CN110077849A - The dedicated handgrip mechanism of hydraulic support gonnecting rod body - Google Patents
The dedicated handgrip mechanism of hydraulic support gonnecting rod body Download PDFInfo
- Publication number
- CN110077849A CN110077849A CN201910325913.3A CN201910325913A CN110077849A CN 110077849 A CN110077849 A CN 110077849A CN 201910325913 A CN201910325913 A CN 201910325913A CN 110077849 A CN110077849 A CN 110077849A
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- CN
- China
- Prior art keywords
- handgrip
- rod body
- hydraulic support
- installs case
- gonnecting rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of dedicated handgrip mechanisms of hydraulic support gonnecting rod body, including the installs case driven by three-dimensional driving mechanism, it is welded with clutch disk in hollow structure in the one side wall of the installs case, circumferentially-spaced offers multiple mounting holes along its on the clutch disk；Horizontal connecting plate is connected with by guiding mechanism below the installs case, the lower surface of the horizontal connecting plate is provided with the handgrip in body structure, the lower surface of handgrip bottom wall is magnet adsorption plane, being horizontally disposed on the handgrip side wall of the magnet adsorption plane by connector has the blowing blind pipe connecting with external high pressure wind regime, offers a discharge air holes along its axial direction on the blowing blind pipe.The invention has the advantages that structure is simple, the automated handling of hydraulic support gonnecting rod body is not only realized, handling efficiency is improved, workpiece can also be purged, the sundries such as dust, iron filings by workpiece surface attachment are blown off, and reduce cleaning workload, and then improve assembled efficiency.
Description
Technical field
The present invention relates to handgrip mechanisms, more particularly, to a kind of dedicated handgrip mechanism of hydraulic support gonnecting rod body.
Background technique
Hydraulic support is that a kind of one kind for generating support force using fluid pressure and carrying out roof timbering and management is hydraulic dynamic
Power device is the indispensable corollary equipment of comprehensive mechanical coal mining.Due to the difference of coal seam geologic condition, hydraulic support is general
With small lot, multiple batches of, size, the features such as weight change is big.Gonnecting rod body is the important supporting component of hydraulic support, including two
A main gusset, four pasting boards, two cover boards and two gussets, wherein main gusset and cover board are to be up to 700-4000mm, plate thickness
The elongated plate member of 16-40mm, pasting board and gusset are that length and width is respectively less than 100-650mm, is with a thickness of 16-60mm, weight
The workpiece of 1-90kg.Traditional method for carrying of hydraulic support gonnecting rod body is real using portal jib crane lifting magnet sucking disc hand-manipulated
The carrying and transfer of existing workpiece, portal jib crane occupied space is big, and operation and maintenance cost are high, while by workpiece size, steel plate table
All there is different degrees of thermal deformation after the work piece cut blanking of gonnecting rod body in the influence of surface treatment technology, so that workpiece and pallet
Between there are the inclinations of low-angle (5 ° of <), thus workpiece can not be fitted closely with magnet sucking disc, and there are security risks；Due to magnetic
Iron sucker is suspended on Buddhism crane, and workpiece is easy to rotate in spatial dimension in the handling process, not there is only security risk,
Human assistance is also needed to ajust placement workpiece, handling efficiency is low；Since workpiece surface is attached with the sundries such as dust, iron filings, so
It needs first to clear up the sundries of workpiece surface before carrying, increases workload, further decrease handling efficiency.Simultaneously because connecting rod work
The size and weight of part change greatly, cause adsorb different connecting rod parts when magnet sucking disc can not be general, and absorption compared with
It is easy to appear when thin gusset workpiece since sucker magnetic force is excessive and is adsorbed showing for workpiece one piece absorption of the workpiece together with its lower layer
As occurring larger security risk and logistics waste in transport process.
Summary of the invention
It is an object of that present invention to provide a kind of simple dedicated handgrip mechanism of hydraulic support gonnecting rod body of structure, the handgrip mechanisms
It can be realized and automatically grab, improve the handling efficiency of link member, moreover it is possible to clear up dust or iron filings of the attachment of link member surface etc.
Sundries reduces cleaning workload.
To achieve the above object, the present invention takes following technical proposals:
The dedicated handgrip mechanism of hydraulic support gonnecting rod body of the present invention, including the installs case driven by three-dimensional driving mechanism, institute
It states and is welded with clutch disk in hollow structure in the one side wall of installs case, offered on the clutch disk along its axially spaced-apart
Multiple mounting holes；Horizontal connecting plate, the following table of the horizontal connecting plate are connected with by guiding mechanism below the installs case
Face is provided with the handgrip in body structure, and the lower surface of handgrip bottom wall is magnet adsorption plane, close to grabbing for the magnet adsorption plane
There is the blowing blind pipe connecting with external high pressure wind regime by the way that connector is horizontally disposed on hand side wall, is grown on the blowing blind pipe along it
Degree direction offers a discharge air holes.
The guiding mechanism includes that the guide sleeve being connected on installs case bottom wall and sliding are threaded through on the guide sleeve
Vertical guiding axis, the vertical guiding axis lower thread extended downwardly out on installs case bottom wall are connected with floating junction, are located at
Disc spring is set on vertical guiding axis between the floating junction and installs case bottom wall；The horizontal connecting plate is connected in described
Floating junction bottom.
The float in space angle of the floating junction is ± 7 °.
It is arranged at intervals with the first magnetic region and the second magnetic region for adsorbing gonnecting rod body on the magnet adsorption plane, described
The electric permanent magnet of one magnetic region and the electric permanent magnet of the second magnetic region are embedded in the magnet adsorption plane.
It is sensed with infrared distance measuring is provided in the handgrip of first magnetic region and second magnetic region corresponding position
Infrared distance measuring hole is offered on device, with the handgrip bottom wall of the infrared distance measuring sensor corresponding position.
The electric permanent magnet of first magnetic region has multiple magnetism intensity control gears, and the electric permanent magnet of second magnetic region has
Multiple magnetism intensities control gear.
Positioning component is provided between the installs case and the horizontal connecting plate.
The positioning component includes the cylinder being vertically installed in installs case and the top that is connected on the horizontal connecting plate
Tight disk, the piston rod of the cylinder are correspondingly arranged with the disk or more that holds out against.
Sleeve is provided in the one side wall of the installs case, the clutch disk is welded on the sleeve.
Reinforcing rib is welded on the sleeve and installs case.
The invention has the advantages that structure is simple, the automated handling of hydraulic support gonnecting rod body is not only realized, improves and removes
Transport efficiency, moreover it is possible to purge to workpiece, the sundries such as dust, the iron filings of workpiece surface attachment are blown off, cleaning work is reduced
Amount, and then improve assembled efficiency.Specifically, the first magnetic region and the second magnetic region individually control and have the control of multiple magnetism intensities
Gear can not only adsorb machining long workpieces, can also adsorb casual labourer's part simultaneously, can also will adsorb the workpiece of different weight,
Improve handling efficiency；The floating action of floating junction and the telescopic action of disc spring enable handgrip automatic floating in a certain range
It is dynamic, can automatic absorbing there are the workpiece of certain tilt angle (vertical inclination) to improve carrying effect without putting workpiece again
Rate；The thrust of cylinder can be avoided shakes in workpiece handling and placement process, guarantees the precision of placement position；Blowing blind pipe
Interior high-pressure blast can will be blown off on workpiece with sundries such as floating dust, the iron filings of magnet adsorption plane contact portion, be not necessarily to manual cleaning, mentioned
High working efficiency.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the present invention looks up structural representation of Fig. 1.
Fig. 3 is the left view structural representation of Fig. 1.
Fig. 4 is the usage state diagram of the present invention one workpiece of crawl.
Fig. 5 is the present invention while the usage state diagram for grabbing two pieces workpiece.
Specific embodiment
As shown in Figure 1-Figure 3, the dedicated handgrip mechanism of hydraulic support gonnecting rod body of the present invention, including by three-dimensional driving machine
The installs case 1 of structure driving, level is welded with sleeve 14 on the left side wall of the installs case 1, welds between sleeve 14 and installs case 1
There are multiple reinforcing ribs 15, guarantees structural strength；The outer end of the sleeve 14 is welded with clutch disk 2 in hollow structure, institute
It states and circumferentially-spaced offers multiple mounting holes 3 along its on clutch disk 2；Pass through four guiding mechanisms below the installs case 1
It is connected with horizontal connecting plate 4,4 lower surface of horizontal connecting plate is provided with the handgrip 5 in body structure, and 5 bottom wall lower surface of handgrip is
Magnet adsorption plane 6 is arranged at intervals with the first magnetic region 6.1 and the second magnetic region 6.2, the first magnetic region 6.1 on the magnet adsorption plane 6
Three pairs of electric permanent magnets 16.1 and three pairs of electric permanent magnets 16.2 of the second magnetic region 6.2 be embedded in magnet adsorption plane 6, with the first magnetic
It is arranged at intervals with infrared distance measuring sensor inside the handgrip 5 of 6.1 corresponding position of area, in the handgrip 5 of 6.2 corresponding position of the second magnetic region
Portion is arranged at intervals with infrared distance measuring sensor, and opens up on 5 bottom wall of handgrip of each infrared distance measuring sensor corresponding position
There is infrared distance measuring hole 10, the distance between magnet adsorption plane 6 and workpiece to be handled is detected by infrared distance measuring sensor, really
Absorption of workpieces is protected on magnet adsorption plane 6；It is provided with the first magnetic region 6.1 of control on the handgrip 5 and the second magnetic region 6.2 is magnetized
With the electric permanent magnetism rail controller of demagnetization, the electric permanent magnet 16.1 of three pairs of magnetic region 6.1 is corresponding with 12 different control gears, each
Gear corresponds to a kind of magnetism intensity and saturating magnetic depth；The electric permanent magnet 16.2 of three pairs of magnetic region 6.2 is corresponding with 12 different controls
Gear, each gear correspond to a kind of magnetism intensity and saturating magnetic depth, pass through the gear of three pairs of electricity permanent magnets 16.1 of adjusting and three pairs
The gear of electric permanent magnet 16.2 meets the magnetic-adsorption demand of different weight workpiece to be handled, highly-safe；
As depicted in figs. 1 and 2, on 5 left side wall of handgrip of the magnet adsorption plane 6 by connector it is horizontally disposed have with outside
The blowing blind pipe 7 of portion's high-pressure air source connection, offers a discharge air holes 8 on the blowing blind pipe 7 along its length, can blow
Remove the sundries such as dust, the iron filings of workpiece surface；
As shown in Fig. 2, the guiding mechanism include the guide sleeve 9.1 being connected on 1 bottom wall of installs case and sliding be threaded through it is described
Vertical guiding axis 9.2 on guide sleeve 9.1 extends downwardly out vertical 9.2 lower thread of guiding axis on 1 bottom wall of installs case
It is connected with the floating junction 9.3 that float in space angle is ± 7 °, between 1 bottom wall of the floating junction 9.3 and installs case
Disc spring 9.4 is set on vertical guiding axis 9.2；The horizontal connecting plate 4 is connected in 9.3 bottom of floating junction.
As shown in Figure 1 and Figure 2, positioning component is provided between the installs case 1 and the horizontal connecting plate 4, it is described fixed
Hyte part includes the cylinder 11 being vertically installed in installs case 1 and is connected on the horizontal connecting plate 4 and holds out against disk 12, described
The piston rod 13 of cylinder 11 is correspondingly arranged with about 12 disk that holds out against, when carrying workpiece, 13 stretches out cylinder 11 of piston rod
Cylinder body, which is withstood, holds out against disk 12, and active force is passed to handgrip 5 through horizontal connecting plate 4 by holding out against disk 12, avoids making due to inertia
At shaking, guarantee workpiece handling stability and handling precision.
When actual installation, three-dimensional driving mechanism of the invention is transfer robot, the KR500 machine produced such as KUKA company
People, by bolt by clutch disk 2 and the 6th shaft end for being connected in transfer robot 17,
Specific action process of the invention is described as follows:
Blowing blind pipe 7, cylinder 11 are connect with external compression air pipeline；The control signal and carrying of electric permanent magnetism rail controller
The control output end master control PLC of robot connects, the signal input part of infrared distance sensor and the signal input part of master control PLC
Connection.
Handgrip mechanism of the invention can both carry a machining long workpieces, two pieces casual labourer's part can also be carried simultaneously, wherein growing
The handling process of workpiece is as follows: adjusting the posture of handgrip mechanism by transfer robot, handgrip 5 is moved on workpiece to be handled
Side, blowing blind pipe 7 are divulged information, and master control PLC moves handgrip mechanism along Workpiece length direction to be handled by controlling transfer robot
It is dynamic, by workpiece to be handled dust and iron filings blow off；Then it controls handgrip mechanism again to be moved in the middle part of workpiece to be handled, handgrip
Infrared distance measuring sensor monitors the distance between magnet adsorption plane 6 and workpiece to be handled in real time during mechanism decline, until
Magnet adsorption plane 6 and workpiece, which come into full contact with rear handgrip mechanism, to be stopped declining, and workpiece information to be handled is then inputted on master control PLC
(including plate thickness, weight, size etc.), master control PLC choose corresponding magnetic field depth and saturating magnetic according to workpiece information to be handled automatically
Gear, and magnetization status is in by electric permanent magnetism rail controller the first magnetic region 6.1 of control and the second magnetic region 6.2, make to be handled
Absorption of workpieces is on magnet adsorption plane 6, while protruding withstand on horizontal connecting plate 4 of piston rod 13 of cylinder 11 holds out against disk
It on 12, prevents workpiece from shaking, is specifically shown in Fig. 4；After transfer robot control handgrip mechanism is moved to designated position, master control PLC control
It makes the first magnetic region 6.1 and the second magnetic region 6.2 while being in demagnetized state, workpiece drops to designated position from magnet adsorption plane 6；Weight
Multiple above-mentioned steps, carry the 2nd, the 3rd ..., n-th machining long workpieces.In 5 workpiece fabrication of handgrip, workpiece tilts if it exists
Situation, the floating action of floating junction 9.3 and the telescopic action of disc spring 9.4 can simultaneously adjust handgrip 5, make workpiece adsorbed close
On magnet adsorption plane 6.
The course of work for carrying two pieces casual labourer's part simultaneously is as follows: by smallclothes such as connecting rod pasting board, gussets according to one group of two pieces
Discharge sequence is placed between every group in pallet of two workpiece that there are certain intervals, it is ensured that the first magnetic region 6.1 and the second magnetic region 6.2
It being capable of independent adsorption workpiece, it is ensured that the first magnetic region 6.1 and the second magnetic region 6.2 are non-interference, adjust handgrip by transfer robot
The posture of mechanism, it is ensured that magnet adsorption plane 6 is horizontally disposed and is located above casual labourer's part to be handled, and blowing blind pipe 7 is ventilated, and grabs simultaneously
Mobile phone structure is moved along wherein one group casual labourer's part to be handled, and the pressure-air dried in blind pipe 7 is by the ash on casual labourer's part to be handled
The sundries such as dirt, iron filings are blown off, and blind pipe 7 of then drying stops ventilation, are adjusted the position of handgrip mechanism, are made the first magnetic region 6.1 and one
Casual labourer's part in group workpiece is corresponding up and down, the second magnetic region 6.2 and another workpiece in one group of workpiece corresponding, handgrip up and down
Mechanism decline, infrared distance measuring sensor monitor the distance between magnet adsorption plane 6 and workpiece to be handled in real time, until magnet is inhaled
Attached face 6 comes into full contact with rear handgrip mechanism with workpiece and stops declining, and master control PLC chooses often automatically according to two workpiece informations to be handled
A corresponding magnetic field depth in magnetic region and saturating magnetic gear control the first magnetic region 6.1 and the second magnetic region 6.2 by electric permanent magnetism rail controller
It is in magnetization status, is adsorbed on two workpiece to be handled respectively on magnet adsorption plane 6, is specifically shown in Fig. 5, the piston of cylinder 11
Bar 13 is protruding and withstands on holding out against on disk 12 on horizontal connecting plate 4, prevents workpiece to be handled from shaking, transfer robot control
After two casual labourer's parts are moved to designated position by handgrip mechanism, master control PLC controls the first magnetic region 6.1 and the second magnetic region 6.2 difference
In demagnetized state, so that two workpiece drop to designated position from magnet adsorption plane 6 respectively；It repeats the above steps, carries the 2nd
Group, the 3rd group ..., N group casual labourer's part.When workpiece tilts, the floating action of floating junction 9.3 and stretching for disc spring 9.4
Contracting effect can simultaneously adjust handgrip 5, make workpiece adsorbed close on magnet adsorption plane 6；Corresponding two guiding in first magnetic region 6.1
Mechanism, corresponding two guiding mechanisms in the second magnetic region 6.2, can respectively be adjusted two workpiece.
Claims (10)
1. a kind of dedicated handgrip mechanism of hydraulic support gonnecting rod body, it is characterised in that: including the installation driven by three-dimensional driving mechanism
Case (1) is welded with clutch disk in hollow structure (2) in the one side wall of the installs case (1), on the clutch disk (2)
Multiple mounting holes (3) are offered along its axially spaced-apart；Horizontal connection is connected with by guiding mechanism below the installs case (1)
Plate (4), the lower surface of the horizontal connecting plate (4) are provided with the handgrip (5) in body structure, the lower surface of handgrip (5) bottom wall
For magnet adsorption plane (6), on handgrip (5) side wall of the magnet adsorption plane (6) by connector it is horizontally disposed have with outside
The blowing blind pipe (7) of portion's high-pressure air source connection, offers a discharge air holes (8) on the blowing blind pipe (7) along its length.
2. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 1, it is characterised in that: the guiding mechanism packet
It includes the guide sleeve (9.1) being connected on installs case (1) bottom wall and sliding is threaded through vertical guiding axis on the guide sleeve (9.1)
(9.2), vertical guiding axis (9.2) lower thread extended downwardly out on installs case (1) bottom wall is connected with floating junction
(9.3), disc spring is set on the vertical guiding axis (9.2) between the floating junction (9.3) and installs case (1) bottom wall
(9.4)；The horizontal connecting plate (4) is connected in the floating junction (9.3) bottom.
3. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 2, it is characterised in that: the floating junction
(9.3) float angle is ± 7 °.
4. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 1, it is characterised in that: adsorbed in the magnet
The first magnetic region (6.1) and the second magnetic region (6.2) for adsorbing gonnecting rod body, first magnetic region are arranged at intervals on face (6)
(6.1) the electric permanent magnet of electric permanent magnet and the second magnetic region (6.2) is embedded in the magnet adsorption plane (6).
5. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 1, it is characterised in that: with first magnetic region
(6.1) and in the handgrip (5) of second magnetic region (6.2) corresponding position it is provided with infrared distance measuring sensor, and it is described
Infrared distance measuring hole (10) are offered on handgrip (5) bottom wall of infrared distance measuring sensor corresponding position.
6. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 4 or 5, it is characterised in that: first magnetic
The electric permanent magnet in area (6.1) has multiple control gears, and the electric permanent magnet of second magnetic region (6.2) has multiple control gears.
7. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 1, it is characterised in that: in the installs case
(1) positioning component is provided between the horizontal connecting plate (4).
8. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 7, it is characterised in that: the positioning component packet
It includes the cylinder (11) being vertically installed in installs case (1) and is connected in holding out against disk (12) on the horizontal connecting plate (4), it is described
The piston rod (13) of cylinder (11) is correspondingly arranged with the disk (12) or more that holds out against.
9. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 1, it is characterised in that: the installs case (1)
One side wall on be provided with sleeve (14), the clutch disk (2) is welded on the sleeve (14).
10. the dedicated handgrip mechanism of hydraulic support gonnecting rod body according to claim 9, it is characterised in that: in the sleeve
(14) it is welded between installs case (1) reinforcing rib (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325913.3A CN110077849B (en) | 2019-04-23 | 2019-04-23 | Special gripper mechanism for hydraulic support connecting rod body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325913.3A CN110077849B (en) | 2019-04-23 | 2019-04-23 | Special gripper mechanism for hydraulic support connecting rod body |
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| Publication Number | Publication Date |
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| CN110077849A true CN110077849A (en) | 2019-08-02 |
| CN110077849B CN110077849B (en) | 2021-06-29 |
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ID=67416004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910325913.3A Active CN110077849B (en) | 2019-04-23 | 2019-04-23 | Special gripper mechanism for hydraulic support connecting rod body |
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| Country | Link |
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| CN (1) | CN110077849B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620113A (en) * | 2020-05-18 | 2020-09-04 | 佛山市祺海兴五金机电设备有限公司 | Electromagnetic suction and feeding combined structure |
| CN113084809A (en) * | 2021-04-06 | 2021-07-09 | 泰州左岸信息科技有限公司 | Industrial AI (Artificial Intelligence) key technology based on binocular 3D (three-dimensional) perception |
| CN114852687A (en) * | 2022-05-26 | 2022-08-05 | 南京合信自动化有限公司 | Multifunctional automatic gripper mechanism |
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| CN109454663A (en) * | 2018-11-19 | 2019-03-12 | 上海发那科机器人有限公司 | A kind of gripper applied to the irregular plate parts of surface shape |
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| JPH02147517A (en) * | 1988-11-28 | 1990-06-06 | Toshiba Corp | Separating device for strip member |
| CN202754682U (en) * | 2012-04-19 | 2013-02-27 | 株洲悍威磁电科技有限公司 | Permanent electromagnetic specially-shaped object hanging tool |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620113A (en) * | 2020-05-18 | 2020-09-04 | 佛山市祺海兴五金机电设备有限公司 | Electromagnetic suction and feeding combined structure |
| CN113084809A (en) * | 2021-04-06 | 2021-07-09 | 泰州左岸信息科技有限公司 | Industrial AI (Artificial Intelligence) key technology based on binocular 3D (three-dimensional) perception |
| CN114852687A (en) * | 2022-05-26 | 2022-08-05 | 南京合信自动化有限公司 | Multifunctional automatic gripper mechanism |
| CN114852687B (en) * | 2022-05-26 | 2024-03-12 | 南京合信自动化有限公司 | Multifunctional automatic hand grasping mechanism |
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| Publication number | Publication date |
|---|---|
| CN110077849B (en) | 2021-06-29 |
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