10-17 | 2013-01-23 | 北京中冶设备研究设计总院有限公司 | Profile steel binding machine and binding method |
| CN204979324U (en) * | 2015-06-23 | 2016-01-20 | 天津市福鼎机电设备有限公司 | It uses manipulator to revolve to twist to beat to tie |
-
2015
- 2015-06-23 CN CN201510351416.2A patent/CN104925294B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD125118A1 (en) * | 1976-05-07 | 1977-04-06 | ||
| CN1050165A (en) * | 1989-08-21 | 1991-03-27 | 伯塔拉姆公司 | Have binding apparatus that improves the distortion head and the bander that especially supplies to tie up the iron wire wire rod that is provided with this device |
| CN102887238A (en) * | 2012-10-17 | 2013-01-23 | 北京中冶设备研究设计总院有限公司 | Profile steel binding machine and binding method |
| CN204979324U (en) * | 2015-06-23 | 2016-01-20 | 天津市福鼎机电设备有限公司 | It uses manipulator to revolve to twist to beat to tie |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105414961A (en) * | 2015-12-29 | 2016-03-23 | 山西顾德宝丰重工机械有限公司 | Grabbing manipulator for carrier roller |
| CN108216721A (en) * | 2017-12-21 | 2018-06-29 | 西安理工大学 | A kind of pneumatic manipulator device of binding reinforcing bars |
| CN108545236A (en) * | 2018-04-28 | 2018-09-18 | 王传祥 | Iron wire extrusion bundling equipment |
| CN108557141A (en) * | 2018-04-28 | 2018-09-21 | 王传祥 | A kind of iron wire automatic flexible strapping machine |
| CN110589064A (en) * | 2019-09-17 | 2019-12-20 | 太原科技大学 | Anchor rod bundling device |
| CN110589064B (en) * | 2019-09-17 | 2021-11-09 | 太原科技大学 | Anchor rod bundling device |
| CN110934416A (en) * | 2019-11-28 | 2020-03-31 | 安徽省潜山县志发机电配件有限公司 | Brush filament turn bundle equipment for industrial brush production |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104925294B (en) | 2017-12-26 |
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| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150923 Assignee: Hebei Fuju Electromechanical Equipment Co.,Ltd. Assignor: TIANJIN FUDING ELECTROMECHANICAL EQUIPMENT Co.,Ltd. Contract record no.: X2021120000009 Denomination of invention: A kind of manipulator for spinning and twisting baler Granted publication date: 20171226 License type: Exclusive License Record date: 20210423 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| CB03 | Change of inventor or designer information |
Inventor after: Bai Libin Inventor after: Liu Yongfu Inventor before: Bai Libin Inventor before: Sun Guanqi Inventor before: Liu Yongfu |
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| CB03 | Change of inventor or designer information |