CN108406823A - A kind of mechanical paw for Fesi Furnace automatic tapping operation - Google Patents
A kind of mechanical paw for Fesi Furnace automatic tapping operation Download PDFInfo
- Publication number
- CN108406823A CN108406823A CN201810195444.3A CN201810195444A CN108406823A CN 108406823 A CN108406823 A CN 108406823A CN 201810195444 A CN201810195444 A CN 201810195444A CN 108406823 A CN108406823 A CN 108406823A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- idle rod
- hand rotation
- rotation swing
- cursor
- 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.)
- Withdrawn
Links
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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mechanical paws for Fesi Furnace automatic tapping operation, including：Oil cylinder, holder and mechanical paw ontology, oil cylinder is each attached to mechanical paw ontology on holder, paw ontology includes cursor, cursor is made of horizontally disposed left-hand rotation swing arm and right-hand rotation swing arm, oil cylinder external part drives left-hand rotation swing arm and right-hand rotation swing arm to realize opening and closing left and right by intermediate connecting rod and moving block, it is arranged with clamping plate in the left-hand rotation swing arm inside opposite with right-hand rotation swing arm, and forms gripping space among symmetrically arranged clamping plate；The idle rod hinged with holder is provided on holder front end face, and idle rod is set up in parallel with cursor, the corresponding cursor of idle rod is servo-actuated by finger；Each idle rod lower end inside is equipped with one group of supporting roller component.The present invention has compact structure, and can generate larger chucking power, and it is good to hold up effect.
Description
Technical field：
The invention belongs to mechanical equipment technical fields, and in particular to a kind of manipulator for Fesi Furnace automatic tapping operation
Pawl.
Background technology：
With the fast development of industrial automation technology, the operation of coming out of the stove of industrial Fesi Furnace is manually opened by original
The operations such as eye, stifled eye, are converted into realizing automated job by robot, effectively prevent high current, high temperature, height when manual operation
The danger that intensive tasks are brought.When operation is come out of the stove in automation, people select manipulator clamping device to be opened drill rod is clamped
The operations such as eye, stifled eye, but stability when existing manipulator gripping apparatus grips drill rod is poor, drill rod is easy sliding, and structure
It is relative complex.
Invention content：
The present invention is to overcome drawbacks described above, provides a kind of mechanical paw for Fesi Furnace automatic tapping operation, the machine
Chucking power is big when tool paw grasps drill rod, and stability is good, and in clamping process drill rod can be avoided to fall the hair of problem well
It is raw, there is compact structure, feature easy to change.
The technical solution adopted by the present invention is：A kind of mechanical paw for Fesi Furnace automatic tapping operation, including：Oil
Cylinder, holder and mechanical paw ontology, the oil cylinder are each attached to mechanical paw ontology on holder, and the paw ontology includes turning
Swing arm, cursor are made of horizontally disposed left-hand rotation swing arm and right-hand rotation swing arm, the external part of the oil cylinder by intermediate connecting rod with
The moving block of left and right two is hinged, and moving block drives left-hand rotation swing arm and right-hand rotation swing arm to realize opening and closing left and right movement respectively, dynamic turning left
The arm inside opposite with right-hand rotation swing arm is symmetrically arranged with clamping plate, and gripping space is formed among symmetrically arranged clamping plate；In holder
It is provided with idle rod on front end face, the idle rod includes left idle rod and right idle rod, the left idle rod and right idle rod
It is hinged on holder by intermediate rotary shaft, and two idle rods are corresponded with left-hand rotation swing arm and right-hand rotation swing arm respectively, each
Cursor is both provided with finger, and the idle rod groove coordinated with finger, idle rod are equipped on idle rod corresponding with cursor
Servo-actuated connection is realized by the cooperation of finger and idle rod groove with cursor；It is respectively equipped in the lower end inside of each idle rod
One group of supporting roller component, it is staggered side by side before and after two groups of supporting roller components.
Preferably, the supporting roller component includes support roller, axle end baffle plate, supporting-roller shaft and dottle pin, and one end of the supporting-roller shaft is worn
It crosses idle rod to be fixed on idle rod by fastener, dottle pin, axle end baffle plate and support roller are sequentially sleeved in from the other end of supporting-roller shaft
It in supporting-roller shaft, and is fixed by fastener, and support roller and supporting-roller shaft are clearance fit.
Preferably, back-moving spring is equipped at the top of each idle rod, described back-moving spring one end is connect with idle rod, separately
One end is connect with holder.
Preferably, insulating pad is equipped between clamping plate and cursor, the insulating pad is bolted on cursor
On, it is also equipped with insulation sleeve and felt pad on the bolt.
Preferably, the symmetrically arranged clamping plate is two groups, and setting up and down, and decorative pattern is equipped on the surface of each clamping plate
Groove.
The beneficial effects of the invention are as follows：
1, in order to keep manipulator clamping more stable, the present invention is symmetrical arranged folder in the inside of left-hand rotation swing arm and right-hand rotation swing arm
Plate, and the distance between symmetrically arranged clamping plate is less than the diameter for the drill rod of being clamped, which keeps chucking power stronger, clamping effect
More preferably, meanwhile, drill rod can carry electric current during the work time, in order to which the electric current that ensure that on drill rod will not be transmitted to by holder
On robot body connected to it, the motor of robot is damaged, insulating pad is set between clamping plate and left and right pivoted arm.
2, in order to prevent drill rod from falling in clamping, the present invention is provided in the juxtaposed position of left-hand rotation swing arm and right-hand rotation swing arm
Left idle rod and right idle rod, and by each idle rod be arranged supporting roller component to drill rod realize picking-up effect, when turn
When swing arm is in non-fully open configuration, for idle rod still in non-flaring state, supporting roller component still keeps support drill rod state.
3, the present invention has compact structure, and can generate larger chucking power, and drill rod holds up the good feature of effect.
Description of the drawings：
Fig. 1 is the front view of the present invention；
Fig. 2 is the side view of the present invention；
Fig. 3 is the sectional view of the present invention；
Fig. 4 is the sectional view of the A-A of Fig. 3；
Wherein：1 oil cylinder, 2 holders, 3 intermediate connecting rods, 4 cursors, 41 left-hand rotation swing arms, 42 right-hand rotation swing arms, 5 idle rods, 51 left sides
Idle rod, 52 right idle rods, 6 intermediate rotary shafts, 7 back-moving springs, 8 clamping plates, 81 insulating pads, 82 insulation sleeves, 83 felt pads, 9 supports
Wheel assembly, 91 support rollers, 92 axle end baffle plates, 93 supporting-roller shafts, 94 dottle pins, 10 moving blocks, 11 axis pins, 12 fingers, 13 idle rod grooves,
E left-hand rotation swing arms half-open position, F right-hand rotation swing arms full-gear, the right idle rod open configurations of G.
Specific implementation mode：
As shown in Figure 1 to Figure 3, the present invention is a kind of mechanical paw for Fesi Furnace automatic tapping operation, including：Oil cylinder
1, holder 2 and mechanical paw ontology, the oil cylinder 1 are fixed on 2 top of holder, and oil cylinder 1 is used for driving manipulator pawl ontology, machinery
All parts of paw ontology are all fixed on holder 2, then are fixed and connected with robot body by the through-hole on holder 2
It connects.
The paw ontology includes cursor 4 and idle rod 5, and cursor 4 is by horizontally disposed left-hand rotation swing arm 41 and turns right
Swing arm 42 forms, and left-hand rotation swing arm 41 and right-hand rotation swing arm 42 are fixed on by shaft on holder 2 respectively, and intermediate connecting rod 3 passes through bolt
The cylinder rod stretched out with oil cylinder 1 is connect, and intermediate connecting rod 3 is hinged by two axis pins 11 and the moving block 10 of left and right two again, left and right two
A moving block 10 is hinged by two axis pins 11 and left-hand rotation swing arm 41 and right-hand rotation swing arm 42 again, and intermediate connecting rod 3 drives left-hand rotation swing arm
41 and right-hand rotation swing arm 42 may be implemented opening and closing left and right movement.It is dynamic turning left to increase the chucking power of cursor 4 and clamped drill rod
The inside opposite with right-hand rotation swing arm 42 of arm 41 is symmetrically arranged with clamping plate 8, and symmetrically arranged clamping plate 8 is setting up and down two groups, right
Claim to form gripping space among the clamping plate 8 of setting, clamping plate 8 is in direct contact with drill rod, between guarantee and drill rod has enough
Frictional force, and it is equipped with rollet on the surface of clamping plate 8.Each clamping plate 8 is connected with the cursor 4 where it by bolt
It connects, ensure that can quickly and easily replace after clamping plate 8 is worn.In order to avoid drill rod charges during the work time and damages machine
Motor on device people, is provided with insulating pad 81 between cursor 4 where each clamping plate 8 and its, is also equipped on bolt absolutely
Edge set 82 and felt pad 83, it is ensured that the electric current on drill rod will not be transmitted to by holder 2 on robot body.
Drill rod is fallen in order to prevent, and idle rod 5 is provided on the front end face of holder 2, and the idle rod 5 includes left servo-actuated
Arm 51 and right idle rod 52, the left idle rod 51 and right idle rod 52 are hinged on by intermediate rotary shaft 6 on holder 2, and two
Idle rod 5 is corresponded with left-hand rotation swing arm 41 and right-hand rotation swing arm 42, i.e., 41 front of left-hand rotation swing arm is arranged in left idle rod 51, and the right side is servo-actuated
The setting of arm 52 is both provided with finger 12 in 42 front of right-hand rotation swing arm, in each cursor 4, and one end of the finger 12, which is fixed on, to be turned
On swing arm 4, the other end stretches into the idle rod groove 13 for being arranged on idle rod 5 and coordinating with finger 12, to realize idle rod 5
It is moved with the retinue of cursor 4.The idle rod groove 13 has definite shape, it is ensured that in left-hand rotation swing arm 41 and turns right dynamic
Left idle rod 51 and right idle rod 52 will not be all driven to open when arm 42 is closed and half opens；When left-hand rotation swing arm 41 and right-hand rotation swing arm
42 by half open configuration continue open when, 12 ability of finger is contacted with the inner wall of idle rod groove 13, to drive left idle rod 51
Synchronous open also is followed with right idle rod 52.
It in order to prevent left idle rod 51 and right idle rod 52 to be opened from oneself, and can only passively open, in each idle rod 5
Top is equipped with back-moving spring 7, and 7 one end of the back-moving spring is connect with idle rod 5, and the other end is connect with holder 2.In order to press from both sides
It prevents drill rod from falling when holding, one group of supporting roller component 9 is respectively equipped in the lower end inside of each idle rod 5, the supporting roller component 9
One end and the inside of place idle rod 5 are fixed, and two groups of supporting roller components 9 are set up in parallel, and are staggered side by side before and after two groups of supporting roller components 9
Arrangement.Every group of supporting roller component 9 include support roller 91, axle end baffle plate 92, supporting-roller shaft 93 and dottle pin 94, the one of the supporting-roller shaft 93
End is fixed on by fastener on idle rod 5 across idle rod 5, and dottle pin 94, axle end baffle plate 92 and support roller 91 are from supporting-roller shaft 93
The other end is sequentially sleeved in supporting-roller shaft 93, and is fixed end by fastener, and support roller 91 is avoided to fall off, and support roller 91 and support
Wheel shaft 93 is clearance fit, ensures to rotate freely between them, the setting of dottle pin 94 be in order to avoid support roller 91 and its with
Friction is generated between swing arm 5.
The course of work：
When the cylinder rod of oil cylinder 1 is stretched out, intermediate connecting rod 3 drives moving block 10 and cursor 4 to open by axis pin 11, works as oil
When the cylinder rod of cylinder 1 is retracted, intermediate connecting rod 3 drives moving block 10 and cursor 4 to clamp by axis pin 11.Mechanical paw ontology has
Three kinds of states, i.e.,：Drill rod state is clamped, drill rod is unclamped but supporting roller component 9 also holds in the palm drill rod so as not to fall state and whole
Open configuration.When clamping drill rod state, cursor 4 and idle rod 5 are all closed, and are not had between drill rod and mechanical paw ontology
Relative motion, mechanical paw ontology can drive drill rod the operations such as stretched, pounded；When unclamping drill rod state, turn left dynamic
Arm 41 is in half open configuration with right-hand rotation swing arm 42, i.e., no longer clamps drill rod, relative motion can be realized between drill rod, but
At this point, left idle rod 51 is not opened with right idle rod 52, supporting roller component 9 also remains in the state below drill rod, that is, holds in the palm
The state of drill rod is so as not to falling；In whole open configurations, cursor 4 and idle rod 5 all open, at this moment drill rod and machine
Tool hand renunciation, so that it may to realize the effect for replacing drill rod.As shown in figure 4, in order to avoid the too bad influence viewing of picture, it is left
Left-hand rotation swing arm half-open position E is shown in the dotted line of half part, and right-hand rotation swing arm full-gear F is shown in the dotted line of right half part
With right idle rod open configuration G.
The foregoing is only a preferred embodiment of the present invention, these specific implementation modes are all based on the present invention
Different realization methods under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in, should all cover the present invention
Within protection domain.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (5)
1. a kind of mechanical paw for Fesi Furnace automatic tapping operation, including：Oil cylinder (1), holder (2) and mechanical paw sheet
Body, the oil cylinder (1) are each attached to mechanical paw ontology on holder (2), and the paw ontology includes cursor (4), rotation
Arm (4) is made of horizontally disposed left-hand rotation swing arm (41) and right-hand rotation swing arm (42), and the external part of the oil cylinder (1) is connected by centre
Bar (3) and the moving block (10) of left and right two are hinged, and moving block (10) drives left-hand rotation swing arm (41) and right-hand rotation swing arm (42) real respectively
Existing opening and closing left and right movement, it is characterised in that：It is symmetrically arranged with folder in left-hand rotation swing arm (41) and the opposite inside of right-hand rotation swing arm (42)
Plate (8), symmetrically arranged clamping plate (8) is intermediate to form gripping space；Idle rod (5), institute are provided on the front end face of holder (2)
It includes left idle rod (51) and right idle rod (52) to state idle rod (5), and the left idle rod (51) and right idle rod (52) pass through
Intermediate rotary shaft (6) is hinged on holder (2), and left idle rod (51) and right idle rod (52) respectively with left-hand rotation swing arm (41) and the right side
Cursor (42) corresponds, and finger (12) is both provided in each cursor (4), in idle rod corresponding with cursor (4)
(5) be equipped with the idle rod groove (13) that coordinate with finger (12), idle rod (5) and cursor (4) by finger (12) and with
Servo-actuated connection is realized in the cooperation of swing arm groove (13)；It is respectively equipped with one group of supporting roller component in the lower end inside of each idle rod (5)
(9), staggered side by side before and after two groups of supporting roller components (9).
2. a kind of mechanical paw for Fesi Furnace automatic tapping operation as described in claim 1, it is characterised in that：The support
Wheel assembly (9) includes support roller (91), axle end baffle plate (92), supporting-roller shaft (93) and dottle pin (94), one end of the supporting-roller shaft (93)
It is fixed on idle rod (5) by fastener across idle rod (5), dottle pin (94), axle end baffle plate (92) and support roller (91) are from support
The other end of wheel shaft (93) is sequentially sleeved in supporting-roller shaft (93), and is fixed by fastener, and support roller (91) and supporting-roller shaft
(93) it is clearance fit.
3. a kind of mechanical paw for Fesi Furnace automatic tapping operation as claimed in claim 2, it is characterised in that：Each
It is equipped with back-moving spring (7) at the top of idle rod (5), described back-moving spring (7) one end is connect with idle rod (5), the other end and branch
Frame (2) connects.
4. a kind of mechanical paw for Fesi Furnace automatic tapping operation as described in claims 1 to 3 is any, feature exist
In：Insulating pad (81) is equipped between clamping plate (8) and cursor (4), the insulating pad (81) is bolted on rotation
On arm (4), insulation sleeve (82) and felt pad (83) are also equipped on the bolt.
5. a kind of mechanical paw for Fesi Furnace automatic tapping operation as claimed in claim 4, it is characterised in that：It is described right
The clamping plate (8) being arranged is referred to as two groups, and setting up and down, and rollet is equipped on the surface of each clamping plate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195444.3A CN108406823A (en) | 2018-03-09 | 2018-03-09 | A kind of mechanical paw for Fesi Furnace automatic tapping operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810195444.3A CN108406823A (en) | 2018-03-09 | 2018-03-09 | A kind of mechanical paw for Fesi Furnace automatic tapping operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406823A true CN108406823A (en) | 2018-08-17 |
Family
ID=63130701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810195444.3A Withdrawn CN108406823A (en) | 2018-03-09 | 2018-03-09 | A kind of mechanical paw for Fesi Furnace automatic tapping operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406823A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077427A (en) * | 2020-08-14 | 2020-12-15 | 芜湖市中天管桩股份有限公司 | Tubular pile steel reinforcement framework seam welding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202348161U (en) * | 2011-11-29 | 2012-07-25 | 吉林大学 | Manipulator for assembling and disassembling drill stem of myriameter well drill |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| CN204036035U (en) * | 2014-05-26 | 2014-12-24 | 浙江今跃机械科技开发有限公司 | A kind of gantry manipulator fixture |
| CN204057900U (en) * | 2014-09-05 | 2014-12-31 | 晋中榆次三鼎液压制造有限公司 | The anti-device that hangs down of automatic support pricker |
| KR20150017159A (en) * | 2013-08-06 | 2015-02-16 | 경북대학교 산학협력단 | Multipurpose robotic arm |
| CN205201554U (en) * | 2015-12-28 | 2016-05-04 | 天津市中恒科贸有限公司 | Two claw formula manipulators |
| CN206486781U (en) * | 2016-11-15 | 2017-09-12 | 温州电力设计有限公司 | A kind of steel plate lays the mechanical arm configuration of car |
-
2018
- 2018-03-09 CN CN201810195444.3A patent/CN108406823A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202348161U (en) * | 2011-11-29 | 2012-07-25 | 吉林大学 | Manipulator for assembling and disassembling drill stem of myriameter well drill |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| KR20150017159A (en) * | 2013-08-06 | 2015-02-16 | 경북대학교 산학협력단 | Multipurpose robotic arm |
| CN204036035U (en) * | 2014-05-26 | 2014-12-24 | 浙江今跃机械科技开发有限公司 | A kind of gantry manipulator fixture |
| CN204057900U (en) * | 2014-09-05 | 2014-12-31 | 晋中榆次三鼎液压制造有限公司 | The anti-device that hangs down of automatic support pricker |
| CN205201554U (en) * | 2015-12-28 | 2016-05-04 | 天津市中恒科贸有限公司 | Two claw formula manipulators |
| CN206486781U (en) * | 2016-11-15 | 2017-09-12 | 温州电力设计有限公司 | A kind of steel plate lays the mechanical arm configuration of car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077427A (en) * | 2020-08-14 | 2020-12-15 | 芜湖市中天管桩股份有限公司 | Tubular pile steel reinforcement framework seam welding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180817 |
|
| WW01 | Invention patent application withdrawn after publication |