CN112811049A - A full-automatic tongs of robot for plug of winding up roller dabber - Google Patents
A full-automatic tongs of robot for plug of winding up roller dabber Download PDFInfo
- Publication number
- CN112811049A CN112811049A CN201911117374.0A CN201911117374A CN112811049A CN 112811049 A CN112811049 A CN 112811049A CN 201911117374 A CN201911117374 A CN 201911117374A CN 112811049 A CN112811049 A CN 112811049A
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- CN
- China
- Prior art keywords
- fixedly connected
- rod
- plate
- mandrel
- full
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/22—Changing the web roll in winding mechanisms or in connection with winding operations
- B65H19/30—Lifting, transporting, or removing the web roll; Inserting core
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0232—Coils, bobbins, rolls
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic robot gripper for inserting and pulling a winding roller mandrel, which comprises a gripper hook plate, wherein the upper end of the gripper hook plate is fixedly connected with a pneumatic cylinder, the pneumatic cylinder extends downwards to form a pneumatic rod, the lower end of the pneumatic rod is fixedly connected with a connecting block, the lower end of the connecting block is fixedly connected with a polyurethane plate, a mandrel rod is arranged below the polyurethane plate, the lower end of the gripper hook plate is fixedly connected with a cross rod, the middle part of the upper end of the cross rod is fixedly connected with a detection mechanism and a positioning mechanism below the mandrel rod in sequence, two sides of the detection mechanism and the positioning mechanism are respectively provided with a Z-shaped bearing plate, the upper end of each Z-shaped bearing plate is provided with a sliding groove, the side wall of the connecting block is fixedly connected with a bearing column, the bearing column penetrates through the sliding grooves in the upper ends of the Z-shaped bearing plates, and the. According to the invention, the mechanical and intelligent board inserting work of the mandrel rod is realized, and the production cost is reduced.
Description
Technical Field
The invention relates to the field of mechanical grippers, in particular to a full-automatic robot gripper for inserting and pulling a winding roller mandrel.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
In the papermaking industry, the insertion and extraction of the winding roller mandrel are generally carried out by manually operating a forklift or a crown block, so that the number of operators is large, the occupied area is large, the automation degree is low, and the production efficiency is extremely low.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a full-automatic robot gripper for inserting and pulling a winding roller mandrel.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a full-automatic tongs of robot for plug of winding up roller dabber, includes and grabs the board of colluding, grab the upper end fixedly connected with pneumatic cylinder that colludes the board, pneumatic cylinder downwardly extending has the atmospheric pressure pole, the lower extreme fixedly connected with connecting block of atmospheric pressure pole, the lower extreme fixedly connected with polyurethane board of connecting block, the below of polyurethane board is provided with the dabber stick, grab the lower extreme fixedly connected with horizontal pole that colludes the board, the upper end middle part of horizontal pole is fixedly connected with detection mechanism and positioning mechanism in proper order in the below of dabber stick, the both sides of detection mechanism and positioning mechanism all are provided with the Z shape bearing plate, the upper end of Z shape bearing plate is provided with the spout, the lateral wall fixedly connected with heel post of connecting block, the heel post runs through the spout of Z shape bearing plate upper end, the lower extreme of Z shape bearing plate is provided with the gyro.
As a further description of the above technical solution:
the detection mechanism comprises a detection support, and a detection block is fixedly connected to the upper end of the middle of the detection support.
As a further description of the above technical solution:
the two ends of the detection support are provided with long through holes, and first bolts are arranged in the long through holes and are fixedly connected with the cross rod through the first bolt detection support.
As a further description of the above technical solution:
the positioning mechanism comprises a positioning support, and the upper end of the middle part of the positioning support is provided with a pointer.
As a further description of the above technical solution:
and the two ends of the positioning support are fixedly connected with the cross rod through second bolts.
As a further description of the above technical solution:
the lower extreme of Z shape bearing plate rotates and is connected with the pivot, the middle part lateral wall fixedly connected with gyro wheel of pivot, grab the upper end fixedly connected with connecting plate of colluding the board.
The invention has the following beneficial effects:
the invention completely realizes the mechanization and automation intellectualization of the roller inserting and pulling core shaft, can intelligently identify the type of the core shaft, and intelligently finds out the core shaft holes of belt rollers with various diameters, has the characteristics of high speed, high reliability, low cost and the like, and has high automation and flexibility, thereby obviously reducing the workload of logistics and warehouse management personnel, improving the labor productivity, reducing the production cost and leading a logistics system to be very simple and direct.
Drawings
FIG. 1 is a front view of a robot full-automatic gripper for inserting and pulling a winding roller mandrel according to the present invention;
FIG. 2 is a partial sectional view of the bottom end of a full-automatic robot gripper for inserting and pulling a winding roller mandrel, which is provided by the invention;
fig. 3 is a side view of a robot full-automatic gripper for inserting and extracting a winding roller mandrel, which is provided by the invention.
Illustration of the drawings:
1. grabbing a hook plate; 2. a cross bar; 3. a Z-shaped bearing plate; 4. a detection mechanism; 5. a positioning mechanism; 6. a mandrel bar; 7. a chute; 8. a polyurethane plate; 9. a load-bearing column; 10. connecting blocks; 11. a pneumatic rod; 12. a pneumatic cylinder; 13. a connecting plate; 14. a rotating shaft; 15. a roller; 16. detecting the bracket; 17. a first bolt; 18. a long through hole; 19. a detection block; 20. positioning the bracket; 21. a second bolt; 22. a pointer.
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 should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-3, one embodiment of the present invention is provided: a full-automatic gripper of robot for the plug-in of a winding roller mandrel comprises a gripping and hooking plate 1, a pneumatic cylinder 12 is fixedly connected to the upper end of the gripping and hooking plate 1, the pneumatic cylinder 12 adopts a large diameter and meets the requirement of outputting enough pressure, a pneumatic rod 11 extends downwards from the pneumatic cylinder 12, a connecting block 10 is fixedly connected to the lower end of the pneumatic rod 11, a polyurethane plate 8 is fixedly connected to the lower end of the connecting block 10, friction force is increased, positioning is accurate, the mandrel rod 6 is prevented from sliding, a mandrel rod 6 is arranged below the polyurethane plate 8, a cross rod 2 is fixedly connected to the lower end of the gripping and hooking plate 1, a detection mechanism 4 and a positioning mechanism 5 are fixedly connected to the middle part of the upper end of the cross rod 2 in sequence below the mandrel rod 6, Z-shaped bearing plates 3 are arranged on two sides of the detection mechanism 4 and the positioning mechanism 5, a sliding groove 7 is arranged on the upper end of each Z-shaped bearing plate 3, the heel post 9 runs through spout 7 of Z shape bearing plate 3 upper end, and the lower extreme of Z shape bearing plate 3 is provided with gyro wheel 15, grabs and colludes board 1 and Z shape bearing plate 3 in the use, considers that dabber stick 6 is heavier, and weight 55 kilograms, length is longer, and length reaches 4.3 meters, requires that the rigidity is good, bearing capacity is high, still can be used to install all kinds of auxiliaries of electrical apparatus, for this reason, we adopt the thick wall steel sheet to process into, and contact dabber stick 6 department processes into the V font.
The working principle is as follows: when the novel gripper is used, the connecting plate 13 on the gripper is fixedly connected with an apparatus such as a travelling crane, so that the gripper has the capability of moving and transporting, a belt (glue, paper) winding roll and the like which are horizontally transported are automatically transported, after accurate positioning, the gripper automatically grips the core shaft rod 6 from the mandrel library, automatically and intelligently identifies and finds out the central position of the core hole according to the diameter of the belt (glue, paper) winding roll, automatically penetrates the mandrel into the core hole of the belt (glue, paper), the core shaft rod 6 starts to be inserted because the core shaft rod 6 is longer and heavier, the gripper grips the middle part, after inserting a part of the core shaft rod, the air pressure rod 11 retracts, the polyurethane plate 8 is far away from the core shaft rod 6, as the air pressure rod 11 continues to retract, the roller 15 below the core shaft rod 6 starts to contact the core shaft rod 6, then the gripper rolls and is far away from the rubber roller, and the roller 15 plays a role of keeping the balance of the, meanwhile, the scratch of the surface of the mandrel rod 6 by the grabbing and hooking plate 1 is prevented, then the air pressure rod 11 extends out, the roller 15 is far away from the mandrel rod 6, the polyurethane plate 8 compresses the mandrel rod 6 again, the process is repeated until the mandrel rod 6 is inserted into the winding roller, and the process of pulling out the mandrel rod 6 is the reverse process of inserting the mandrel rod 6.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a full-automatic tongs of robot for plug of winding up roller dabber, colludes board (1) including grabbing, its characterized in that: the upper end of the grabbing hook plate (1) is fixedly connected with a pneumatic cylinder (12), the pneumatic cylinder (12) extends downwards to form a pneumatic rod (11), the lower end of the pneumatic rod (11) is fixedly connected with a connecting block (10), the lower end of the connecting block (10) is fixedly connected with a polyurethane plate (8), a mandrel rod (6) is arranged below the polyurethane plate (8), the lower end of the grabbing hook plate (1) is fixedly connected with a cross rod (2), the upper middle part of the cross rod (2) is fixedly connected with a detection mechanism (4) and a positioning mechanism (5) in sequence below the mandrel rod (6), the two sides of the detection mechanism (4) and the positioning mechanism (5) are both provided with Z-shaped bearing plates (3), the upper end of each Z-shaped bearing plate (3) is provided with a sliding groove (7), and the side wall of the connecting block (10) is fixedly connected with a bearing column (9), the bearing column (9) penetrates through a sliding groove (7) in the upper end of the Z-shaped bearing plate (3), and a roller (15) is arranged at the lower end of the Z-shaped bearing plate (3).
2. The full-automatic robot gripper for inserting and pulling the winding roller mandrel as claimed in claim 1, wherein: the detection mechanism (4) comprises a detection support (16), and a detection block (19) is fixedly connected to the upper end of the middle of the detection support (16).
3. The full-automatic robot gripper for inserting and pulling the winding roller mandrel in the machine tool according to claim 1 or 2, characterized in that: the two ends of the detection support (16) are provided with long through holes (18), first bolts (17) are arranged in the long through holes (18), and the detection support (16) is fixedly connected with the cross rod (2) through the first bolts (17).
4. The full-automatic robot gripper for inserting and pulling the winding roller mandrel as claimed in claim 1, wherein: the positioning mechanism (5) comprises a positioning support (20), and the upper end of the middle part of the positioning support (20) is connected with a pointer (22).
5. The full-automatic robot gripper for inserting and pulling the winding roller mandrel as claimed in claim 1 or 4, wherein: and the two ends of the positioning support (20) are fixedly connected with the cross rod (2) through second bolts (21).
6. The full-automatic robot gripper for inserting and pulling the winding roller mandrel as claimed in claim 1, wherein: the lower extreme of Z shape bearing plate (3) rotates and is connected with pivot (14), the middle part lateral wall fixedly connected with gyro wheel (15) of pivot (14), grab upper end fixedly connected with connecting plate (13) of colluding board (1).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911117374.0A CN112811049A (en) | 2019-11-15 | 2019-11-15 | A full-automatic tongs of robot for plug of winding up roller dabber |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911117374.0A CN112811049A (en) | 2019-11-15 | 2019-11-15 | A full-automatic tongs of robot for plug of winding up roller dabber |
Publications (1)
Publication Number | Publication Date |
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CN112811049A true CN112811049A (en) | 2021-05-18 |
Family
ID=75851499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911117374.0A Withdrawn CN112811049A (en) | 2019-11-15 | 2019-11-15 | A full-automatic tongs of robot for plug of winding up roller dabber |
Country Status (1)
Country | Link |
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CN (1) | CN112811049A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113715052A (en) * | 2021-08-26 | 2021-11-30 | 宁波莱盟机器人有限公司 | Sliding table with clamping jaw |
CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
-
2019
- 2019-11-15 CN CN201911117374.0A patent/CN112811049A/en not_active Withdrawn
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113715052A (en) * | 2021-08-26 | 2021-11-30 | 宁波莱盟机器人有限公司 | Sliding table with clamping jaw |
CN113715052B (en) * | 2021-08-26 | 2022-09-13 | 宁波莱盟机器人有限公司 | Sliding table with clamping jaw |
CN114084663A (en) * | 2021-11-12 | 2022-02-25 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
CN114084663B (en) * | 2021-11-12 | 2024-04-02 | 洛阳万基金属钠有限公司 | Metal sodium rod grabbing mechanism |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
WW01 | Invention patent application withdrawn after publication | ||
WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210518 |