CN106272500B - One kind grabbing ingot manipulator and its gripping mechanism - Google Patents
One kind grabbing ingot manipulator and its gripping mechanism Download PDFInfo
- Publication number
- CN106272500B CN106272500B CN201610788261.3A CN201610788261A CN106272500B CN 106272500 B CN106272500 B CN 106272500B CN 201610788261 A CN201610788261 A CN 201610788261A CN 106272500 B CN106272500 B CN 106272500B
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- CN
- China
- Prior art keywords
- chela
- lead screw
- gripping mechanism
- hole
- billet
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C33/00—Feeding extrusion presses with metal to be extruded ; Loading the dummy block
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The present invention proposes that one kind grabs ingot manipulator and its gripping mechanism, and gripping mechanism includes chela hanging scaffold, two chelas, two sliding blocks, lead screw and driving device；Two chelas are hingedly connected to the two sides of the chela hanging scaffold and extend downwardly and be each provided with a through hole；Two sliding blocks are respectively arranged in one of them described through hole and can slide up and down relative to through hole, a tapped through hole are respectively provided on each sliding block, the thread rotary orientation of two tapped through holes is opposite；Lead screw is combined with the tapped through hole of two sliding blocks；Driving device is fixedly installed on the chela hanging scaffold and connect with the lead screw, and the driving device can drive lead screw forward or reverse, so that lead screw drives the clamp or release billet of two chelas.Chela is improved by the relative motion between two sliding blocks and clamps speed, is shortened the dead cycle time of extruder, is improved work efficiency.
Description
Technical field
The present invention relates to a kind of manipulator and gripping mechanism more particularly to it is a kind of to extruder push away ingot device provide billet
Grab ingot manipulator and its gripping mechanism.
Background technique
Extruder is for squeezing the billet in extrusion cylinder, and the billet is usually to first pass through to grab the transport of ingot manipulator
The center of ingot device is pushed away to one, then pushes away ingot device and billet is pushed in extrusion cylinder.It can be seen that the work of extruder is imitated
Rate depends not only on the operational efficiency of its own, also related to grabbing ingot manipulator and pushing away the working efficiency of the subsidiary engines such as ingot device.It grabs
Ingot manipulator clamps billet at work, by gripping mechanism, grab ingot manipulator and gripping mechanism working time belong to it is crowded
The dead cycle time of press, it is existing to grab ingot manipulator and the working efficiency of gripping mechanism is lower, lead to the nonextruding of extruder
Time is longer, affects the working efficiency of extruder.
Above- mentioned information are only used for reinforcing the understanding to background of the invention, therefore it disclosed in the background technology part
It may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
It is an object of the present invention to overcome above-mentioned the deficiencies in the prior art, provide that a kind of work efficiency is high grabs ingot machine
The gripping mechanism of tool hand.
Another object of the present invention is to provide grab ingot manipulator with the gripping mechanism.
Additional aspect and advantage of the invention will be set forth in part in the description, and partly will be from description
It is apparent from, or can practice through the invention and acquistion.
According to an aspect of the present invention, a kind of gripping mechanism for grabbing ingot manipulator, for clamping billet, including chela is hung
Disk, two chelas, two sliding blocks, lead screw and driving device；Two chelas are hingedly connected to the two sides of the chela hanging scaffold simultaneously
It extends downwardly, each chela is each provided with a through hole；Two sliding blocks are respectively arranged in one of them described through hole simultaneously
It can be slided up and down relative to through hole, be respectively provided with a tapped through hole on each sliding block, two tapped through holes
Thread rotary orientation is opposite；Lead screw is combined with the tapped through hole of two sliding blocks；Driving device is fixedly installed on the chela and hangs
Disk is simultaneously connect with the lead screw, and the driving device can drive lead screw forward or reverse, so that lead screw drives two pincers
The clamp or release billet of pawl.
According to an embodiment of the present invention, self-locking between the lead screw and the tapped through hole of the sliding block.
According to an embodiment of the present invention, the sliding block includes the ontology of cuboid-type and is fixedly installed on ontology
Swivel nut, the two sides outer wall of the ontology is equipped with groove and positioning step, the inner wall of the through hole be equipped with it is described
Positioning step cooperate to limit the card slot that sliding block slides up and down range, be further fixedly arranged on chela protrude into the groove with
The flange shaft for sliding up and down cooperation is formed with the groove
According to an embodiment of the present invention, the driving device includes motor and is connected to the motor the speed reducer connect,
The output shaft of the speed reducer is hollow shaft, and one end of the lead screw is inserted into the output shaft and fixes with the output shaft
Connection, is fixedly connected with a support plate on the chela hanging scaffold, the support plate be equipped with to the other end of the lead screw into
The copper guide sleeve of row support.
According to an embodiment of the present invention, it is connected on the motor and controls the direction of motor rotation and rotational angle
Encoder.
According to an embodiment of the present invention, the lower part of the chela is provided with dismountable pad for contacting with billet
Plate.
According to an embodiment of the present invention, it is set on each chela there are two the backing plate, two backing plates are in
Angle is arranged and is combined into V-type support slot.
According to an embodiment of the present invention, the chela hanging scaffold is equipped with the limiting device of limitation chela opening angle.
According to an embodiment of the present invention, the limiting device is the stop screw for being set to chela hanging scaffold both ends, institute
The screw rod end for stating stop screw can be in contact with the chela.
According to another aspect of the present invention, one kind grabbing ingot manipulator, pushes away ingot dress to aluminium extruding machine for grabbing billet
It sets, the ingot manipulator of grabbing includes above-mentioned gripping mechanism.
As shown from the above technical solution, the advantages and positive effects of the present invention are：
Gripping mechanism of the present invention, since lead screw is able to drive two chelas simultaneously operation in rotation, and due to this two
A chela is hinged on chela hanging scaffold, thus the relative motion between two sliding blocks can double to improve, and two silks
Relative motion displacement between thick stick can be enlarged into the opposite opening angle of chela by lever principle, thus, clamp of the present invention
Device significantly improves chela clamping speed, shortens the dead cycle time of extruder, improves work efficiency.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature of the invention and advantage will become
It is more obvious.
Fig. 1 is the structural schematic diagram of the gripping mechanism for grabbing ingot manipulator of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram that chela and sliding block match in Fig. 1；
Fig. 3 is partial enlargement diagram at I in Fig. 2；
Fig. 4 is the structural schematic diagram of sliding block in an embodiment of the present invention；
Fig. 5 is the cut-away illustration of the line A-A along Fig. 4.
In figure：1, chela hanging scaffold；11, stop screw；13, support plate；14, copper guide sleeve；2, chela；21, through hole；22,
Flange shaft；23, backing plate；24, card slot；3, sliding block；31, ontology；32, swivel nut；33, tapped through hole；34, groove；35, positioning table
Rank；4, lead screw；51, motor；52, speed reducer；6, billet.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Identical attached drawing in figure
Label indicates same or similar structure, thus the detailed description that will omit them.
Referring to Fig. 1 to Fig. 5, embodiment of the present invention discloses a kind of gripping mechanism for grabbing ingot manipulator.The gripping mechanism
For grabbing billet 6, and billet 6 is placed into and is pushed away on ingot device, then, pushed away ingot device and billet 6 is sent to extruder again
In extrusion cylinder, so that extruder carries out squeeze job to billet.It is shown in Figure 1, the gripping mechanism packet of embodiment of the present invention
Include 1, two, chela hanging scaffold chela 2, two sliding block 3, lead screw 4 and a driving device.
Chela hanging scaffold 1 grabs ingot manipulator for being suspended in, it can be deposited with the movement for grabbing ingot manipulator in billet
It puts position and pushes away and moved between ingot device.Two chelas 2 are used to grab billet 6, and chela 2 is respectively hinged at the two of chela hanging scaffold 1
Side simultaneously extends downwardly.After chela hanging scaffold 1 moves to the top of billet 6, the lower end of the two chelas 2 is opened and is clamped respectively
Then the two sides of billet 6 can be used chela 2 to clamp billet 6.In conjunction with Fig. 1 to Fig. 3, specifically in the present embodiment, chela 2 is long
Stripe board is respectively provided with a through hole 21 on each chela 2, the structure of indent can be set in the inboard portion of 2 lower part of chela
For being contacted with the outer surface of billet 6.
In the present embodiment, it is additionally provided on the lower part concave inward structure of the chela 2 detachable for being contacted with billet 6
Backing plate 23.By the way that backing plate 23 is arranged, can to avoid the abrasion of chela 2, further, it is also possible to different according to the diameter of billet 6, and
The backing plate 23 for replacing different-thickness, enables backing plate 23 substantially to adapt to the diameter of billet 6, carries out reliable retention to billet 6,
In addition, after the backing plate 23 of replacement suitable thickness, additionally it is possible to reduce slewing area of the chela 2 when clamping billet 6.In this implementation
It in mode, is set on each chela 2 there are two backing plate 23, the two backing plates 23 are angled to be arranged and be combined into a V-type support slot.
The two backing plates 23 are respectively supported at the two sides up and down of the central axes of billet 6.It should be pointed out that in other implementations of the invention
In mode, the concrete shape of backing plate 23 is not intended to limit, such as backing plate 23 can also be the arc-shaped plate of indent, and the radian of backing plate
It is adapted with the diameter of billet 6.
The limiting device of limitation 2 opening angle of chela is additionally provided on chela hanging scaffold 1.The limiting device can be with chela 2
It is in contact, to be limited to chela 2.In the present embodiment, limiting device be arranged in chela hanging scaffold 1 both ends two
The end of a stop screw 11, the screw rod of the two stop screws 11 can be in contact with chela 2, to play the work of limit
With.By adjusting the distance between stop screw 11 and chela 2, the maximum opening angle of chela 2 can control.
Referring to Fig. 3 to Fig. 5, two sliding blocks 3 are provided respectively therein in a through hole 21, also, sliding block 3 be being capable of phase
Through hole 21 is slided up and down.Specifically, in the present embodiment, sliding block 3 includes the ontology 31 of cuboid-type and consolidates
Swivel nut 32 on ontology 31 is set calmly, the centre of the swivel nut 32 is equipped with a tapped through hole 33, and should be understood that
It is that the thread rotary orientation of the tapped through hole 33 on the two swivel nuts 32 is opposite.There are two being set on the two sides outer wall of ontology 31
Groove 34 and positioning step 35, and be equipped on the inner wall of through hole 21 and glided on sliding block 3 with the positioning step 35 with limiting
The card slot 24 of dynamic range, two are additionally provided on chela 2 and is respectively protruding into the flange shaft 22 in the groove 34 of two sides, flange shaft 22
It can be formed with groove 34 and slide up and down cooperation, thus sliding block 3 can be prevented to be separated along horizontal direction and chela 2.
It will be apparent to a skilled person that the slip connection mode between the sliding block 3 in the present invention and chela 2 is not
Limit, can also be other types of attachment, such as flange shaft be arranged on sliding block 3, and be then arranged on chela 2 groove and flange shaft into
Row cooperation.Sliding block 3 in embodiments of the present invention is made of ontology 31 and swivel nut 32, still, in other of the invention
In embodiment, sliding block 3 obviously can also be integrated.
Lead screw 4 is combined with the tapped through hole 33 of the two sliding blocks 3, and driving device is then fixed at the chela hanging scaffold
It is connected on 1 and with lead screw 4.In the present embodiment, driving device includes motor 51 and the speed reducer that is connected with motor 51
52.Due to the thread rotary orientation of two tapped through holes 33 be it is opposite, thus, when driving device drive lead screw 4 rotate forward or reversion
When, the lower end which is able to drive two chelas 2 is close or separate simultaneously simultaneously, the two chelas 2 are clamped
Or unclamp billet 6.Since sliding block 3 can be up and down relative to chela 2, sliding block 3 and pincers not will cause when chela 2 rotates
Interference between pawl 2.It is self-locking when can be realized between lead screw 4 and the tapped through hole 33 of sliding block 3, so, when motor 51 closes
After closing, chela 2 can be automatically stopped movement.
In the present embodiment, the output shaft of the speed reducer 52 is hollow shaft, and one end of lead screw 4 is inserted into output shaft simultaneously
It is fixedly connected with output shaft.A support plate 13 is fixedly installed on chela hanging scaffold 1, which is equipped with to lead screw 4
The copper guide sleeve 14 that is supported of the other end.In this way, which the both ends of lead screw 4 pass through the output shaft and copper guide sleeve 14 of speed reducer 52
It supports, improves the stability during rotation of lead screw 4.It should be pointed out that the lead screw 4 can also only pass through sliding block
Tapped through hole 33 on 3 is supported, and realizes the connection between speed reducer 52 and lead screw 4 by shaft coupling.On motor 51
It is also provided with the encoder of the rotation direction and rotational angle that control the motor, so as to pass through encoder for motor
Operating condition be transmitted in a control device, realize the automatic control of motor.
When in use, then the backing plate 23 for replacing suitable thickness first makes chela hanging scaffold 1 be located at the top of billet, utilize
It grabs ingot machinery hand-motion chela hanging scaffold 1 to move downward, so that chela 2 is located at the two sides of billet 6 respectively.Chela hanging scaffold 1 drops to
Behind position, start motor 51, motor 51 drives chela 2 to clamp billet 6, pushes away on ingot device so that billet 6 is transported to.Then, electric
Machine 51 is overturn, so that chela 2 discharges billet 6, and carries out the movement of clamping next time.Since lead screw 4 is able to drive two in rotation
A chela 2 moves at the same time, and since the two chelas 2 are hinged on chela hanging scaffold 1, thus between two sliding blocks 3
Relative motion can double to improve, and the relative motion displacement between two lead screws 4 can be enlarged into pincers by lever principle
The opposite opening angle of pawl 2, thus, gripping mechanism of the present invention significantly improves chela 2 and clamps speed, shortens the non-of extruder
Extrusion time improves the working efficiency of extruder entirety.
By Fig. 1 to Fig. 5 it is found that embodiment of the present invention also disclose it is a kind of grab ingot manipulator for grab billet,
It includes above-mentioned gripping mechanism that this, which grabs ingot manipulator,.
It is particularly shown and described exemplary embodiments of the present invention above.It should be understood that the present invention is not limited to institute
Disclosed embodiment, on the contrary, it is intended to cover comprising various modifications in the spirit and scope of the appended claims
And equivalent arrangements.
Claims (9)
1. a kind of gripping mechanism for grabbing ingot manipulator, for clamping billet, which is characterized in that including：
Chela hanging scaffold；
Two chelas are hingedly connected to the two sides of the chela hanging scaffold and extend downwardly, and each chela is each provided with a perforation
Hole；
Two sliding blocks are respectively arranged in one of them described through hole and can slide up and down relative to through hole, Mei Gesuo
It states and is respectively provided with a tapped through hole on sliding block, the thread rotary orientation of two tapped through holes is opposite；
Lead screw is combined with the tapped through hole of two sliding blocks；And
Driving device is fixedly installed on the chela hanging scaffold and connect with the lead screw, and the driving device can drive lead screw
Forward or reverse, so that lead screw drives the clamp or release billet of two chelas；
The sliding block includes the ontology of cuboid-type and the swivel nut that is fixedly installed on ontology, on the two sides outer wall of the ontology
Equipped with groove and positioning step, the inner wall of the through hole is equipped with to cooperate with the positioning step and be glided on sliding block with limiting
The card slot of dynamic range is further fixedly arranged on chela and protrudes into the groove to slide up and down cooperation with groove formation
Flange shaft.
2. gripping mechanism according to claim 1, which is characterized in that between the lead screw and the tapped through hole of the sliding block
It is self-locking.
3. gripping mechanism according to claim 1, which is characterized in that the driving device include motor and with motor phase
The speed reducer of connection, the output shaft of the speed reducer are hollow shaft, one end of the lead screw be inserted into the output shaft and with
The output shaft is fixedly connected, and a support plate is fixedly connected on the chela hanging scaffold, and the support plate is equipped with to described
The copper guide sleeve that the other end of lead screw is supported.
4. gripping mechanism according to claim 3, which is characterized in that be connected on the motor and control the motor rotation side
To the encoder with rotational angle.
5. gripping mechanism according to claim 1, which is characterized in that the lower part of the chela is provided with for connecing with billet
Dismountable backing plate of touching.
6. gripping mechanism according to claim 5, which is characterized in that it is set on each chela there are two the backing plate,
Two backing plates are angled to be arranged and is combined into V-type support slot.
7. gripping mechanism according to claim 1, which is characterized in that the chela hanging scaffold is equipped with limitation chela open-angle
The limiting device of degree.
8. gripping mechanism according to claim 7, which is characterized in that the limiting device is to be set to chela hanging scaffold both ends
Stop screw, the screw rod end of the stop screw can be in contact with the chela.
9. one kind grabs ingot manipulator, ingot device is pushed away to aluminium extruding machine for grabbing billet, which is characterized in that described to grab ingot machinery
Hand includes the gripping mechanism as described in any in claim 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788261.3A CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788261.3A CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106272500A CN106272500A (en) | 2017-01-04 |
| CN106272500B true CN106272500B (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610788261.3A Active CN106272500B (en) | 2016-08-31 | 2016-08-31 | One kind grabbing ingot manipulator and its gripping mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160423B (en) * | 2017-06-29 | 2023-12-22 | 广东美的制冷设备有限公司 | Clamp |
| CN107458870A (en) * | 2017-08-25 | 2017-12-12 | 宁波力神动力电池系统有限公司 | A kind of general carrying clamping jaw for production line for manufacturing battery |
| CN108637933B (en) * | 2018-04-25 | 2019-11-05 | 淮阴师范学院 | The long-range control clamping equipment of quantum communications |
| CN109093609A (en) * | 2018-10-31 | 2018-12-28 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN111113465A (en) * | 2018-10-31 | 2020-05-08 | 中国科学院沈阳自动化研究所 | Full-automatic clamping mechanism for large-scale structural member |
| CN110977373A (en) * | 2019-11-22 | 2020-04-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Robot is with terminal actuating mechanism of eye power coordinated control |
| CN114986468B (en) * | 2022-07-18 | 2022-10-25 | 西安医学院第二附属医院 | Aseptic apparatus grabbing device |
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|---|---|---|---|---|
| US4621852A (en) * | 1984-01-30 | 1986-11-11 | Syuichi Maki | Inching apparatus for robot hands |
| CN87205550U (en) * | 1987-11-24 | 1988-08-17 | 刘金鸿 | Clamping type camera tripod table fixing device |
| CN200958003Y (en) * | 2006-09-26 | 2007-10-10 | 天津起重设备有限公司 | Pliers hoist |
| CN204577524U (en) * | 2015-05-20 | 2015-08-19 | 浙江机电职业技术学院 | A kind of loading and unloading handgrip adapting to many specifications pole plate |
| CN204657832U (en) * | 2015-05-13 | 2015-09-23 | 国家电网公司 | A kind of cylinder rod-like articles that is used for welds alignment device of slinging |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4621852A (en) * | 1984-01-30 | 1986-11-11 | Syuichi Maki | Inching apparatus for robot hands |
| CN87205550U (en) * | 1987-11-24 | 1988-08-17 | 刘金鸿 | Clamping type camera tripod table fixing device |
| CN200958003Y (en) * | 2006-09-26 | 2007-10-10 | 天津起重设备有限公司 | Pliers hoist |
| CN204657832U (en) * | 2015-05-13 | 2015-09-23 | 国家电网公司 | A kind of cylinder rod-like articles that is used for welds alignment device of slinging |
| CN204577524U (en) * | 2015-05-20 | 2015-08-19 | 浙江机电职业技术学院 | A kind of loading and unloading handgrip adapting to many specifications pole plate |
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| Publication number | Publication date |
|---|---|
| CN106272500A (en) | 2017-01-04 |
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