CN107538177A - A kind of handling gripper and method by gravity self-locking - Google Patents
A kind of handling gripper and method by gravity self-locking Download PDFInfo
- Publication number
- CN107538177A CN107538177A CN201710935115.3A CN201710935115A CN107538177A CN 107538177 A CN107538177 A CN 107538177A CN 201710935115 A CN201710935115 A CN 201710935115A CN 107538177 A CN107538177 A CN 107538177A
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- clamping jaw
- pipe
- claw
- axle
- groove
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- 230000005484 gravity Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000003466 welding Methods 0.000 claims abstract description 25
- 210000000078 claw Anatomy 0.000 claims description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000003801 milling Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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- Butt Welding And Welding Of Specific Article (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The present invention relates to a kind of handling gripper and method by gravity self-locking, belongs to power pipe tower production automation erection welding technical field.Technical scheme is：The clamping jaw (2) rotates around axle (4), clamping jaw (2) is upper plane above, provided with groove (10), two joints are respectively front fulcrum (11) and rear fulcrum (12) between plane on groove (10) and clamping jaw (2), when plane is horizontal on clamping jaw (2), the axial line of groove (10) and the center superposition of axle (4).It can be mounted on two trailing arms of carrier, can also be mounted on caching bin, the present invention can realize that the clamping to workpiece is loosened in trailing arm lifting process, and attitude stabilization is kept by workpiece self gravitation.The present invention is simple in construction, occupy little space, manufacturing cost is low, convenient to use, maintenance cost is low, solves in pipe tower manufacturing process, determines posture transmission problem automatically after pipe welding equipment flange and connecting plate.
Description
Technical field
The present invention relates to a kind of handling gripper and method by gravity self-locking, after pipe and other annex eccentric assemblings
Determine posture automatic transportation, belong to power pipe tower production automation erection welding technical field.
Background technology
Transport why to determine posture after pipe and other annex eccentric assemblings, be by the characteristics of pipe tower part and making work
What skill determined, for steel pipe by both ends welding equipment flange, next process is exactly connecting plate erection welding, and multigroup connecting plate is substantially mutual in pairs
Center that is perpendicular and crossing pipe and steel pipe welding equipment.Position of the quantity of each workpiece upper plate on steel pipe be it is random,
Size is also different, and the smaller connecting plate logarithm of diameter is more.How automatic transportation is most steady to next station, workpiece after connecting plate assembling
Certainly connecting plate is downward for fixed posture, but if connecting plate is downward, the trailing arm of logistics trolley can not be realized from following support workpiece,
Because trailing arm position must be fixed, connecting plate position is not fixed but, may thus be held in the palm and be arrived connecting plate, it is also possible to which support arrives pipe.So
Make connecting plate upward, trailing arm only accounts for 270 ° of scopes below pipe, is only feasible.This requires pipe transport to fix this
Posture, and this posture is a unstable posture, once run into vibrations, workpiece will unstability, so needing a fixture
This posture is kept in transportation.
At present, to keep determining posture automatic transportation after pipe and other annex eccentric assemblings, conventional way is exactly to set
The fixture of hydraulic power is counted, first ensures, by Workpiece clamping, then to transport again, because pipe tower steel pipe caliber scope is from φ 219-
1000mm spans are too big, can the hydraulically operated fixture too complex that smoothly joins of compatible and can simultaneously, i.e., it is enabled to do, during work delivery
In order to avoid fixture, the lifting travel of dolly must increase, and space can not meet.
The content of the invention
It is an object of the present invention to provide a kind of handling gripper and method by gravity self-locking, when workpiece is with jaws contact, contact
Support reaction caused by point is related to diameter of work, gravity, and diameter of work is smaller, and support reaction force of gravity multiple proportion is bigger.In
It is when workpiece is smaller, because support reaction force of gravity multiple proportion is big, with regard to big, moment of friction is also multiplied frictional force, just
Corresponding such a workpiece due to needing big stabilizing moment connecting plate logarithm more；When pipe diameter is larger, the gravity of its own is just
Very big, moment of friction is also corresponding big, it is ensured that pipe posture does not change during workpiece transport；Solves the back of the body
Above mentioned problem existing for scape technology.
The technical scheme is that：
A kind of handling gripper by gravity self-locking, comprising chuck body and clamping jaw, clamping jaw is arranged in chuck body by axle, folder
Pawl arranges in pairs, and the chuck body between each pair clamping jaw is provided with arc groove, the center line of arc groove with this to clamping jaw it
Between center line overlap；The clamping jaw pivoting, be upper plane above clamping jaw, provided with groove, groove and plane on clamping jaw it
Between two joints, respectively front fulcrum and rear fulcrum, when plane is horizontal on clamping jaw, the center line and axle of groove
Center superposition.
The front fulcrum and rear fulcrum are arc-shaped fulcrum, and front fulcrum and rear fulcrum are arranged symmetrically in the center line two of groove
Side.
The chuck body is spliced by plurality of steel plates, including base, transverse slat and two pieces of risers, is welded on base horizontal
Plate, the risers of two pieces of parallel arrangements of welding above transverse slat；Arc groove is arranged on two pieces of risers, and arc groove both sides are symmetrically set
There is square slot, axle is the flat axle of two side millings, is arranged in square slot, is arranged on the clamping jaw on axle between two pieces of risers
Space in；The axle is provided with bearing, and claw is arranged on bearing.
The both sides of the bearing are provided with catch.
Groove on the clamping jaw matches with welding workpiece, and welding workpiece includes power pipe tower, and power pipe tower is by pipe, method
Blue and connecting plate is formed, and the both ends of pipe are provided with flange.The connecting plate of multipair V-arrangement arrangement is set on pipe, is spaced between each pair connecting plate
90 °, connecting plate is perpendicular to pipe surface layout.The connecting plate opening upwards of V-arrangement arrangement, the front fulcrum of the groove both sides on clamping jaw and after
Fulcrum contacts with pipe surface, and a pair of clamping jaws share four strong points and contacted with pipe surface, clamping jaw and pipe surface contact point,
It is respectively positioned on below the connecting plate of upward opening V-arrangement arrangement.The bottom of groove is not touched on the pipe surface；Do not touch on the pipe surface
And the bottom of arc groove.
The chuck body can be mounted on two trailing arms of carrier, can be also mounted on caching bin.
A kind of method for carrying by gravity self-locking, using assembly machine and carrier or caching bin, above-mentioned fixture is coordinated to enter
OK, comprise the following steps：
1. chuck body is arranged on two trailing arms or caching bin of carrier, workpiece（Power pipe tower）Pipe on complete connect
After the welding of plate, the connecting plate that V-type is arranged first is turned to opening upwards position by assembly machine, the trailing arm or caching bin of carrier exist
Walked under retracted state along track to immediately below workpiece, center and the pipe center superposition of two clamping jaws of chuck body, now,
Under gravity, upper plane is horizontal to claw；Trailing arm or caching bin lifting, pipe surface and the rear branch on each claw
Point is first in contact；Continue to lift with trailing arm or caching bin, claw is rotated centered on axle, and the front fulcrum on claw closes to pipe
Hold together；When four strong points of trailing arm or caching bin lift height to two claws all contact with pipe surface, stop lifting
Rise, clamping jaw and four contact points on pipe surface, be respectively positioned on below the connecting plate of upward opening V-arrangement arrangement；
2. now assembly machine chuck loosens the constraint to pipe, workpiece is fallen on claw under gravity, and claw is by workpiece
Embrace；Carrier or caching bin walk to welding position, the workpiece centre on a little higher than carrier of chuck hub of welding position, when
When the chuck of welding post clamps pipe, the contact acnode above clamping jaw departs from pipe surface, and trailing arm or caching bin decline, card
Pawl is pivoted in the presence of self gravitation, and until level, claw completely disengages pipe, completes workpiece handling.
Good effect of the present invention：The present invention is simple in construction, occupy little space, manufacturing cost is low, convenient to use, maintenance
Cost is low, solves in pipe tower manufacturing process, determines posture transmission problem automatically after pipe welding equipment flange and connecting plate.
Brief description of the drawings
Fig. 1 is overall structure diagram of the embodiment of the present invention（Work status are not clamped）；
Fig. 2 is schematic cross-sectional view of the embodiment of the present invention（Work status are not clamped）；
Fig. 3 is welding workpiece schematic diagram；
Fig. 4 is the schematic diagram when present invention clamps workpiece；
In figure：Chuck body 1, clamping jaw 2, catch 3, axle 4, bearing 5, screw 6, flange 7, connecting plate 8, pipe 9, groove 10, preceding branch
Point 11, rear fulcrum 12, square slot 13, arc groove 14.
Embodiment
Below in conjunction with accompanying drawing, by embodiment, the present invention will be further described.
A kind of handling gripper by gravity self-locking, comprising chuck body 1 and clamping jaw 2, clamping jaw 2 is arranged on fixture sheet by axle
On body, clamping jaw 2 is arranged in pairs, and the chuck body 1 between each pair clamping jaw 2 is provided with arc groove 14, the center of arc groove 14
Line overlaps with this to the center line between clamping jaw 2；The clamping jaw 2 rotates around axle 4, and clamping jaw 2 is above upper plane, provided with groove
10, two joints on groove 10 and clamping jaw 2 between plane, respectively front fulcrum 11 and rear fulcrum 12, on clamping jaw 2 at plane
When horizontal level, the center line of groove 10 and the center superposition of axle 4.
The front fulcrum 11 and rear fulcrum 12 are arc-shaped fulcrum, and front fulcrum 11 and rear fulcrum 12 are arranged symmetrically in groove 10
Center line both sides.
The chuck body 1 is spliced by plurality of steel plates, including base 17, transverse slat 16 and two pieces of risers 15, base 17
Upper welding transverse slat 16, transverse slat 16 weld the riser 15 of two pieces of parallel arrangements above；Arc groove 14 is arranged on two pieces of risers 15,
The both sides of arc groove 14 are arranged with square slot 13, and axle 4 is the flat axle of two side millings, is arranged in square slot 13, is arranged on
Clamping jaw 2 on axle is in the space between two pieces of risers；The axle 4 is provided with bearing 5, and claw is arranged on bearing 5.
The claw quantity is more than a pair, and structure is identical, and equal arranged is carried out to workpiece in the both sides of arc groove 14
Multiple spot clamping.
The both sides of the bearing 5 are provided with catch 3.
Groove 10 on the clamping jaw 2 matches with welding workpiece, and welding workpiece includes power pipe tower, and power pipe tower is by pipe
9th, flange 7 and connecting plate 8 are formed, and the both ends of pipe 9 are provided with flange 7.The connecting plate 8 of multipair V-arrangement arrangement is set on pipe 9, and each pair connects
90 ° are spaced between plate 8, connecting plate 8 is perpendicular to the surface layout of pipe 9.The opening upwards of connecting plate 8 of V-arrangement arrangement, the groove on clamping jaw 2
The front fulcrum 11 and rear fulcrum 12 of 10 both sides contact with the surface of pipe 9, and a pair of clamping jaws 2 share four strong points and the surface of pipe 9
Contact, clamping jaw 2 and the surface contact point of pipe 9, it is respectively positioned on the lower section of connecting plate 8 of upward opening V-arrangement arrangement.The surface of pipe 9 is not
Touch the bottom of groove 10；The bottom of arc groove 14 is not touched on the surface of pipe 9.
The chuck body 1 is provided with mounting hole, can be mounted on two trailing arms of carrier, can also be mounted in caching bin
On.
The present embodiment is chuck body 1 on two trailing arms of carrier.
A kind of method for carrying by gravity self-locking, above-mentioned fixture is coordinated to carry out using assembly machine and carrier, comprising as follows
Step：
1. chuck body 1 is arranged on two trailing arms of carrier, workpiece（Power pipe tower）Pipe 9 on complete connecting plate 8 weldering
After connecing, the connecting plate that V-type is arranged first is turned to opening upwards position by assembly machine, the trailing arm of carrier is under retracted state along track
Walk to immediately below workpiece, center and the center superposition of pipe 9 of two clamping jaws 2 of trailing arm upper fixture body 1, now, claw 2 exists
Under Action of Gravity Field, upper plane is horizontal；Trailing arm lifts, and pipe surface first contacts with the rear fulcrum 12 on each claw 2；With
Trailing arm continues to lift, and claw 2 is rotated centered on axle 4, and the front fulcrum 11 on claw 2 closes up to pipe；When trailing arm lift height
When sharing four strong points and all being contacted with the surface of pipe 9, stop lifting, clamping jaw 2 and the four of the surface of pipe 9 to two claws
Individual contact point, it is respectively positioned on the lower section of connecting plate 8 of upward opening V-arrangement arrangement；
2. now assembly machine chuck loosens the constraint to pipe 9, workpiece is fallen on claw under gravity, and claw is by workpiece
Embrace；Carrier walks to welding position, the workpiece centre on a little higher than carrier of chuck hub of welding position, when welding post
When chuck clamps pipe, the contact acnode above clamping jaw departs from pipe surface, and trailing arm declines, and claw is in the presence of self gravitation
It is pivoted, until level, claw completely disengages pipe, completes workpiece handling.
If be used cooperatively using the present invention and caching bin, chuck body is arranged on caching bin.
Claims (5)
- A kind of 1. handling gripper by gravity self-locking, it is characterised in that：It is logical comprising chuck body (1) and clamping jaw (2), clamping jaw (2) Cross axle to be arranged in chuck body, clamping jaw (2) is arranged in pairs, and it is recessed that the chuck body (1) between each pair clamping jaw (2) is provided with arc Groove (14), the center line of arc groove (14) overlap with this to the center line between clamping jaw (2)；The clamping jaw (2) turns around axle (4) Dynamic, clamping jaw (2) is upper plane above, provided with groove (10), two joints on groove (10) and clamping jaw (2) between plane, Respectively front fulcrum (11) and rear fulcrum (12), when plane is horizontal on clamping jaw (2), the center line and axle of groove (10) (4) center superposition.
- A kind of 2. handling gripper by gravity self-locking according to claim 1, it is characterised in that：The front fulcrum (11) and Rear fulcrum (12) is arc-shaped fulcrum, and front fulcrum (11) and rear fulcrum (12) are arranged symmetrically in the center line both sides of groove (10).
- A kind of 3. handling gripper by gravity self-locking according to claim 1 or 2, it is characterised in that：The chuck body (1) it is spliced by plurality of steel plates, including base (17), transverse slat (16) and two pieces of risers (15), base weld transverse slat on (17) (16), transverse slat (16) welds the riser (15) of two pieces of parallel arrangements above；Arc groove (14) is arranged on two pieces of risers (15), Arc groove (14) both sides are arranged with square slot (13), and axle (4) is the flat axle of two side millings, is arranged on square slot (13) It is interior, the clamping jaw on axle (2) is arranged in the space between two pieces of risers；The axle (4) is provided with bearing (5), and claw is set Put on bearing (5).
- A kind of 4. handling gripper by gravity self-locking according to claim 3, it is characterised in that：The two of the bearing (5) Side is provided with catch (3).
- 5. a kind of method for carrying by gravity self-locking, it is characterised in that using assembly machine and carrier or caching bin, with closing Fixture progress is stated, is comprised the following steps：1. chuck body (1) is arranged on two trailing arms or caching bin of carrier, workpiece（Power pipe tower）Pipe (9) on After the welding for completing connecting plate (8), the connecting plate that V-type is arranged first is turned to opening upwards position by assembly machine, the trailing arm of carrier or Caching bin walks to immediately below workpiece under retracted state along track, the center of two clamping jaws (2) of chuck body (1) and circle (9) center superposition is managed, now, under gravity, upper plane is horizontal to claw (2)；Trailing arm or caching bin lifting, pipe Surface first contacts with the rear fulcrum (12) on each claw (2)；Continue to lift with trailing arm or caching bin, claw (2) is with axle (4) rotated centered on, the front fulcrum (11) on claw (2) closes up to pipe；When trailing arm or caching bin lift height are to two When four strong points of claw and pipe (9) surface all contacts, stop lifting, four of clamping jaw (2) and pipe (9) surface connect Contact, it is respectively positioned on below the connecting plate (8) of upward opening V-arrangement arrangement；2. now assembly machine chuck loosens the constraint to pipe (9), workpiece is fallen on claw under gravity, and claw is by work Part is embraced；Carrier or caching bin walk to welding position, the workpiece centre on a little higher than carrier of chuck hub of welding position, When the chuck of welding post clamps pipe, the contact acnode above clamping jaw departs from pipe surface, and trailing arm or caching bin decline, Claw is pivoted in the presence of self gravitation, and until level, claw completely disengages pipe, completes workpiece handling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935115.3A CN107538177B (en) | 2017-10-10 | 2017-10-10 | Conveying clamp and method capable of self-locking by gravity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935115.3A CN107538177B (en) | 2017-10-10 | 2017-10-10 | Conveying clamp and method capable of self-locking by gravity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107538177A true CN107538177A (en) | 2018-01-05 |
| CN107538177B CN107538177B (en) | 2024-03-15 |
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ID=60967352
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710935115.3A Active CN107538177B (en) | 2017-10-10 | 2017-10-10 | Conveying clamp and method capable of self-locking by gravity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107538177B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108746954A (en) * | 2018-08-07 | 2018-11-06 | 唐山开元自动焊接装备有限公司 | A kind of heavy axle axle housing rear cover group pair and internal circular seam automatic welding machine people |
| CN108942864A (en) * | 2018-08-01 | 2018-12-07 | 东南大学 | A kind of shared bicycle intelligent management robot based on mobile platform |
| CN112894733A (en) * | 2020-12-29 | 2021-06-04 | 安徽省旌德旌峰机械制造有限公司 | Machining equipment with turnover clamping mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5798021A (en) * | 1996-01-17 | 1998-08-25 | Central Plastics Company | Clamping apparatus for an electrofusion joint |
| CN202984973U (en) * | 2012-11-28 | 2013-06-12 | 天津博信汽车零部件有限公司 | Positioning and locking device |
| CN204657857U (en) * | 2015-04-30 | 2015-09-23 | 中航商用航空发动机有限责任公司 | Engine bearing support body and engine upset vehicle frame |
| CN204843950U (en) * | 2015-07-22 | 2015-12-09 | 合肥美的暖通设备有限公司 | Frock board |
| CN106216816A (en) * | 2016-09-28 | 2016-12-14 | 无锡奇能焊接系统有限公司 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
| CN106216868A (en) * | 2016-09-26 | 2016-12-14 | 唐山开元自动焊接装备有限公司 | The welding method of a kind of heavy axle stiffening ring and special fixture |
| CN207255598U (en) * | 2017-10-10 | 2018-04-20 | 唐山开元自动焊接装备有限公司 | A kind of handling gripper by gravity self-locking |
-
2017
- 2017-10-10 CN CN201710935115.3A patent/CN107538177B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5798021A (en) * | 1996-01-17 | 1998-08-25 | Central Plastics Company | Clamping apparatus for an electrofusion joint |
| CN202984973U (en) * | 2012-11-28 | 2013-06-12 | 天津博信汽车零部件有限公司 | Positioning and locking device |
| CN204657857U (en) * | 2015-04-30 | 2015-09-23 | 中航商用航空发动机有限责任公司 | Engine bearing support body and engine upset vehicle frame |
| CN204843950U (en) * | 2015-07-22 | 2015-12-09 | 合肥美的暖通设备有限公司 | Frock board |
| CN106216868A (en) * | 2016-09-26 | 2016-12-14 | 唐山开元自动焊接装备有限公司 | The welding method of a kind of heavy axle stiffening ring and special fixture |
| CN106216816A (en) * | 2016-09-28 | 2016-12-14 | 无锡奇能焊接系统有限公司 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
| CN207255598U (en) * | 2017-10-10 | 2018-04-20 | 唐山开元自动焊接装备有限公司 | A kind of handling gripper by gravity self-locking |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942864A (en) * | 2018-08-01 | 2018-12-07 | 东南大学 | A kind of shared bicycle intelligent management robot based on mobile platform |
| CN108746954A (en) * | 2018-08-07 | 2018-11-06 | 唐山开元自动焊接装备有限公司 | A kind of heavy axle axle housing rear cover group pair and internal circular seam automatic welding machine people |
| CN108746954B (en) * | 2018-08-07 | 2024-03-15 | 唐山开元自动焊接装备有限公司 | Automatic welding robot for rear cover assembly and inner circumferential seam of heavy axle housing |
| CN112894733A (en) * | 2020-12-29 | 2021-06-04 | 安徽省旌德旌峰机械制造有限公司 | Machining equipment with turnover clamping mechanism |
| CN112894733B (en) * | 2020-12-29 | 2023-12-12 | 重庆渝江新高模具有限公司 | Machining equipment with turnover clamping mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107538177B (en) | 2024-03-15 |
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