CN111015709A - Snatch mechanism convenient to toper pipe fitting transport - Google Patents
Snatch mechanism convenient to toper pipe fitting transport Download PDFInfo
- Publication number
- CN111015709A CN111015709A CN201911419404.3A CN201911419404A CN111015709A CN 111015709 A CN111015709 A CN 111015709A CN 201911419404 A CN201911419404 A CN 201911419404A CN 111015709 A CN111015709 A CN 111015709A
- Authority
- CN
- China
- Prior art keywords
- movable rod
- guide sleeve
- fixed block
- tapered
- hole
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing mechanism convenient for carrying of a conical pipe fitting, and relates to the technical field of mechanical grabbing arms. The telescopic device comprises an extension arm and a movable rod, wherein a telescopic mechanism is arranged in a through hole formed in the extension arm in a matching manner, and a convex ring with a guide sleeve fixedly arranged outside is arranged at one port of the through hole; a fixed seat is arranged at one end of a telescopic rod of the telescopic mechanism, which penetrates through the guide sleeve; a plurality of mounting grooves are uniformly distributed on the vertical side surface of the fixing seat, a limiting block is fixed at the notch of each mounting groove, a slotted hole is formed in one side surface opposite to the limiting block, and pin holes are arranged on two opposite side surfaces of each mounting groove in a penetrating manner; the movable rod is provided with an installation shaft which is matched with the pin hole; a roller mounting seat arranged at one end of the movable rod is provided with a roller which is rotatably arranged in the roller mounting seat; the fixed block mounting seat arranged at the other end of the movable rod is provided with a fixed block which is rotatably arranged. The invention adopts a plurality of movable rods which are rotatably arranged to complete the expansion or contraction of the tail end under the driving of the telescopic mechanism, thereby facilitating the transportation of the conical pipe fitting.
Description
Technical Field
The invention belongs to the technical field of mechanical grabbing arms, and particularly relates to a grabbing mechanism convenient for carrying conical pipe fittings.
Background
In industrial automatic production, no matter a single machine or a combined machine tool and an automatic production line, a manipulator is used for completing the picking and placing of workpieces.
The control of the manipulator mainly comprises position identification, motion direction control and judgment of whether materials exist. The task is to transport the work pieces or objects on conveyor a to conveyor B. The lifting, downward moving, leftward moving, rightward moving, grasping and releasing of the manipulator are all completed by a double-coil three-position electromagnetic valve pneumatic cylinder. When a solenoid is energized, the corresponding action is maintained, even if the coil is de-energized again, until the coil in the opposite direction is energized, the corresponding action is not completed. The equipment is provided with an upper limit switch, a lower limit switch, a left limit switch, a right limit switch, a grasping limit switch and a releasing limit switch, and the end of the corresponding process step is controlled. The conveyor belt is provided with a light spot switch for monitoring whether the workpiece is in place or not.
In the process of industrial production, the volume and the quality of certain products are improved successively, and manual handling often cannot well meet the production requirements. Especially, in some environments with high temperature, high pressure, dust, fragility, etc., manual handling is very difficult. Secondly, the risk of carrying large-sized workpieces by manpower is increased.
The existing manipulator adopts multiple cylinders as power parts, so that the installation process is complex, the maintenance cost is high, and the technical requirement is high.
Disclosure of Invention
The invention aims to provide a grabbing mechanism convenient for carrying a conical pipe fitting, which adopts a plurality of movable rods which are rotatably arranged to complete the expansion or contraction of the tail end under the driving of a telescopic mechanism, is convenient for carrying the conical pipe fitting, has a simple structure, is reliable to use, is convenient for later maintenance, and solves the related problems in the background art.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a grabbing mechanism convenient for carrying a conical pipe fitting, which comprises an extension arm and a movable rod, wherein a telescopic mechanism is arranged in a through hole formed in the extension arm in a matching manner, and a convex ring with a guide sleeve fixedly arranged outside is arranged at one port of the through hole; a fixed seat is arranged at one end of a telescopic rod of the telescopic mechanism, which penetrates through the guide sleeve; a plurality of mounting grooves are uniformly distributed on the vertical side surface of the fixing seat, a limiting block is fixed at the notch of each mounting groove, a slotted hole is formed in one side surface opposite to the limiting block, and pin holes are formed in two opposite side surfaces of each mounting groove in a penetrating manner; the movable rod is provided with an installation shaft which is matched with the pin hole; a roller mounting seat arranged at one end of the movable rod is provided with a roller which is rotatably arranged in the roller mounting seat; the fixed block mounting seat arranged at the other end of the movable rod is provided with a fixed block which is rotatably arranged.
Furthermore, the medial surface of uide bushing is the conical surface, and the conical surface is equipped with big end and tip, and the conical surface is equipped with big end and is located the one side of keeping away from the bulge loop, then the conical surface is equipped with the tip and is located the one side that is close to the bulge loop.
Furthermore, the movement stroke of the telescopic mechanism is less than or equal to the height of the conical surface of the guide sleeve.
Further, the roller is always in contact with the conical surface of the guide sleeve.
Furthermore, one end of the elastic element fixed in the slot hole is contacted with one side surface of the movable rod.
Furthermore, the fixed block comprises a first central line, the mounting shaft arranged on the fixed block comprises a second central line, and the distance between the second central line and the first central line is not zero.
Compared with the prior art, the invention provides the grabbing mechanism convenient for carrying the conical pipe fitting, which has the following beneficial effects:
1. the invention adopts a plurality of movable rods which are rotatably arranged to complete the expansion or contraction of the tail end under the driving of the telescopic mechanism, is convenient for carrying the conical pipe fitting, has simple structure and reliable use, and is convenient for later maintenance.
2. The movable rod is provided with the roller, and the roller is in contact with the side edge of the guide sleeve, so that the abrasion to the side edge of the guide sleeve is reduced, and the service life is prolonged.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic side view of the integral shrink fit of the present invention;
FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 2B according to the present invention;
FIG. 4 is a schematic view of the mounting structure of the fixing base of the present invention;
FIG. 5 is a schematic view of the movable rod assembly of the present invention;
FIG. 6 is a schematic view of a fixing block according to the present invention;
FIG. 7 is a schematic side view of the fixing block according to the present invention;
FIG. 8 is a schematic view of the integrally assembled side-deployed configuration of the present invention;
FIG. 9 is a schematic cross-sectional view of the C-C structure of FIG. 8 in accordance with the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-extension arm, 101-convex ring, 102-through hole, 2-telescopic mechanism, 3-guide sleeve, 301-conical surface, 4-fixed seat, 401-installation groove, 402-limited block, 403-slotted hole, 404-pinhole, 5-movable rod, 501-installation shaft, 502-roller installation seat, 503-fixed block installation seat, 6-fixed block, 601-rotating shaft, 602-second central line, 603-first central line, 7-roller, 8-screw, 9-elastic element and 10-conical tube.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "middle," "length," "inner," "around," and the like are used in an orientation or positional relationship merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be considered as limiting the present invention.
Referring to fig. 1-2, the grabbing mechanism for facilitating the transportation of the tapered pipe fitting of the present invention includes an extension arm 1 and a movable rod 5, wherein a telescopic mechanism 2 is installed in a through hole 102 formed in the extension arm 1 in a matching manner, and a protruding ring 101 located at a port of the through hole 102 is arranged at an extending end of the telescopic mechanism 2; the convex ring 101 is fixedly provided with a guide sleeve 3 sleeved outside the telescopic rod of the telescopic mechanism 2, the inner side surface of the guide sleeve 3 is a conical surface 301, the conical surface 301 is provided with a large end and a small end, the large end of the conical surface 301 is positioned on one side far away from the convex ring 101, and the small end of the conical surface 301 is positioned on one side close to the convex ring 101; meanwhile, the movement stroke of the telescopic mechanism 2 is less than or equal to the height of the conical surface 301 of the guide sleeve 3, the movement range of the roller 7 is limited, and the reliability of the movement process of the grabbing mechanism is ensured;
the telescopic mechanism 2 is a hydraulic rod, and the telescopic mechanism 2 is fixed on the extension arm 1 through a screw 8.
The mounting end of the guide sleeve 3 is provided with a first pin hole, the bulge loop 101 is provided with a second pin hole corresponding to the first pin hole, the mounting end of the guide sleeve 3 is sleeved on the outer side of the bulge loop 101, and the guide sleeve is fixedly mounted through a pin shaft penetrating through the first pin hole and the second pin hole, so that the mounting reliability is guaranteed.
Referring to fig. 3-4, a fixing base 4 is fixedly installed at the tail end of a telescopic rod of the telescopic mechanism 2, the fixing base 4 is perpendicular to the telescopic rod, the fixing base 4 is of a regular polygon or circular structure, a plurality of installation grooves 401 are uniformly distributed on the vertical side surface of the fixing base 4, a limiting block 402 is fixed at the notch of each installation groove 401, a slot 403 is formed on the side surface opposite to the limiting block 402, and pin holes 404 are formed through the two opposite side surfaces of the installation groove 401;
referring to fig. 5-7, the movable rod 5 is formed by two rod bodies with a certain angle, and a mounting shaft 501 is disposed at the corner and is matched with the pin hole 404; a roller mounting seat 502 is arranged at one end of the movable rod 5, the roller mounting seat 502 is of a U-shaped structure, a roller 7 is rotatably mounted in the roller mounting seat 502, and the roller 7 is always in contact with the conical surface 301 of the guide sleeve 3 and slides in the radial direction of the conical surface 301; the other end of the movable rod 5 is provided with a fixed block mounting seat 503, the fixed block mounting seat 503 is also of a U-shaped structure, a fixed block 6 is rotatably mounted on the fixed block mounting seat 503, and the fixed block 6 rotates in the fixed block mounting seat 503;
the movable rod 5 is through installation axle 501 and slotted hole 403 cooperation, rotate and install in mounting groove 401, slotted hole 403 internal fixation's elastic element 9's one end and movable rod 5's a side contact simultaneously, make under the effect of movable rod 5 not received other power, movable rod 5 rotates the biggest angle, mounting groove 401's notch department is fixed with a stopper 402 and prescribes a limit to movable rod 5 pivoted angle, be convenient for snatch the installation of mechanism, avoid the gyro wheel roll-off uide bushing 3 of installation on the movable rod 5 simultaneously, install three movable rods 5 on a fixing base 4 at least, guarantee to snatch in-process atress balance.
The fixed block 6 is in contact with the inner side surface of the conical pipe 10, and a rubber block is arranged on the contact surface of the fixed block 6, so that the inner side surface of the conical pipe 10 is prevented from being damaged, and meanwhile, the friction force is increased; the fixed block 6 comprises a first center line 603, the mounting shaft arranged on the fixed block 6 comprises a second center line 602, the distance between the second center line 602 and the first center line 603 is not zero, and in addition, the rotating shaft 601 mounted on the fixed block 6 is positioned on one side of the center line of the fixed block 6, so that the fixed block 6 is always vertically downward.
The first embodiment is as follows:
referring to fig. 1-2, when the installed gripping mechanism is in a contracted state, the extension amount of the telescopic rod in the telescopic mechanism 2 reaches a maximum value, at this time, the roller 7 installed on the movable rod 5 slides to the large end of the conical surface 301 of the guide sleeve 3, and the extension arm 1 drives the gripping mechanism and the installed telescopic mechanism 2 to move downwards and deeply enter the interior of the conical pipe 10 to be transported along the axial direction.
When the conical pipe 10 to be carried is placed, the small end of the conical pipe 10 faces upwards, the large end of the conical pipe 10 faces upwards, meanwhile, the inner diameter of the small end of the conical pipe 10 is larger than the outer diameter formed by the fixed blocks 6 mounted on the plurality of movable rods 5 in the contraction state, the number of the mounted movable rods 5 is at least three, the grabbing mechanism can conveniently go deep into the conical pipe 10, and meanwhile, the movement stroke of the telescopic mechanism 2 is smaller than or equal to the height of the conical surface 301 of the guide sleeve 3.
Example two:
referring to fig. 8-9, when the installed gripping mechanism is in the unfolded state, the extension amount of the telescopic rod in the telescopic mechanism 2 reaches the minimum value, at this time, the roller 7 installed on the movable rod 5 slides to the small end of the conical surface 301 of the guide sleeve 3, and the extension arm 1 drives the gripping mechanism and the installed telescopic mechanism 2 to move upwards and move along the outer side of the conical pipe 10 to be transported along the axial direction.
When the conical tube 10 of treating the transport is put, the tip of conical tube 10 is upwards, the main aspects of conical tube 10 are upwards, the tip internal diameter of conical tube 10 is less than the external diameter that fixed block 6 installed on a plurality of movable rods 5 of expansion state constitutes simultaneously, the tip internal diameter of conical tube 10 is greater than the external diameter that fixed block 6 installed on a plurality of movable rods 5 of expansion state constitutes, the movable rod 5 quantity of installation is three at least, be convenient for snatch the mechanism and go deep into conical tube 10 inside, 2 movement stroke less than or equal to the height of the conical surface 301 of uide bushing 3 simultaneously, at this moment, a side that fixed block 6 was equipped with the rubber block pastes the medial surface of tight conical tube 10.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The utility model provides a snatch mechanism convenient to toper pipe fitting transport, includes extension arm (1) and movable rod (5), its characterized in that:
a telescopic mechanism (2) is arranged in a through hole (102) formed in the extension arm (1) in a matching manner, and a convex ring (101) with a guide sleeve (3) fixedly arranged outside is arranged at one port of the through hole (102);
a fixed seat (4) is arranged at one end of a telescopic rod of the telescopic mechanism (2) which penetrates through the guide sleeve (3); a plurality of mounting grooves (401) are uniformly distributed on the vertical side surface of the fixing seat (4), a limiting block (402) is fixed at the notch of the mounting groove (401), a slotted hole (403) is formed in one side surface opposite to the limiting block (402), and pin holes (404) are arranged on two opposite side surfaces of the mounting groove (401) in a penetrating manner;
the movable rod (5) is provided with a mounting shaft (501) which is matched with the pin hole (404); a roller mounting seat (502) arranged at one end of the movable rod (5) is rotatably provided with a roller (7); a fixed block (6) is rotatably arranged on a fixed block mounting seat (503) arranged at the other end of the movable rod (5).
2. The grabbing mechanism for tapered pipe transportation as claimed in claim 1, wherein the inner side surface of the guide sleeve (3) is a tapered surface (301), the tapered surface (301) has a large end and a small end, the tapered surface (301) has the large end located on the side far away from the convex ring (101), and the tapered surface (301) has the small end located on the side close to the convex ring (101).
3. Gripping mechanism for facilitating handling of tapered tubulars according to claim 1 or 2, characterised in that the telescoping mechanism (2) has a stroke of movement equal to or less than the height of the tapered surface (301) of the guiding sleeve (3).
4. Gripping mechanism for facilitating handling of tapered pipes according to claim 1, characterised in that the rollers (7) are always in contact with the tapered surface (301) of the guide sleeve (3).
5. Gripping mechanism for facilitating handling of tapered pipes according to claim 1, characterized in that one end of the elastic element (9) fixed inside the slot (403) is in contact with one side of the movable bar (5).
6. Gripping mechanism for facilitating handling of tapered tubulars according to claim 1 or 4 or 5, characterised in that the fixed block (6) comprises a first centre line (603) and the mounting shaft provided on the fixed block (6) comprises a second centre line (602), and that the distance between the second centre line (602) and the first centre line (603) is non-zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911419404.3A CN111015709A (en) | 2019-12-31 | 2019-12-31 | Snatch mechanism convenient to toper pipe fitting transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911419404.3A CN111015709A (en) | 2019-12-31 | 2019-12-31 | Snatch mechanism convenient to toper pipe fitting transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111015709A true CN111015709A (en) | 2020-04-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911419404.3A Pending CN111015709A (en) | 2019-12-31 | 2019-12-31 | Snatch mechanism convenient to toper pipe fitting transport |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111015709A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112047095A (en) * | 2020-07-31 | 2020-12-08 | 南京昱晟机器人科技有限公司 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
| CN114249110A (en) * | 2020-09-24 | 2022-03-29 | 深南电路股份有限公司 | Material taking mechanism |
| CN114407058A (en) * | 2022-01-24 | 2022-04-29 | 上海第二工业大学 | Multipurpose reducing grabbing device |
| CN115431466A (en) * | 2022-09-29 | 2022-12-06 | 广东格林精密部件股份有限公司 | Automatic device of implanting of moulding plastics in dysmorphism blind hole nut mould |
| CN118545320A (en) * | 2024-07-30 | 2024-08-27 | 杭州千汇纱线有限公司 | Feeding device and method for packaging high-strength soft blended cotton yarn winding drum |
| CN118545320B (en) * | 2024-07-30 | 2024-10-29 | 杭州千汇纱线有限公司 | Feeding device and method for packaging high-strength soft blended cotton yarn winding drum |
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| CN108527352A (en) * | 2018-04-18 | 2018-09-14 | 王潇 | A kind of mechanical arm of robot |
| CN108638102A (en) * | 2018-05-21 | 2018-10-12 | 温州鑫锐翔科技有限公司 | A kind of automobile tire grabbing device |
| CN208217614U (en) * | 2018-03-13 | 2018-12-11 | 高志 | A kind of Medical instrument fixture that aid effect avoids instrument from being polluted well |
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| CN103831660A (en) * | 2012-11-21 | 2014-06-04 | 鸿富锦精密工业（深圳）有限公司 | Clamping mechanism |
| FR3012991A1 (en) * | 2013-11-08 | 2015-05-15 | Snecma | DEVICE FOR SEIZING A PART WITH A DRILLING |
| CN204844184U (en) * | 2015-08-12 | 2015-12-09 | 四川迈克生物医疗电子有限公司 | Ejector pad, reaction tube grabbing device and analysis appearance |
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| CN106272488A (en) * | 2016-08-29 | 2017-01-04 | 江苏华航威泰机器人科技有限公司 | A kind of internal stay chela formula robot |
| CN107020494A (en) * | 2017-05-19 | 2017-08-08 | 郑州轻工业学院 | The inner bearing type crawl of walled workpieces pushes manipulator with cover die in the face of cylinder |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112047095A (en) * | 2020-07-31 | 2020-12-08 | 南京昱晟机器人科技有限公司 | Multi-dimensional self-limiting type gripping device for automatic production based on small workpieces |
| CN114249110A (en) * | 2020-09-24 | 2022-03-29 | 深南电路股份有限公司 | Material taking mechanism |
| CN114407058A (en) * | 2022-01-24 | 2022-04-29 | 上海第二工业大学 | Multipurpose reducing grabbing device |
| CN115431466A (en) * | 2022-09-29 | 2022-12-06 | 广东格林精密部件股份有限公司 | Automatic device of implanting of moulding plastics in dysmorphism blind hole nut mould |
| CN118545320A (en) * | 2024-07-30 | 2024-08-27 | 杭州千汇纱线有限公司 | Feeding device and method for packaging high-strength soft blended cotton yarn winding drum |
| CN118545320B (en) * | 2024-07-30 | 2024-10-29 | 杭州千汇纱线有限公司 | Feeding device and method for packaging high-strength soft blended cotton yarn winding drum |
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Application publication date: 20200417 |