CN109515882B - Clamping and mounting device for inner protection angle of steel coil - Google Patents
Clamping and mounting device for inner protection angle of steel coil Download PDFInfo
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- CN109515882B CN109515882B CN201811392751.7A CN201811392751A CN109515882B CN 109515882 B CN109515882 B CN 109515882B CN 201811392751 A CN201811392751 A CN 201811392751A CN 109515882 B CN109515882 B CN 109515882B
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- plate
- wedge
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- jaw
- spring assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
- B65B61/22—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for placing protecting sheets, plugs, or wads over contents, e.g. cotton-wool in bottles of pills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D59/00—Plugs, sleeves, caps, or like rigid or semi-rigid elements for protecting parts of articles or for bundling articles, e.g. protectors for screw-threads, end caps for tubes or for bundling rod-shaped articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a clamping and mounting device for an inner protection angle of a steel coil, and belongs to the technical field of industrial robots. The device comprises a driving motor, a motor mounting plate, a coupler, a lead screw nut, a jaw support supporting plate, a U-shaped vertical plate, a bearing seat assembly, a jaw mechanism, a jaw support, a nut, a wedge push rod, a first spring assembly, a second spring assembly, a wedge, a first sliding block, a second sliding block, a push plate, a first clamping finger, a second clamping finger, a jaw box body and an aluminum profile mounting frame. The working principle is as follows: when the driving motor rotates, power is sequentially transmitted to the screw nut, the claw support supporting plate and the claw support through the coupler and the screw, the wedge is driven to move backwards or forwards under the elastic action of the first spring assembly and the second spring assembly on the wedge push rod, and then the first clamping finger and the second clamping finger are driven through the dovetail guide rail to achieve the clamping and pushing functions of the inner angle of the steel coil, so that the driving motor can be applied to the installation process of the inner angle of the steel coil.
Description
The technical field is as follows:
the invention belongs to the technical field of industrial robots, and particularly relates to a clamping and mounting device for an inner corner protector of a steel coil.
Background art:
the inner corner protector of the steel coil plays an important role in the steel coil packaging process and the transportation and hoisting process. The installation of the inner corner protector of the existing steel coil mainly depends on the manual operation of workers, the labor intensity of the installation process is high, the installation efficiency is low, and the automatic packaging of the inner corner protector of the steel coil is urgently needed to be realized by adopting a robot. The robot is adopted to realize the automatic packaging of the inner corner protector of the steel coil, and the key is the design of a robot tail end executing mechanism. Therefore, the clamping and mounting device for the inner corner protector of the steel coil provided by the invention can effectively improve the mounting efficiency of the inner corner protector of the steel coil and improve the labor intensity of workers.
The invention content is as follows:
aiming at the problems in the prior art, the invention provides a clamping and mounting device for the inner corner protector of the steel coil, which can realize the clamping and mounting functions of the contracted inner corner protector. The invention discloses a steel coil inner corner protection clamping and mounting device which comprises a driving transmission mechanism, a tail end executing mechanism and an aluminum profile mounting frame.
The driving transmission mechanism comprises a driving motor 1, a motor mounting plate 2, a coupler 3, a lead screw 4, a lead screw nut 5, a jaw support supporting plate 6, a U-shaped vertical plate 7 and a bearing seat assembly 8. The driving motor 1 is fixed on the motor mounting plate 2 through bolts and provides power for grabbing the inner protective angle 23. There is the mounting hole on the motor mounting panel 2, accessible bolt and this body coupling of robot, motor mounting panel 2 is fixed in the bottom of U type riser 7 with the bolt, the bolt fastening is on aluminium alloy mounting bracket 22 on the top of U type riser 7. One end of the coupler 3 is fixedly connected with an output shaft of the driving motor 1, and the other end of the coupler 3 is fixedly connected with the lead screw 4. The screw nut 5 is in fit connection with the screw 4, the jaw support supporting plate 6 is of a large cross-shaped structure with a through hole in the middle, and the jaw support supporting plate 6 is fixedly connected with the upper end face of the screw nut through a screw. The bearing seat assembly 8 is fixed on the U-shaped vertical plate 7 through bolts, and the bearing seat assembly 8 is used for supporting the lead screw 4.
The tail end executing mechanism comprises four jaw mechanisms 9 with the same structural size parameters, wherein each jaw mechanism 9 comprises a jaw support 10, a nut 11, a wedge-shaped block push rod 12, a first spring assembly 13, a second spring assembly 14, a wedge-shaped block 15, a first sliding block 16, a second sliding block 17, a pushing plate 18, a first clamping finger 19, a second clamping finger 20 and a jaw box body 21. The four jaw supports 10 are uniformly fixed on the cross-shaped plate of the jaw support supporting plate 6 by bolts respectively. The two ends of the wedge-shaped block push rod 12 are provided with threads, one end of the wedge-shaped block push rod 12 is fixedly connected with the nut 11, and the other end of the wedge-shaped block push rod 12 is fixedly connected with the wedge-shaped block 15. Be equipped with the through-hole in the middle of the jaw support 10 up end, wedge push rod 12 passes the through-hole of first spring unit 13, second spring unit 14 and jaw support 10 up end, first spring unit 13 arranges inside jaw support 10, second spring unit 14 arranges jaw support 10 is outside, jaw support 10 provides as required through first spring unit 13 of compression or second spring unit 14 certain pulling force or thrust of wedge push rod 12, for first clamp indicates 19 with the second clamp indicates 20 presss from both sides the clamp and gets inner corner 23 and provide certain clamp force, or for propelling movement 18 propelling movement inner corner 23 laminating coil of strip terminal surface provides certain thrust. Dovetail guide rails are respectively arranged on the left and right inclined surfaces of the wedge block 15, dovetail grooves are respectively arranged on one side of the inclined surfaces of the first slider 16 and the second slider 17, and the dovetail guide rails on the left and right inclined surfaces of the wedge block 15 can move in the dovetail grooves of the first slider 16 and the second slider 17. The upper portion of the wedge-shaped block 15 is provided with a threaded hole, and the pushing plate 18 is fixed above the wedge-shaped block 15 through screws and used for pushing the inner protection angle 23 to be attached to the end face of the steel coil. The finger ends of the first clamping finger 19 and the second clamping finger 20 are arc-shaped clamping plates in a T shape, the first clamping finger 19 is fixed on the first sliding block 16 through a screw, and the second clamping finger 20 is fixed on the second sliding block 17 through a screw. The arc-shaped clamping plate of the first clamping finger 19 is used for contacting the outer side surface of the inner corner 23, and the second clamping finger 20 is used for contacting the inner side surface of the inner corner 23. The front side and the rear side of the first sliding block 16 and the second sliding block 17 are respectively provided with a rectangular guide rail, the front side and the rear side of the claw box body 21 are respectively provided with a rectangular groove, and the first sliding block 16 and the second sliding block 17 can move left and right in the rectangular grooves on the front side and the rear side of the claw box body 21. Four mounting holes are respectively formed in the front side face and the rear side face of the claw box body 21, and the claw box body 21 is fixedly connected with the aluminum profile mounting frame 22 through bolts.
The aluminum profile mounting frame 22 comprises two long aluminum profiles, four short aluminum profiles, a # -shaped connecting plate and aluminum profile corner connecting pieces. The aluminum profile mounting rack 22 is arranged in a shape like a Chinese character jing, and the distances between adjacent aluminum profiles are equal. Four the jack catch box 21 is evenly fixed at four tip of aluminium alloy mounting bracket 22 with the bolt respectively, guarantees four jack catch mechanisms 9 equipartitions that the structure size parameter is the same of end actuating mechanism around the aluminium alloy mounting bracket, realizes that synchronous clamp gets and installs the function of interior angle of protection 23.
Description of the drawings:
FIG. 1: the invention is a structural schematic diagram of the steel coil inner corner clamping and mounting device;
FIG. 2: the invention is a structural schematic diagram of a jaw mechanism;
FIG. 3: the invention discloses a structural schematic diagram of an aluminum profile mounting frame.
In the figure: 1: a drive motor; 2: a motor mounting plate; 3: a coupling; 4: a lead screw; 5: a lead screw nut; 6: a claw support plate; 7: a U-shaped vertical plate; 8: a bearing housing assembly; 9: a jaw mechanism; 10: a jaw support; 11: a nut; 12: a wedge block push rod; 13: a first spring assembly; 14: a second spring assembly; 15: a wedge block; 16: a first slider; 17: a second slider; 18: a push plate; 19: a first clamping finger; 20: a second clamping finger; 21: a claw box body; 22: an aluminum profile mounting rack; 23: and (6) an inner corner protector.
The specific implementation mode is as follows:
the invention provides a clamping and mounting device for an inner corner protector of a steel coil, which comprises the following specific working processes:
when interior angle 23 need press from both sides and get, 1 corotation of driving motor passes through 3 drive lead screws 4 of shaft coupling 4 drive lead screw nut 5, lead screw nut 5 drives jack catch support backup pad 6 and removes, jack catch support backup pad 6 drives jack catch support 10 rearward movement, jack catch support 10 drives first spring unit 13 and contracts certain distance as required, for wedge push rod 12 provides certain pulling force to the rearward movement, first spring unit 13 drives wedge push rod 12 wedge 15 rearward movement, wedge 15 drives first slider 16, second slider 17 and removes toward center department, first slider 16 second slider 17 drives first clamp respectively and indicates 19, the second clamp indicates 20 to accomplish to press from both sides the function of getting interior angle 23.
When the inner corner protector 23 needs to be installed on the steel coil, the device of the invention is firstly aligned to the inner hole of the installed steel coil through the robot body, and at this time, the driving motor 1 reversely rotates to drive a screw rod 4 through a coupling 3, the screw rod 4 drives a screw rod nut 5, the lead screw nut 5 drives the jaw support plate 6 to move, the jaw support plate 6 drives the jaw support 10 to move forwards, the jaw support 10 drives the second spring assembly 14 to contract for a certain distance as required, so as to provide a certain thrust for the forward movement of the wedge-shaped push rod 12, the second spring assembly 14 drives the wedge-shaped block push rod 12 and the wedge-shaped block 15 to move forwards, the wedge block 15 drives the first sliding block 16 and the second sliding block 17 to move away from the center, and the wedge block 15 drives the push plate 18 to move forward to push the end face of the inner corner 23 to be attached to the end face of the steel coil; meanwhile, the first sliding block 16 and the second sliding block 17 respectively drive the first clamping finger 19 and the second clamping finger 20 to move outwards to loosen the inner corner protector 23, and the inner corner protector 23 expands outwards in the inner hole of the steel coil under the action of self stress, so that the clamping, loosening and pushing installation functions of the inner corner protector 23 are realized simultaneously.
Claims (1)
1. A clamping and mounting device for an inner corner protector of a steel coil is characterized by comprising a driving transmission mechanism, a tail end executing mechanism and an aluminum profile mounting rack (22); the driving transmission mechanism comprises a driving motor (1), a motor mounting plate (2), a coupler (3), a lead screw (4), a lead screw nut (5), a jaw support plate (6), a U-shaped vertical plate (7) and a bearing seat assembly (8), wherein the driving motor (1) is fixed on the motor mounting plate (2) through bolts, a mounting hole is formed in the motor mounting plate (2) and used for being connected with a robot body through a bolt, the motor mounting plate (2) is fixed at the bottom end of the U-shaped vertical plate (7) through bolts, the top end of the U-shaped vertical plate (7) is fixed on an aluminum profile mounting frame (22) through a bolt, one end of the coupler (3) is fixedly connected with an output shaft of the driving motor (1), the other end of the coupler (3) is fixedly connected with the lead screw (4), and the lead screw nut (5) is connected with the lead screw (4) in a matching manner, the jaw support supporting plate (6) is of a large cross-shaped structure with a through hole in the middle, the jaw support supporting plate (6) is fixedly connected with the upper end face of the screw nut (5) through a screw, the bearing seat assembly (8) is fixed on the U-shaped vertical plate (7) through a bolt, and the bearing seat assembly (8) is used for supporting the screw (4); the tail end executing mechanism comprises four jaw mechanisms (9) with the same structural size parameters, each jaw mechanism (9) comprises a jaw support (10), a nut (11), a wedge push rod (12), a first spring assembly (13), a second spring assembly (14), a wedge block (15), a first sliding block (16), a second sliding block (17), a pushing plate (18), a first clamping finger (19), a second clamping finger (20) and a jaw box body (21), the four jaw supports (10) are uniformly fixed on a cross-shaped plate of the jaw support supporting plate (6) through bolts respectively, threads are arranged at two ends of the wedge push rod (12), one end of the wedge push rod (12) is fixedly connected with the nut (11), the other end of the wedge push rod (12) is fixedly connected with the wedge block (15), a through hole is arranged in the middle of the upper end face of each jaw support (10), the wedge-shaped block push rod (12) penetrates through the first spring assembly (13), the second spring assembly (14) and a through hole in the upper end face of the jaw support (10), the first spring assembly (13) is arranged inside the jaw support (10), and the second spring assembly (14) is arranged outside the jaw support (10); dovetail guide rails are respectively arranged on the inclined planes of the left side and the right side of the wedge block (15), dovetail grooves are respectively arranged on one side of the inclined plane of the first slider (16) and one side of the inclined plane of the second slider (17), the dovetail guide rails on the inclined planes of the left side and the right side of the wedge block (15) can be arranged in the dovetail grooves of the first slider (16) and the second slider (17), threaded holes are arranged above the wedge block (15), a push plate (18) is fixed above the wedge block (15) through screws, the push plate (18) is used for pushing inner corner protection (23) to be attached to the end face of a steel coil, the first clamp finger (19) and the second clamp finger (20) are arc-shaped clamping plates in a T shape, the first clamp finger (19) is fixed on the first slider (16) through screws, and the second clamp finger (20) is fixed on the second slider (17) through screws, the arc-shaped clamping plate of the first clamping finger (19) is used for contacting the outer side face of the inner protective corner (23), the second clamping finger (20) is used for contacting the inner side face of the inner protective corner (23), the front side face and the rear side face of the first sliding block (16) and the second sliding block (17) are respectively provided with a rectangular guide rail, the front side face and the rear side face of the claw box body (21) are respectively provided with a rectangular groove, the first sliding block (16) and the second sliding block (17) can move left and right in the rectangular grooves on the front side face and the rear side face of the claw box body (21), the front side face and the rear side face of the claw box body (21) are respectively provided with four mounting holes, and the claw box body (21) is fixedly connected with; the aluminum profile mounting rack (22) comprises two long aluminum profiles, four short aluminum profiles, a # -shaped connecting plate and aluminum profile corner connecting pieces; aluminium alloy mounting bracket (22) are the groined type and arrange, and adjacent aluminium alloy interval equals, four jack catch box (21) is evenly fixed with the bolt respectively four tip of aluminium alloy mounting bracket (22), guarantee that four structure size parameters of terminal actuating mechanism are the same jack catch mechanism (9) equipartition in around aluminium alloy mounting bracket (22), realize synchronous clamp and get and install the function of interior angle of protection (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392751.7A CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392751.7A CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109515882A CN109515882A (en) | 2019-03-26 |
| CN109515882B true CN109515882B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811392751.7A Active CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
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| CN (1) | CN109515882B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014444B (en) * | 2019-05-07 | 2021-04-23 | 安徽工业大学 | Mechanical arm tail end clamping device for automatic installation of steel coil inner corner protector |
| CN111844107A (en) * | 2020-07-20 | 2020-10-30 | 锎量(宁夏)自动化科技有限公司 | Electric two-finger parallel electric claw |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202130707U (en) * | 2011-05-12 | 2012-02-01 | 洛阳新强联回转支承有限公司 | Deformation-preventing supporting device of slewing bearing |
| CN102658877B (en) * | 2012-05-24 | 2014-07-23 | 浙江中烟工业有限责任公司 | Packaging machine capable of automatically adding corner protectors |
| CN104300748B (en) * | 2014-07-18 | 2016-08-10 | 常州金康精工机械股份有限公司 | The drawing-die coil inserting apparatus of motor stator core |
| CN205438538U (en) * | 2015-12-31 | 2016-08-10 | 东莞市德瑞精密设备有限公司 | Block of four rotary manipulator |
| CN205819724U (en) * | 2016-07-19 | 2016-12-21 | 中山市鑫光智能系统有限公司 | Foam clamp device |
| CN206579938U (en) * | 2017-02-16 | 2017-10-24 | 上海共生自动化科技有限公司 | Clamping jaw carryover apparatus for lining paper lamination baling press |
| CN108529212A (en) * | 2018-03-27 | 2018-09-14 | 安徽芜湖新华印务有限责任公司 | A kind of folder classification grabbing device |
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- 2018-11-21 CN CN201811392751.7A patent/CN109515882B/en active Active
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| CN109515882A (en) | 2019-03-26 |
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