CN107538177B - Conveying clamp and method capable of self-locking by gravity - Google Patents
Conveying clamp and method capable of self-locking by gravity Download PDFInfo
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- CN107538177B CN107538177B CN201710935115.3A CN201710935115A CN107538177B CN 107538177 B CN107538177 B CN 107538177B CN 201710935115 A CN201710935115 A CN 201710935115A CN 107538177 B CN107538177 B CN 107538177B
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- clamping jaw
- groove
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- gravity
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- 230000005484 gravity Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000003466 welding Methods 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 7
- 239000011232 storage material Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Abstract
The invention relates to a gravity self-locking carrying clamp and a gravity self-locking carrying method, and belongs to the technical field of automatic assembly welding in production of power tube towers. The technical proposal is as follows: the clamping jaw (2) rotates around the shaft (4), an upper plane is arranged on the clamping jaw (2), a groove (10) is formed, two intersection points between the groove (10) and the upper plane of the clamping jaw (2) are respectively a front supporting point (11) and a rear supporting point (12), and when the upper plane of the clamping jaw (2) is in a horizontal position, the axial lead of the groove (10) coincides with the center of the shaft (4). The invention can be arranged on two supporting arms of a carrier and also can be arranged on a buffer rack, and can realize clamping and loosening of workpieces in the lifting process of the supporting arms, and the gesture is kept stable by the self gravity of the workpieces. The invention has the advantages of simple structure, small occupied space, low manufacturing cost, convenient and quick use and low maintenance cost, and solves the problem of automatic attitude determination and transmission after the flange and the connecting plate are welded on the circular tube in the manufacturing process of the tube tower.
Description
Technical Field
The invention relates to a gravity self-locking carrying clamp and a gravity self-locking carrying method, which are used for fixed-posture automatic transportation after eccentric assembly of a round pipe and other accessories, and belong to the technical field of automatic assembly welding in power pipe tower production.
Background
The reason why the transportation is required to be fixed after the circular tube and other accessories are eccentrically assembled is determined by the characteristics of the parts of the tube tower and the manufacturing process, the flanges are welded at the two ends of the steel tube, the next procedure is that the connecting plates are assembled and welded, and the plurality of groups of connecting plates are basically vertical to each other in pairs and pass through the center of the tube to be assembled and welded with the steel tube. The number of the connecting plates on each workpiece is random on the positions of the steel pipes, the sizes are different, and the number of the connecting plates is larger as the diameter is smaller. How to automatically transport the connecting plate to the next station after assembling, the most stable posture of the workpiece is that the connecting plate is downward, but if the connecting plate is downward, the supporting arm of the logistics trolley can not support the workpiece from below, because the supporting arm position is fixed, the connecting plate position is not fixed, and thus the workpiece can be supported to the connecting plate, and the workpiece can also be supported to a pipe. It is therefore only possible to have the web up and the bracket arm occupy the 270 deg. range below the tube. This requires the pipe to be transported while holding the attitude, which is an unstable attitude, and the workpiece will be unstable upon shock, so a clamp is required to maintain this attitude during transport.
At present, after a round pipe and other accessories are eccentrically assembled, fixed-posture automatic transportation is required to be kept, a hydraulic power clamp is designed, a workpiece is clamped firstly, then the workpiece is transported, and because the pipe diameter range of a pipe tower steel pipe is too large from phi 219-1000mm, the hydraulic clamp which can be compatible and can be smoothly connected is too complex, even if the hydraulic clamp can be made, the lifting stroke of a trolley must be enlarged for avoiding the clamp when the workpiece is connected, and the space cannot be met.
Disclosure of Invention
The invention aims to provide a conveying clamp and a conveying method which are self-locking by gravity, wherein when a workpiece is contacted with a clamping jaw, a supporting counter force generated at a contact point is related to the diameter and gravity of the workpiece, and the smaller the diameter of the workpiece is, the larger the relationship of the supporting counter force and the gravity multiple is. When the workpiece is smaller, the friction force is large due to the large relationship of the bearing reaction force and the gravity multiple, and the friction moment is also increased by times, so that the workpiece just needs large stable moment due to the large number of the connecting plate pairs; when the diameter of the pipe is larger, the gravity of the pipe is larger, the friction moment is correspondingly larger, and the posture of the pipe is ensured not to change in the process of transporting the workpiece; solves the problems existing in the background art.
The technical scheme of the invention is as follows:
the carrying clamp self-locking by gravity comprises a clamp body and clamping jaws, wherein the clamping jaws are arranged on the clamp body through shafts, the clamping jaws are arranged in pairs, an arc-shaped groove is formed in the clamp body between each pair of clamping jaws, and the center line of the arc-shaped groove is overlapped with the center line between the clamping jaws; the clamping jaw rotates around the shaft, an upper plane is arranged on the clamping jaw, a groove is formed in the clamping jaw, two junction points between the groove and the upper plane of the clamping jaw are respectively a front supporting point and a rear supporting point, and when the upper plane of the clamping jaw is in a horizontal position, the center line of the groove coincides with the center of the shaft.
The front supporting point and the rear supporting point are arc-shaped supporting points and are symmetrically arranged on two sides of the central line of the groove.
The clamp body is formed by splicing a plurality of steel plates and comprises a base, a transverse plate and two vertical plates, wherein the transverse plate is welded on the base, and the two vertical plates which are arranged in parallel are welded on the transverse plate; the arc-shaped grooves are formed in the two vertical plates, square grooves are symmetrically formed in two sides of the arc-shaped grooves, the shafts are shafts with two milled sides being flat, the shafts are arranged in the square grooves, and clamping jaws arranged on the shafts are located in a space between the two vertical plates; the shaft is provided with a bearing, and the clamping jaw is arranged on the bearing.
And baffle plates are arranged on two sides of the bearing.
The groove on the clamping jaw is matched with a welding workpiece, the welding workpiece comprises an electric power pipe tower, the electric power pipe tower is composed of a circular pipe, a flange and a connecting plate, and flanges are arranged at two ends of the circular pipe. The round tube is provided with a plurality of pairs of connecting plates which are arranged in a V shape, the distance between each pair of connecting plates is 90 degrees, and the connecting plates are arranged perpendicular to the surface of the round tube. The V-shaped connecting plate is upward in opening, front supporting points and rear supporting points on two sides of the groove on the clamping jaw are in contact with the surface of the circular tube, a pair of clamping jaws share four supporting points to be in contact with the surface of the circular tube, and the clamping jaws are positioned below the V-shaped connecting plate with the upward opening. The surface of the circular tube does not touch the bottom of the groove; the surface of the circular tube does not touch the bottom of the arc-shaped groove.
The clamp body can be arranged on two supporting arms of the carrier and also can be arranged on the buffering material rack.
A carrying method by gravity self-locking adopts an assembly machine and a carrier or a buffer storage rack, and is carried out by matching with the clamp, comprising the following steps:
(1) the clamp body is arranged on two supporting arms or buffer storage material racks of the carrier, after welding of connecting plates on round pipes of workpieces (power pipe towers) is finished, the V-shaped arranged connecting plates are turned to an upper position of an opening by an assembly machine, the supporting arms or buffer storage material racks of the carrier move to a position right below the workpieces along a track in a retracted state, the centers of two clamping jaws of the clamp body are coincident with the centers of the round pipes, and at the moment, the upper plane of the clamping jaws is horizontal under the action of gravity; lifting the bracket arm or the buffer storage rack, wherein the surface of the round tube is contacted with a rear supporting point on each clamping jaw; the clamping jaw rotates around the shaft as a center along with the continuous lifting of the supporting arm or the buffer material frame, and a front supporting point on the clamping jaw folds towards the pipe; when the lifting height of the lifting arm or the buffer storage rack is up to the point that four supporting points of the two clamping jaws are in full contact with the surface of the circular tube, stopping lifting, wherein the four contact points of the clamping jaws and the surface of the circular tube are all positioned below the connecting plate which is arranged in a V shape with an upward opening;
(2) at the moment, the chuck of the assembly machine loosens the constraint on the round tube, a workpiece falls onto the clamping jaw under the action of gravity, and the clamping jaw holds the workpiece; the carrier or the buffer material rack moves to the welding position, the center of a chuck at the welding position is slightly higher than the center of a workpiece on the carrier, when the chuck at the welding position clamps the round tube, the contact arc point on the clamping jaw is separated from the surface of the round tube, the bracket arm or the buffer material rack descends, the clamping jaw rotates around the shaft under the action of self gravity until the clamping jaw is horizontal, and the clamping jaw is completely separated from the round tube, so that the workpiece is carried.
The invention has the positive effects that: the invention has the advantages of simple structure, small occupied space, low manufacturing cost, convenient and quick use and low maintenance cost, and solves the problem of automatic attitude determination and transmission after the flange and the connecting plate are welded on the circular tube in the manufacturing process of the tube tower.
Drawings
FIG. 1 is a schematic view of the overall structure (unclamped workpiece) of an embodiment of the invention;
FIG. 2 is a schematic cross-sectional view (unclamped workpiece state) of an embodiment of the invention;
FIG. 3 is a schematic view of a welded workpiece;
FIG. 4 is a schematic view of the present invention clamping a workpiece;
in the figure: the clamp comprises a clamp body 1, clamping jaws 2, a baffle 3, a shaft 4, a bearing 5, a screw 6, a flange 7, a connecting plate 8, a circular tube 9, a groove 10, a front supporting point 11, a rear supporting point 12, a square notch 13, an arc-shaped groove 14, a vertical plate 15, a transverse plate 16 and a base 17.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings.
The carrying clamp self-locking by gravity comprises a clamp body 1 and clamping jaws 2, wherein the clamping jaws 2 are arranged on the clamp body through shafts, the clamping jaws 2 are arranged in pairs, an arc-shaped groove 14 is arranged on the clamp body 1 between each pair of clamping jaws 2, and the central line of the arc-shaped groove 14 coincides with the central line between the pair of clamping jaws 2; the clamping jaw 2 rotates around the shaft 4, an upper plane is arranged on the clamping jaw 2, a groove 10 is arranged, two intersection points between the groove 10 and the upper plane of the clamping jaw 2 are respectively a front supporting point 11 and a rear supporting point 12, and when the upper plane of the clamping jaw 2 is in a horizontal position, the center line of the groove 10 coincides with the center of the shaft 4.
The front supporting point 11 and the rear supporting point 12 are arc-shaped supporting points, and the front supporting point 11 and the rear supporting point 12 are symmetrically arranged on two sides of the center line of the groove 10.
The clamp body 1 is formed by splicing a plurality of steel plates and comprises a base 17, a transverse plate 16 and two vertical plates 15, wherein the transverse plate 16 is welded on the base 17, and the two vertical plates 15 which are arranged in parallel are welded on the transverse plate 16; the arc-shaped grooves 14 are formed in the two vertical plates 15, square grooves 13 are symmetrically formed in two sides of the arc-shaped grooves 14, the shaft 4 is a shaft with two milled sides and flat, the arc-shaped grooves 14 are formed in the square grooves 13, and the clamping jaw 2 arranged on the shaft is located in a space between the two vertical plates; the shaft 4 is provided with a bearing 5, and the clamping jaw is arranged on the bearing 5.
The number of the clamping jaws is more than one, the clamping jaws are identical in structure and are arranged on two sides of the arc-shaped groove 14, and the workpiece is clamped in multiple points.
The two sides of the bearing 5 are provided with baffle plates 3.
The groove 10 on the clamping jaw 2 is matched with a welding workpiece, the welding workpiece comprises an electric power pipe tower, the electric power pipe tower is composed of a circular pipe 9, a flange 7 and a connecting plate 8, and flanges 7 are arranged at two ends of the circular pipe 9. The round tube 9 is provided with a plurality of pairs of connecting plates 8 which are arranged in a V shape, the distance between each pair of connecting plates 8 is 90 degrees, and the connecting plates 8 are arranged perpendicular to the surface of the round tube 9. The V-shaped connecting plate 8 is opened upwards, front supporting points 11 and rear supporting points 12 on two sides of a groove 10 on the clamping jaw 2 are in surface contact with the circular tube 9, four supporting points are shared by a pair of clamping jaws 2 to be in surface contact with the circular tube 9, and the contact points of the clamping jaws 2 and the surface of the circular tube 9 are all positioned below the V-shaped connecting plate 8 which is opened upwards. The surface of the round tube 9 does not touch the bottom of the groove 10; the surface of the round tube 9 does not touch the bottom of the arc-shaped groove 14.
The clamp body 1 is provided with mounting holes, and can be arranged on two supporting arms of a carrier or a buffer rack.
In this embodiment, the clamp body 1 is mounted on two support arms of a carrier.
The carrying method by gravity self-locking is carried out by adopting an assembly machine and a carrier to be matched with the clamp, and comprises the following steps of:
(1) the clamp body 1 is arranged on two supporting arms of a carrier, after welding of a connecting plate 8 on a circular tube 9 of a workpiece (a power tube tower) is finished, the V-shaped arranged connecting plate is turned to an upper position of an opening by an assembly machine, the supporting arms of the carrier move to a position right below the workpiece along a track in a retracted state, the centers of two clamping jaws 2 of the clamp body 1 on the supporting arms are overlapped with the center of the circular tube 9, and at the moment, the upper plane of the clamping jaws 2 is horizontal under the action of gravity; lifting the bracket arm, and firstly contacting the surface of the round tube with a rear supporting point 12 on each clamping jaw 2; as the supporting arm continues to lift, the clamping jaw 2 rotates by taking the shaft 4 as a center, and a front supporting point 11 on the clamping jaw 2 folds towards the pipe; when the lifting height of the lifting arm is up to the point that four supporting points of the two clamping jaws are in full contact with the surface of the circular tube 9, lifting is stopped, and four contact points of the clamping jaws 2 and the surface of the circular tube 9 are all positioned below the connecting plate 8 which is arranged in a V shape with an upward opening;
(2) at the moment, the chuck of the assembly machine loosens the constraint on the round tube 9, a workpiece falls onto the clamping jaw under the action of gravity, and the clamping jaw holds the workpiece; the carrier walks the position to the welding position, and the chuck center of welding position is slightly higher than the work piece center on the carrier, and when the chuck of welding station pressed from both sides tight pipe, the contact arc point on the clamping jaw breaks away from the pipe surface, and the bracket descends, and the clamping jaw is rotatory around the axle under the effect of self gravity, until the level, and the clamping jaw breaks away from the pipe completely, accomplishes the work piece transport.
If the clamp is matched with the buffering material rack for use, the clamp body is arranged on the buffering material rack.
Claims (3)
1. The utility model provides a carry anchor clamps by gravity auto-lock which characterized in that: the clamp comprises a clamp body (1) and clamping jaws (2), wherein the clamping jaws (2) are arranged on the clamp body through shafts, the clamping jaws (2) are arranged in pairs, an arc-shaped groove (14) is formed in the clamp body (1) between each pair of clamping jaws (2), and the central line of the arc-shaped groove (14) coincides with the central line between the pair of clamping jaws (2); the clamping jaw (2) rotates around the shaft (4), an upper plane is arranged on the clamping jaw (2), a groove (10) is formed in the upper plane, two intersection points between the groove (10) and the upper plane of the clamping jaw (2) are respectively a front supporting point (11) and a rear supporting point (12), and when the upper plane of the clamping jaw (2) is in a horizontal position, the center line of the groove (10) coincides with the center of the shaft (4); the front supporting point (11) and the rear supporting point (12) are arc-shaped supporting points, and the front supporting point (11) and the rear supporting point (12) are symmetrically arranged on two sides of the central line of the groove (10); the clamp body (1) is formed by splicing a plurality of steel plates and comprises a base (17), a transverse plate (16) and two vertical plates (15), wherein the transverse plate (16) is welded on the base (17), and two vertical plates (15) which are arranged in parallel are welded on the transverse plate (16); the arc-shaped grooves (14) are formed in the two vertical plates (15), square grooves (13) are symmetrically formed in the two sides of the arc-shaped grooves (14), the shaft (4) is a shaft with two milled sides and flat, the shaft is arranged in the square grooves (13), and the clamping jaw (2) arranged on the shaft is located in a space between the two vertical plates; the shaft (4) is provided with a bearing (5), and the clamping jaw is arranged on the bearing (5);
the welding workpiece comprises an electric power pipe tower, the electric power pipe tower is composed of a circular pipe, flanges and connecting plates, the flanges are arranged at two ends of the circular pipe, a plurality of pairs of V-shaped connecting plates are arranged on the circular pipe, each pair of V-shaped connecting plates are arranged at intervals of 90 degrees and are perpendicular to the surface of the circular pipe, the openings of the V-shaped connecting plates are upward, front supporting points and rear supporting points on two sides of the grooves on the clamping jaw are in contact with the surface of the circular pipe, a pair of clamping jaw share four supporting points to be in contact with the surface of the circular pipe, the clamping jaw is in contact with the surface of the circular pipe and is positioned below the connecting plates which are arranged in an upward opening V-shaped manner, and the surface of the circular pipe is not in contact with the bottom of the groove; the surface of the circular tube does not touch the bottom of the arc-shaped groove.
2. A gravity self-locking handling clamp according to claim 1, wherein: both sides of the bearing (5) are provided with baffle plates (3).
3. A gravity self-locking carrying method, characterized in that an assembly machine and a carrier or a buffer storage rack are adopted, and the carrying method is carried out by matching with the carrying clamp as claimed in claim 1, comprising the following steps:
(1) the clamp body (1) is arranged on two supporting arms or a buffer storage material rack of the carrier, after welding of the connecting plate (8) is completed on a round pipe (9) of a workpiece, the V-shaped arranged connecting plate is turned to an upper position of an opening by an assembly machine, the supporting arms or the buffer storage material rack of the carrier move to a position right below the workpiece along a track in a retracted state, the centers of two clamping jaws (2) of the clamp body (1) are overlapped with the centers of the round pipe (9), and at the moment, the upper plane of the clamping jaws (2) is horizontal under the action of gravity; lifting the bracket arm or the buffer storage rack, wherein the surface of the round tube is contacted with a rear supporting point (12) on each clamping jaw (2) firstly; the clamping jaw (2) rotates by taking the shaft (4) as the center along with the continuous lifting of the supporting arm or the buffer storage rack, and a front supporting point (11) on the clamping jaw (2) is folded towards the pipe; when the lifting height of the lifting arm or the buffer storage rack is up to the point that four supporting points of the two clamping jaws are in full contact with the surface of the circular tube (9), lifting is stopped, and four contact points of the clamping jaw (2) and the surface of the circular tube (9) are all positioned below the connecting plate (8) which is arranged in a V shape and is opened upwards;
(2) at the moment, the chuck of the assembly machine loosens the constraint on the round tube (9), a workpiece falls onto the clamping jaw under the action of gravity, and the clamping jaw holds the workpiece; the carrier or the buffer material rack moves to the welding position, the center of a chuck at the welding position is slightly higher than the center of a workpiece on the carrier, when the chuck at the welding position clamps the round tube, the contact arc point on the clamping jaw is separated from the surface of the round tube, the bracket arm or the buffer material rack descends, the clamping jaw rotates around the shaft under the action of self gravity until the clamping jaw is horizontal, and the clamping jaw is completely separated from the round tube, so that the workpiece is carried.
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 CN107538177A (en) | 2018-01-05 |
| CN107538177B true CN107538177B (en) | 2024-03-15 |
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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 |
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| Country | Link |
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| CN (1) | CN107538177B (en) |
Families Citing this family (3)
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|---|---|---|---|---|
| CN108942864A (en) * | 2018-08-01 | 2018-12-07 | 东南大学 | A kind of shared bicycle intelligent management robot based on mobile platform |
| 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 |
| 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 |
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 |
-
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 |
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| CN107538177A (en) | 2018-01-05 |
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