CN110539295A - Truss type metal sample sorting manipulator - Google Patents

Truss type metal sample sorting manipulator Download PDF

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Publication number
CN110539295A
CN110539295A CN201910934547.1A CN201910934547A CN110539295A CN 110539295 A CN110539295 A CN 110539295A CN 201910934547 A CN201910934547 A CN 201910934547A CN 110539295 A CN110539295 A CN 110539295A
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CN
China
Prior art keywords
claw
shaft assembly
guide rail
box
metal sample
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.)
Granted
Application number
CN201910934547.1A
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Chinese (zh)
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CN110539295B (en
Inventor
孙茂杰
孙敬忠
徐海宁
刘广旭
徐坤
黄晓宾
王广来
姜鑫
张华伟
李梓齐
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Jiangsu Jinheng Information Technology Co Ltd
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Jiangsu Jinheng Information Technology Co Ltd
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Priority to CN201910934547.1A priority Critical patent/CN110539295B/en
Publication of CN110539295A publication Critical patent/CN110539295A/en
Application granted granted Critical
Publication of CN110539295B publication Critical patent/CN110539295B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02Measures preceding sorting, e.g. arranging articles in a stream orientating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The application provides a truss type metal sample sorting manipulator which comprises a three-axis movement mechanism and a grabbing mechanism; the three-axis movement mechanism comprises a first axis component, a second axis component and a third axis component; the first shaft assembly is arranged on the workbench, and the second shaft assembly is connected with and vertical to the first shaft assembly; the third shaft assembly is connected with the second shaft assembly and is vertical to the first shaft assembly and the second shaft assembly; the grabbing mechanism comprises a material taking claw and a box taking claw, and the material taking claw and the box taking claw are connected with the free tail end of the third shaft component. The grabbing mechanism is driven by the free tail end of the three-axis movement mechanism arranged on the workbench, grabbing operation is carried out above the workbench, after metal samples in the material feeding box on the workbench are grabbed by the material fetching claw, the metal samples are placed in saggars in a classified mode, the material feeding box which is arranged on the workbench in an empty mode is moved away by the material fetching claw, or the saggars on the workbench are grabbed. The application provides a truss-like metal sample letter sorting manipulator can carry out metal sample capability test when, realizes the high-efficient letter sorting to metal sample.

Description

truss type metal sample sorting manipulator
Technical Field
The application relates to the technical field of steel, especially, relate to a truss-like metal sample letter sorting manipulator.
Background
in the technical field of steel manufacturing, performance tests such as impact tests, corrosion tests, mechanical property tests and the like need to be performed on produced steel, so that metal samples need to be sorted, and the metal samples are classified according to certain rules to perform tests, namely a common controlled variable method, so that the metal samples with the same test conditions are grouped into one group.
The letter sorting mode commonly used among the prior art is manual sorting, and the manual sorting in-process, staff's hand sweat stain can produce the pollution to metal specimen, influences metal specimen's experiment, and at extensive letter sorting in-process, the work efficiency of manual sorting mode is low, the error rate is high.
Still adopt the assembly line letter sorting mode among the prior art, the assembly line letter sorting mode is transported metal sample through the assembly line, set up a plurality of manipulators in assembly line one side, grab branch assembly line with this metal sample through the manipulator, in order to transport preset position, this kind of mode need set up great scope transportation assembly line, and the metal sample supply is unstable, letter sorting inefficiency, unable adaptation big batch sample letter sorting work, especially under the more condition of temperature point of metal sample, the utilization ratio of the manipulator on the assembly line will sharply reduce, thereby lead to letter sorting inefficiency.
disclosure of Invention
the application provides a truss-like metal sample letter sorting manipulator to solve when carrying out metal sample capability test, to the lower problem of metal sample letter sorting efficiency.
The application provides a truss type metal sample sorting manipulator which comprises a three-axis movement mechanism and a grabbing mechanism; the three-axis movement mechanism comprises a first axis component, a second axis component and a third axis component;
The first shaft assembly is arranged on the workbench, and the second shaft assembly is connected with the first shaft assembly, is perpendicular to the first shaft assembly, and can longitudinally move in a horizontal plane relative to the workbench;
The third shaft assembly is connected with the second shaft assembly, is perpendicular to the first shaft assembly and the second shaft assembly, and can move transversely in a horizontal plane relative to the workbench;
The grabbing mechanism comprises a material taking claw and a box taking claw, and the material taking claw and the box taking claw are connected with the free tail end of the third shaft assembly and can move in the vertical direction relative to the workbench; the material taking claw is used for grabbing a metal sample, and the box taking claw is used for grabbing a material box or a saggar.
Optionally, the first shaft assembly includes a first guide rail, a pillar, and a first motor, and the first guide rail is disposed on the workbench; the strut is connected with the first guide rail through a sliding block, and the first motor is connected with the strut and drives the strut to move along the track direction of the first guide rail;
The second shaft assembly is connected with the strut and comprises a second guide rail and a second motor, the second guide rail is perpendicular to the first guide rail and is in a different plane with the first guide rail, and the second motor is connected with the second guide rail through a sliding block and can translate relative to the second guide rail;
the third axle subassembly includes third guide rail and lift electric jar, and connects the second motor, the third guide rail is the perpendicular to simultaneously first guide rail with the second guide rail, the third guide rail passes through the slider and connects snatch the mechanism, the expansion end of lift electric jar is connected snatch the mechanism, by lift electric jar passes through drive mechanism and drives it carries out elevating movement to snatch the mechanism.
Optionally, the first shaft assembly further comprises a first rack, the first rack is arranged on the workbench, and the direction of the first rack is parallel to the guiding direction of the first guide rail; the first shaft assembly engages the first rack via a gear.
Optionally, the second shaft assembly further comprises a second rack, and the direction of the second rack is parallel to the guiding direction of the second guide rail; the second motor is meshed with the second rack through a gear.
optionally, the third guide rail includes a material claw slide rail and a box claw slide rail, and the lifting electric cylinder includes a material claw electric cylinder and a box claw electric cylinder;
The material taking claw is connected with the material claw slide rail through a slide block, the free end of the material claw electric cylinder is connected with the material taking claw, and the material claw electric cylinder drives the material taking claw to move up and down;
the box taking claw is connected with the box claw slide rail through a slide block, the free end of the box claw electric cylinder is connected with the box taking claw, and the box claw electric cylinder drives the box taking claw to perform lifting motion.
Optionally, the material taking claw comprises a claw plate cylinder, a lower claw plate and an upper claw plate; the lower claw plate is fixedly connected, and the upper claw plate is movably connected; the claw plate cylinder is connected with the upper claw plate to drive the upper claw plate to be close to or far away from the lower claw plate.
Optionally, the material taking claw is further provided with a pressing column and a clamping column; the pressing column is connected with the upper claw plate; the clamping column is connected with the upper claw plate to clamp the metal sample.
Optionally, the upper plane of the lower jaw plate is provided with a limiting table, and the distance from the side edge of the limiting table to the side edge of the lower jaw plate is three times the width of the metal sample.
Optionally, the box taking claw comprises a claw hook cylinder and two claw hooks, and the claw hook cylinder is connected with the two claw hooks to control the opening and closing of the two claw hooks; and the two claw hooks are provided with bolts to be inserted into the bolt holes of the material box or the saggar.
Optionally, a material claw sensor is further disposed on the material taking claw to detect a position of the material taking claw.
The application provides a truss-like metal sample letter sorting manipulator, including triaxial moving mechanism, snatch the mechanism; the three-axis movement mechanism comprises a first axis component, a second axis component and a third axis component; the first shaft assembly is arranged on the workbench, and the second shaft assembly is connected with the first shaft assembly, is perpendicular to the first shaft assembly, and can longitudinally move in a horizontal plane relative to the workbench; the third shaft assembly is connected with the second shaft assembly, is perpendicular to the first shaft assembly and the second shaft assembly, and can move transversely in a horizontal plane relative to the workbench; the grabbing mechanism comprises a material taking claw and a box taking claw, and the material taking claw and the box taking claw are connected with the free tail end of the third shaft assembly and can move in the vertical direction relative to the workbench; the material taking claw is used for grabbing a metal sample, and the box taking claw is used for grabbing a material box or a saggar.
By setting up on the workstation the free end of triaxial moving mechanism drives snatch the mechanism the workstation top snatchs the operation, through snatch the material claw of getting of mechanism, will metal sample in the material box snatchs the back on the workstation, the categorised casket-like bowl of placing, by snatch the box claw of getting of mechanism, remove the empty magazine on the workstation, and be used for snatching the casket-like bowl that is equipped with metal sample on the workstation. The application provides a truss-like metal sample letter sorting manipulator can carry out metal sample capability test when, realizes the high-efficient letter sorting to metal sample.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a working scene of a truss-type metal specimen sorting manipulator;
FIG. 2 is a schematic view of an overall structure of a truss-type metal specimen sorting robot;
FIG. 3 is a schematic view of a top view of a working scene of a truss-type metal specimen sorting manipulator;
FIG. 4 is a schematic view of a material-taking claw angle structure of a grabbing mechanism of a truss type metal sample sorting manipulator;
FIG. 5 is a schematic view of a box-taking claw angle structure of a grabbing mechanism of a truss type metal sample sorting manipulator;
FIG. 6 is a schematic view of the overall structure of a truss type metal sample sorting manipulator material taking claw;
FIG. 7 is a schematic view of a partial structure of a truss-type metal specimen sorting manipulator material-taking claw;
FIG. 8 is a schematic view of a grabbing structure of a truss type metal sample sorting manipulator material taking claw;
FIG. 9 is a schematic view of a grabbing process of a truss type metal sample sorting manipulator material-fetching claw;
FIG. 10 is a schematic view of the overall structure of a truss type metal sample sorting manipulator box-taking claw;
FIG. 11 is a schematic view of a grabbing process of a truss type metal sample sorting manipulator box-taking claw;
Illustration of the drawings:
Wherein, 1-workbench, 2-three-axis movement mechanism, 21-first shaft component, 211-first guide rail, 212-support, 213-first motor, 214-first rack, 22-second shaft component, 221-second guide rail, 222-second motor, 223-second rack, 23-third shaft component, 231-third guide rail, 2311-material claw slide rail, 2312-box claw slide rail, 232-lifting electric cylinder, 2321-material claw electric cylinder, 2322-box claw electric cylinder, 3-grabbing mechanism, 31-material-fetching claw, 311-claw plate cylinder, 312-lower claw plate, 313-upper claw plate, 314-pressing column, 315-clamping column, 316-limiting platform, 317-material claw sensor, 32-box-fetching claw, 321-claw hook cylinder, 322-claw hook, 323-bolt, 4-metal sample, 5-material box, 6-saggar.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
Referring to fig. 1, a schematic view of a working scenario of a truss type metal sample sorting manipulator is shown.
Referring to fig. 2, a schematic structural diagram is a top view of a working scene of a truss type metal sample sorting manipulator.
In order to solve the problem that the sorting efficiency of a metal sample is low when the performance of the metal sample is tested, as shown in fig. 1 and fig. 2, the truss type metal sample sorting manipulator provided by the embodiment of the application comprises a three-axis movement mechanism 2 and a grabbing mechanism 3; three-axis motion 2 sets up on workstation 1, it connects to snatch mechanism 3 the free end of three-axis motion 2, through the free end of three-axis motion 2 drives it removes in the three-dimensional space of workstation 1 top to snatch mechanism 3, accomplishes and snatchs the operation.
Further, in order to ensure that the gripping mechanism 3 has three degrees of freedom, the three-axis movement mechanism 2 includes a first axis assembly 21, a second axis assembly 22 and a third axis assembly 23; the first shaft assembly 21 is arranged on the workbench 1, and the second shaft assembly 22 is connected with the first shaft assembly 21, is perpendicular to the first shaft assembly 21, and can move longitudinally in a horizontal plane relative to the workbench 1; the third shaft assembly 23 is connected with the second shaft assembly 22, is perpendicular to the first shaft assembly 21 and the second shaft assembly 22, and can move transversely in a horizontal plane relative to the workbench 1; providing a first degree of freedom for the gripping means 3 by means of a first shaft assembly 21; providing a second degree of freedom for the gripping mechanism 3 via a second shaft assembly 22; a third degree of freedom is provided for the gripping mechanism 3 by means of a third shaft assembly 23.
The first degree of freedom here refers to a longitudinal degree of freedom in a horizontal plane, that is, a Y-axis degree of freedom in a generally default spatial coordinate system; the second degree of freedom refers to the horizontal degree of freedom in the horizontal plane, namely the X-axis degree of freedom in a general default space coordinate system; the third degree of freedom refers to a degree of freedom in a vertical direction in space, namely, a Z-axis degree of freedom in a generally default spatial coordinate system.
The workbench 1 is a work object of the truss type metal sample sorting mechanical arm, the stacked magazine 5 and the saggars 6 which are placed in a classified mode are placed on the workbench 1, the metal samples 4 are placed in the magazine 5, the saggars 6 are used for placing the metal samples in a classified mode, and the truss type metal sample sorting mechanical arm is used for grabbing the metal samples 4 in the magazine 5 and placing the metal samples in the saggars 6 in a classified mode.
further, in order to respectively grab the metal sample 4, the magazine 5 or the sagger 6, so as to grab the metal sample 4 on the feeding table 1 into the sagger 6 on the workbench according to the type, the grabbing mechanism 3 of the truss type metal sample sorting manipulator provided by the application comprises a material grabbing claw 31 and a box grabbing claw 32, wherein the material grabbing claw 31 and the box grabbing claw 32 are connected with the free end of the third shaft assembly 23 and can move vertically relative to the workbench 1; the material taking claw 31 is used for grabbing the metal sample 4, and the box taking claw 32 is used for grabbing the material box 5 or the saggar 6.
the metal sample 4 is long and is mostly used in the charpy impact test, and the sorting manipulator in the embodiment is mainly used in the charpy impact test of the metal sample 4, but is not limited to be applied to the charpy impact test of the metal sample 4, and the sorting manipulator in the present application can be applied to the performance test scene of similar sorting of the metal sample 4 in other applications.
The truss type metal sample sorting manipulator provided by the application comprises a three-axis movement mechanism 2 and a grabbing mechanism 3; the three-axis movement mechanism 2 includes a first axis assembly 21, a second axis assembly 22, and a third axis assembly 23; the first shaft assembly 21 is arranged on the workbench 1, and the second shaft assembly 22 is connected with the first shaft assembly 21, is perpendicular to the first shaft assembly 21, and can move longitudinally in a horizontal plane relative to the workbench 1; the third shaft assembly 23 is connected with the second shaft assembly 22, is perpendicular to the first shaft assembly 21 and the second shaft assembly 22, and can move transversely in a horizontal plane relative to the workbench 1; the grabbing mechanism 3 comprises a material taking claw 31 and a box taking claw 32, and the material taking claw 31 and the box taking claw 32 are connected with the free tail end of the third shaft assembly 23 and can move in the vertical direction relative to the workbench 1; the material taking claw 31 is used for grabbing the metal sample 4, and the box taking claw 32 is used for grabbing the material box 5 or the saggar 6.
By setting up on workstation 1 the free end of 2 of triaxial moving mechanism drives snatch mechanism 3 the operation is snatched to workstation 1 top, through snatch the material claw 31 of getting of mechanism 3, will metal specimen 4 in the magazine 5 snatchs the back on workstation 1, the classification is placed in the casket-like bowl 6, by snatch the box claw 32 of getting of mechanism 3, with the empty magazine 5 of putting on workstation 1 and move away, and be used for snatching the casket-like bowl 6 that is equipped with metal specimen 4 on workstation 1. The application provides a truss-like metal sample letter sorting manipulator can carry out metal sample capability test when, realizes the high-efficient letter sorting to metal sample.
Referring to fig. 3, a schematic diagram of an overall structure of a truss type metal sample sorting manipulator is shown.
Further, in order to provide the first degree of freedom to the gripping mechanism 3, as shown in fig. 3, in some embodiments of the present application, the first shaft assembly 21 includes a first guide rail 211, a pillar 212, and a first motor 213, and the first guide rail 211 is disposed on the work table 1; the pillar 212 is connected to the first guide rail 211 through a slider, and the first motor 213 is connected to the pillar 212 to drive the pillar 212 to move along the track direction of the first guide rail 211.
The number of the supporting columns 212 is equal to or greater than two, and is used for supporting the second shaft assembly 22 and is driven by the first motor 213 to realize the movement of the supporting columns 212 along the track direction of the first guide rail 211, that is, to provide a first degree of freedom for the grabbing mechanism 3.
Further, in order to provide a second degree of freedom for the gripping mechanism 3, in some embodiments of the present application, the second shaft assembly 22 is connected to the pillar 212, the second shaft assembly 22 includes a second guide rail 221 and a second motor 222, the second guide rail 221 is perpendicular to the first guide rail 211 and is in a different plane from the first guide rail 211, and the second motor 222 is connected to the second guide rail 221 through a slider and can translate relative to the second guide rail 221.
The second shaft assembly 22 further comprises a necessary connecting member, such as a steel bar with an elongated plate-like structure or a plate-like structure with other materials, to connect the pillar 212, and a second guiding rail 221 is disposed thereon, and the second motor 222 is connected to the second guiding rail 221 through a sliding block, so as to control the sliding block to move on the second guiding rail 221, i.e. to provide a second degree of freedom for the grabbing mechanism 3.
Further, in order to provide a third degree of freedom for the grabbing mechanism 3, in some embodiments of the present application, the third shaft assembly 23 includes a third guide rail 231 and an electric lifting cylinder 232, and is connected to the second motor 222, the third guide rail 231 is perpendicular to the first guide rail 211 and the second guide rail 221 at the same time, the third guide rail 231 is connected to the grabbing mechanism 3 through a slider, a movable end of the electric lifting cylinder 232 is connected to the grabbing mechanism 3, and the electric lifting cylinder 232 drives the grabbing mechanism 3 to perform lifting motion through a transmission mechanism.
The third shaft assembly 23 further includes a connection plate necessary for connecting the second motor 222, and may also be connected to the slider of the second guide rail 221, and the third guide rail 231 and the lifting electric cylinder 232 are connected through the connection plate. It should be noted that, here, the movable end of the electric lift cylinder 232 is the free end of the entire three-axis moving mechanism 2. The electric cylinder is adopted for driving, so that the grabbing mechanism 3 can be ensured to stably lift and can be stopped at any height position on the third guide rail 231 at any time.
In order to enable the pillar 212 to smoothly run on the first guide rail 211, as shown in fig. 3, in some embodiments of the present application, the first shaft assembly 21 further includes a first rack 214, the first rack 214 is disposed on the working platform 1, and a guiding direction of the first rack 214 is parallel to a guiding direction of the first guide rail 211; the first shaft assembly 21 engages the first rack 214 via a gear. The transmission is carried out by adopting a gear and rack meshing mode, so that the fixed transmission ratio can be ensured, the slipping condition of belt transmission can not occur, and larger transmission force can be met, so that the transmission process is more stable.
In order to realize that the second motor 222 drives the slider to drive the motor to move on the second guide rail 221, as shown in fig. 3, in some embodiments of the present application, the second shaft assembly 22 further includes a second rack 223, and a guiding direction of the second rack 223 is parallel to a guiding direction of the second guide rail 221; the second motor 222 engages the second rack 223 through a gear. The transmission is carried out by adopting a gear and rack meshing mode, so that the fixed transmission ratio can be ensured, the slipping condition of belt transmission can not occur, and larger transmission force can be met, so that the transmission process is more stable.
Referring to fig. 4, a schematic view of an angle structure of a material-fetching claw of a grabbing mechanism of a truss-type metal sample sorting manipulator is shown.
referring to fig. 5, a schematic diagram of an angle structure of a box-taking claw of a grabbing mechanism of a truss type metal sample sorting manipulator is shown.
in order to control the material taking claw 31 or the box taking claw 32 to perform lifting movement independently and avoid unnecessary work caused by simultaneous control, as shown in fig. 4 and 5, in some embodiments of the present application, the third guide rail 231 includes a material claw slide rail 2311 and a box claw slide rail 2312, and the lifting electric cylinder 232 includes a material claw electric cylinder 2321 and a box claw electric cylinder 2322; the material taking claw 31 is connected with the material claw slide rail 2311 through a slide block, the free end of the material claw electric cylinder 2321 is connected with the material taking claw 31, and the material claw electric cylinder 2321 drives the material taking claw 31 to move up and down; the box taking claw 32 is connected with the box claw slide rail 2312 through a slide block, the free end of the box claw electric cylinder 2322 is connected with the box taking claw 32, and the box claw electric cylinder 2322 drives the box taking claw 32 to move up and down.
The material claw slide rail 2311 and the material claw electric cylinder 2321 are used for independently lifting the material taking claw 31, so that a third degree of freedom is provided; the box taking claw 32 is independently lifted through the box claw slide rail 2312 and the box claw slide rail 2312, and a third degree of freedom is provided, so that the material taking claw 31 or the box taking claw 32 is independently controlled, and an unnecessary work doing process is avoided.
referring to fig. 6, a schematic view of an overall structure of a material-taking claw of a truss-type metal sample sorting manipulator is shown.
Referring to fig. 7, a schematic partial structure diagram of a material taking claw of a truss type metal sample sorting manipulator is shown.
Referring to fig. 8, a schematic diagram of a grabbing structure of a material-taking claw of a truss type metal sample sorting manipulator is shown.
Referring to fig. 9, a schematic diagram of a grabbing process of the material-fetching claw of the truss type metal sample sorting manipulator is shown.
In order to realize automatic grabbing of the metal specimen 4 and ensure stable grabbing process, as shown in fig. 6, in some embodiments of the present application, the material grabbing claw 31 includes a claw plate cylinder 311, a lower claw plate 312 and an upper claw plate 313; the lower claw plate 312 and the claw plate cylinder 311 are fixedly connected with the free tail end of the three-axis movement mechanism 2; the movable end of the claw plate cylinder 311 is connected with the upper claw plate 313 to drive the upper claw plate 313 to approach or separate from the lower claw plate 312.
The material taking claw 31 further comprises a necessary claw body, the claw plate cylinder 311 and the lower claw plate 312 are both arranged on the claw body, and the claw body is connected with the free tail end of the three-axis movement mechanism 2; the lower jaw plate 312 is fixedly connected to the rotary handle body, and can be connected through bolts or directly connected in a welding manner, when the metal sample 4 is grabbed, the lower jaw plate 312 is inserted into the bottom of the metal sample 4 in the material box 5 to support the metal sample 4, that is, when the metal sample 4 is grabbed, the metal sample 4 is placed on the lower jaw plate 312; the claw plate cylinder 311 is installed on the claw body, the movable end of the claw plate cylinder 311 is connected with the upper claw plate 313, and the claw plate cylinder 311 can control the amount of gas filled in the cylinder through an air pump and an electromagnetic valve, so that the position of a piston in the cylinder is changed, the upper claw plate 313 is driven to move up and down, namely, to be close to or far away from the lower claw plate 312, and the metal sample 4 is grabbed through the lower claw plate 312 and the upper claw plate 313.
The gripper body is a plate-like structure, and the free end of the three-axis movement mechanism 2 is connected to the gripper body, and necessary members for gripping the metal sample 4 are attached to the gripper body.
in order to ensure that the material taking claw 31 stably grips the metal sample 4 from the magazine 5 or prevents the metal sample 7 from affecting the unhatched metal sample 4 when the metal sample 7 is placed in the sagger 6, as shown in fig. 7, 8 and 9, in some embodiments of the present application, the material taking claw 31 is further provided with a pressing column 314 and a clamping column 315; the pressing column 314 is connected with the upper claw plate 313; the gripping column 315 is connected to the upper jaw plate 313 to grip the metal sample 4. The number of rows of the clamping columns 315 is at least three, the lower end planes of each row of the clamping columns 315 belong to the same horizontal plane so as to synchronously clamp the metal sample 4, the clamping columns 315 adopt spring plungers with certain elasticity, and the metal sample 4 can be prevented from being damaged by the material taking claws 31. The pressing column 315 is connected with the upper jaw plate 313, and when the metal sample 4 is clamped in the material box 5, the previous row of unclamped metal samples 4 is pressed, so as to affect the clamped metal sample 4, if the edge metal sample 4 is clamped and no metal sample 4 is clamped in front, the pressing column 314 does not affect the clamping operation; in the process of placing the metal sample 4 in the sagger 6, if the metal sample 4 is already placed in front of the placing position, the pressing column 314 presses the metal sample 4 in front, so that the position of the metal sample 4 placed before is prevented from being damaged when the metal sample 4 is placed. The pressing column 314 is further provided with a spring, so that the pressing column 314 can be compressed to a certain degree, when grabbing, the grabbing action is completed through the compression of the pressing column 314, and after the material taking claw 31 leaves the material box 5, the length of the pressing column 7 is recovered through the spring structure.
in order to ensure that the metal sample 4 is stably transferred by the pick claw 31 after being picked up, i.e. the process of transferring the metal sample 4 from the magazine 5 into the sagger 6. As shown in fig. 9 and 10, in some embodiments of the present application, a position-limiting table 316 is disposed on an upper plane of the lower jaw plate 312, and a distance from a side edge of the position-limiting table 316 to a side edge of the lower jaw plate 312 is three times a width of the metal specimen 4. The limiting table 316 is used for enabling the lower claw plate 312 to penetrate into the material box 5 when the material taking claw 31 grabs the metal sample 4 until the limiting table 316 contacts the side surface of the metal sample 4, which indicates that the lower claw plate 312 reaches a preset depth; in the process of transferring the metal sample 4, the two sides of the metal sample 4 are respectively blocked by the limiting table 316 and the pressing column 314, so that the metal sample 4 is prevented from accidentally sliding down. The distance from the side edge of the limiting table 316 to the side edge of the lower jaw plate 312 is three times the width of the metal sample 4, because the material taking claw 31 of the automatic sorting device provided by the embodiment of the application grabs 3 metal samples at each time, the sample information of three metal samples grabbed at each time is the same, but the automatic sorting device is not limited to rotating 3 metal samples at each time, and the size of the material taking claw 31 can be changed according to actual production requirements so as to realize grabbing other numbers of metal samples 4 at one time.
Fig. 10 is a schematic overall structure diagram of a truss type metal sample sorting manipulator box taking claw.
Referring to fig. 11, a schematic diagram of a grabbing process of a box-taking claw of a truss type metal sample sorting manipulator is shown.
in order to transfer the empty magazine at the uppermost layer of the stacked magazine 5 on the feeding table 1 and to transfer the sagger 6 on the batching table 5, as shown in fig. 10 and 11, in some embodiments of the present application, the magazine taking claw 32 includes a claw hook cylinder 321 and two claw hooks 322, and the claw hook cylinder 321 connects the two claw hooks 322 to control the opening and closing of the two claw hooks 322; two of the claws 322 are provided with pins 323 to be inserted into the pin holes of the magazine 5 or the saggar 6.
further, the claw hook cylinder 321 is a thin cylinder, and the thin cylinder is a cylindrical metal member that guides the piston to perform a linear reciprocating motion. The working medium converts heat energy into mechanical energy through expansion in an engine cylinder; the gas is compressed by a piston in a compressor cylinder to increase pressure. The thin cylinder occupies less space, has light structure and beautiful appearance, can bear larger transverse load, and can be directly arranged on various clamps and special equipment without mounting accessories. The two claw hooks 322 are driven by the free end of the thin cylinder, the two claw hooks 322 are opened and closed by controlling the movement of the two claw hooks 322, and when the two claw hooks 322 are closed, the bolt 323 arranged on the claw hooks 322 is inserted into the pin hole of the material box 5 or the sagger 6 so as to grab the material box 5 or the sagger 6.
further, in order to ensure stable grabbing of the magazine 5 or the saggar 6, the number of the pins 323 arranged on the claw hook 322 is greater than or equal to 2, so as to ensure that the claw hook 322 can smoothly transfer the magazine 5 or the saggar 6 after grabbing the magazine 5 or the saggar 6.
In order to feed back the position of the gripping mechanism 2, as shown in fig. 6, in some embodiments of the present application, a material claw sensor 317 is further disposed on the material taking claw 31 to detect the position of the material taking claw 31. The material claw sensor 317 is a photoelectric sensor or an infrared sensor, and determines the action to be performed by the grabbing mechanism 2 by detecting the position of the material box 5.
the truss type metal sample sorting manipulator provided by the application comprises a three-axis movement mechanism 2 and a grabbing mechanism 3; the three-axis movement mechanism 2 includes a first axis assembly 21, a second axis assembly 22, and a third axis assembly 23; the first shaft assembly 21 is arranged on the workbench 1, and the second shaft assembly 22 is connected with the first shaft assembly 21, is perpendicular to the first shaft assembly 21, and can move longitudinally in a horizontal plane relative to the workbench 1; the third shaft assembly 23 is connected with the second shaft assembly 22, is perpendicular to the first shaft assembly 21 and the second shaft assembly 22, and can move transversely in a horizontal plane relative to the workbench 1; the grabbing mechanism 3 comprises a material taking claw 31 and a box taking claw 32, and the material taking claw 31 and the box taking claw 32 are connected with the free tail end of the third shaft assembly 23 and can move in the vertical direction relative to the workbench 1; the material taking claw 31 is used for grabbing the metal sample 4, and the box taking claw 32 is used for grabbing the material box 5 or the saggar 6.
By setting up on workstation 1 the free end of 2 of triaxial moving mechanism drives snatch mechanism 3 the operation is snatched to workstation 1 top, through snatch the material claw 31 of getting of mechanism 3, will metal specimen 4 in the magazine 5 snatchs the back on workstation 1, the classification is placed in the casket-like bowl 6, by snatch the box claw 32 of getting of mechanism 3, with the empty magazine 5 of putting on workstation 1 and move away, and be used for snatching the casket-like bowl 6 that is equipped with metal specimen 4 on workstation 1. The application provides a truss-like metal sample letter sorting manipulator can carry out metal sample capability test when, realizes the high-efficient letter sorting to metal sample.
the embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.

Claims (10)

1. A truss type metal sample sorting manipulator is characterized by comprising a three-axis movement mechanism (2) and a grabbing mechanism (3);
The three-axis movement mechanism (2) comprises a first axis component (21), a second axis component (22) and a third axis component (23);
The first shaft assembly (21) is arranged on the workbench (1), and the second shaft assembly (22) is connected with the first shaft assembly (21), is perpendicular to the first shaft assembly (21), and can move longitudinally in a horizontal plane relative to the workbench (1);
The third shaft assembly (23) is connected with the second shaft assembly (22), is perpendicular to the first shaft assembly (21) and the second shaft assembly (22), and can move transversely in a horizontal plane relative to the workbench (1);
The grabbing mechanism (3) comprises a material taking claw (31) and a box taking claw (32), the material taking claw (31) and the box taking claw (32) are connected with the free tail end of the third shaft assembly (23) and can move in the vertical direction relative to the workbench (1); the material taking claw (31) is used for grabbing the metal sample (4), and the box taking claw (32) is used for grabbing the material box (5) or the saggar (6).
2. The truss-like metal specimen sorting robot according to claim 1, wherein the first shaft assembly (21) includes a first guide rail (211), a pillar (212), and a first motor (213), the first guide rail (211) being provided on the work table (1); the strut (212) is connected with the first guide rail (211) through a sliding block, the first motor (213) is connected with the strut (212) and drives the strut (212) to move along the track direction of the first guide rail (211);
the second shaft assembly (22) is connected with the strut (212), the second shaft assembly (22) comprises a second guide rail (221) and a second motor (222), the second guide rail (221) is perpendicular to the first guide rail (211) and is in a different plane with the first guide rail (211), and the second motor (222) is connected with the second guide rail (221) through a sliding block and can translate relative to the second guide rail (221);
Third axle subassembly (23) include third guide rail (231) and lift electric cylinder (232), and connect second motor (222), third guide rail (231) perpendicular to simultaneously first guide rail (211) with second guide rail (221), third guide rail (231) are connected through the slider snatch mechanism (3), the expansion end of lift electric cylinder (232) is connected snatch mechanism (3), by lift electric cylinder (232) pass through drive mechanism and drive it carries out elevating movement to snatch mechanism (3).
3. the truss-like manipulator for sorting metallic specimens according to claim 2, wherein the first shaft assembly (21) further comprises a first rack (214), the first rack (214) being disposed on the work table (1), the first rack (214) being guided in a direction parallel to the first guide rail (211);
the first shaft assembly (21) engages the first rack (214) via a gear.
4. the truss-like metal specimen sorting robot of claim 2, wherein the second shaft assembly (22) further comprises a second rack (223), a guiding direction of the second rack (223) being parallel to a guiding direction of the second guide rail (221);
The second motor (222) engages the second rack (223) through a gear.
5. the truss type manipulator for sorting metal samples according to claim 2, wherein the third guide rail (231) comprises a material claw slide rail (2311) and a box claw slide rail (2312), and the lifting electric cylinder (232) comprises a material claw electric cylinder (2321) and a box claw electric cylinder (2322);
The material taking claw (31) is connected with the material claw slide rail (2311) through a slide block, the free end of the material claw electric cylinder (2321) is connected with the material taking claw (31), and the material claw electric cylinder (2321) drives the material taking claw (31) to move up and down;
The box taking claw (32) is connected with the box claw slide rail (2312) through a slide block, the free end of the box claw electric cylinder (2322) is connected with the box taking claw (32), and the box claw electric cylinder (2322) drives the box taking claw (32) to move up and down.
6. The truss type metal specimen sorting mechanical arm according to claim 1, wherein the material taking claw (31) comprises a claw plate cylinder (311), a lower claw plate (312) and an upper claw plate (313);
The lower claw plate (312) is fixedly connected, and the upper claw plate (313) is movably connected; the claw plate cylinder (311) is connected with the upper claw plate (313) to drive the upper claw plate (313) to approach or separate from the lower claw plate (312).
7. The truss type metal sample sorting mechanical arm is characterized in that a compaction column (314) and a clamping column (315) are further arranged on the material taking claw (31);
the pressing column (314) is connected with the upper claw plate (313); the clamping column (315) is connected with the upper claw plate (313) to clamp the metal sample (4).
8. The truss type metal specimen sorting mechanical arm as claimed in claim 6, wherein the upper plane of the lower jaw plate (312) is provided with a limit table (316), and the distance from the side edge of the limit table (316) to the side edge of the lower jaw plate (312) is three times the width of the metal specimen (4).
9. The truss type metal specimen sorting mechanical arm according to claim 1, wherein the box taking claw (32) comprises a claw hook cylinder (321) and two claw hooks (322), the claw hook cylinder (321) is connected with the two claw hooks (322) to control the opening and closing of the two claw hooks (322);
The two claw hooks (322) are provided with a bolt (323) to be inserted into pin holes of the material box (5) or the saggar (6).
10. The truss type metal specimen sorting mechanical arm according to claim 1, wherein a material claw sensor (317) is further arranged on the material taking claw (31) to detect the position of the material taking claw (31).
CN201910934547.1A 2019-09-29 2019-09-29 Truss type metal sample sorting manipulator Active CN110539295B (en)

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CN209118260U (en) * 2018-11-06 2019-07-16 深圳格兰达智能装备股份有限公司 A kind of clamping jaw assembly
CN209367286U (en) * 2018-10-26 2019-09-10 苏州富强科技有限公司 A kind of workpiece feeding device
CN210589283U (en) * 2019-09-29 2020-05-22 江苏金恒信息科技股份有限公司 Truss type metal sample sorting manipulator

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KR20170131043A (en) * 2016-05-20 2017-11-29 (주) 에스.피.시스템스 Robot gantry system
CN206511643U (en) * 2017-01-26 2017-09-22 房启龙 A kind of automatic gripper of tire
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