CN113305860A - Graphite electrode pre-installation joint manipulator - Google Patents
Graphite electrode pre-installation joint manipulator Download PDFInfo
- Publication number
- CN113305860A CN113305860A CN202110656492.XA CN202110656492A CN113305860A CN 113305860 A CN113305860 A CN 113305860A CN 202110656492 A CN202110656492 A CN 202110656492A CN 113305860 A CN113305860 A CN 113305860A
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- CN
- China
- Prior art keywords
- manipulator
- push rod
- electric push
- clamping motor
- rocker arm
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a graphite electrode pre-installed connector manipulator which comprises an outer frame, wherein the outer frame comprises a bottom plate, a first electric push rod and an operation panel, the bottom plate is embedded with a bottom frame, the first electric push rod is connected with four corners at the top of the lifting frame, one side of the top of the outer frame is provided with an operation panel, the other side of the lifting frame is connected with a manipulator, the manipulator is connected with a turnover mechanism, the turnover mechanism comprises a second electric push rod, a first connecting shaft, a second connecting shaft and a shearing fork mechanism, the scissor fork mechanism is connected with the clamping motor through the thrust ball bearing, the lower part of the clamping motor is connected with the fluted disc through the belt pulley, the right side of the clamping motor is fixedly connected with the rotating motor, the invention has reasonable design, can remove at any time, degree of automation is high, and the practicality is strong, can effectively solve artifical pre-installation graphite electrode joint inefficiency and the big problem of intensity of labour.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a graphite electrode pre-joint manipulator.
Background
The joints are required to be preassembled before the finished graphite electrode leaves a factory, but because the joints are heavy in weight, the efficiency is low and the labor intensity is high when manual preassembly is adopted, and therefore, the invention of the graphite electrode preassembly joint manipulator is necessary.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a graphite electrode pre-assembly connector manipulator which comprises an outer frame, wherein the outer frame comprises a bottom plate, first electric push rods and an operation panel, the first electric push rods are respectively fixed on four corners of the bottom plate, a bottom frame is embedded on the bottom plate, the first electric push rods are connected with four corners of the top of a lifting frame, the operation panel is installed on one side of the top of the outer frame, a lithium battery is fixedly connected with one side of the lifting frame, the manipulator is connected to the other side of the lifting frame, the manipulator is connected with a turnover mechanism, the turnover mechanism comprises a second electric push rod, a first connecting shaft, a second connecting shaft and a scissor mechanism, a push rod connector is arranged on the second electric push rod, the push rod connector is connected with the second connecting shaft, and the first connecting shaft is arranged on the right side of the second connecting shaft, the first connecting shaft, the second connecting shaft and the shearing fork mechanism are connected through nuts, the bottom of the shearing fork mechanism is connected with the lifting frame, the shearing fork mechanism is connected with the cantilever frame through a thrust ball bearing, the cantilever frame is fixedly connected with the clamping motor, the lower side of the clamping motor is connected with the fluted disc through a belt pulley, and the right side of the clamping motor is fixedly connected with a rotating motor.
Preferably, the scissor mechanism comprises a first rocker arm, a second rocker arm and a third rocker arm, the second rocker arm is X-shaped, one end of the first rocker arm and one end of the third rocker arm are respectively connected with two top ends of the second rocker arm through deep groove ball bearings, the other end of the first rocker arm is connected with the lifting frame, and the other end of the third rocker arm is connected with the clamping motor through a thrust ball bearing.
Preferably, the manipulator includes clamping jaw, slider, tooth claw, fluted disc, belt pulley, axle sleeve, spiral plate, support, presss from both sides tight motor, electrically conducts the sliding ring, the clamping jaw is installed on the tooth claw, be provided with the slider between clamping jaw and the tooth claw, the tooth claw passes through the tooth and detains the setting on the fluted disc, the fluted disc top is passed through the belt pulley and is connected with the tight motor of clamp, be provided with the bearing in the middle of belt pulley and the tight motor of clamp, be provided with the axle sleeve between belt pulley and the bearing, be provided with the spiral plate in the middle of bearing and the tight motor of clamp, it is provided with the support to press from both sides tight motor, be provided with electrically conducts the sliding ring on the support.
Preferably, rubber skin is adhered to the inner side of the clamping jaw.
Preferably, the lower part of the clamping motor is connected with the belt pulley through a belt pulley shaft.
Preferably, the first electric push rod is a column-type electric push rod.
Preferably, the lifting frame is provided with an infrared laser positioning device.
Preferably, the outer frame, the underframe and the lifting frame are all made of a national standard 6060 aluminum alloy material.
Preferably, a ball type universal wheel is installed below the bottom plate of the outer frame.
Preferably, the number of the first electric push rods is 4.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts a manipulator to clamp a connector, then drives a fluted disc to open and close a clamping jaw through a clamping motor, adjusts the current of the motor through an operation panel to adjust the clamping force of the clamping jaw, drives a scissor mechanism to realize 90-degree overturning through a second electric push rod, ensures the accuracy and reliability of 90-degree overturning because the scissor mechanism has a mechanical dead point, realizes the lifting of the device through setting a first electric push rod as a column-type electric push rod, ensures that the whole device can flexibly turn through installing a ball-type universal wheel below a bottom plate of an outer frame, avoids the clamping injury of a graphite electrode connector through adhering rubber skin on the inner side of the clamping jaw, facilitates the specification replacement of a graphite electrode by installing the clamping jaw above a tooth jaw, avoids the winding of a motor wire through installing a conductive slip ring, avoids the winding of the motor wire along with the rotation of the whole device when the whole device rotates, and follows the outer frame, The underframe and the lifting frame are made of a national standard 6060 aluminum alloy material, so that the whole device is not too heavy.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a front view of the canting mechanism of the present invention;
FIG. 5 is a perspective view of the canting mechanism of the present invention;
FIG. 6 is a top view of the canting mechanism of the present invention;
FIG. 7 is an elevational view of the robot of the present invention;
FIG. 8 is a perspective view of the robot of the present invention;
FIG. 9 is a top view of a spiral disk of the present invention;
FIG. 10 is an electrical schematic of the present invention;
in FIGS. 1-9: the device comprises an outer frame 1, a bottom plate 2, a bottom frame 3, a first electric push rod 4, an operation panel 5, a lifting frame 6, a lithium battery 7, a manipulator 8, a clamping jaw 9, a sliding block 10, a tooth claw 11, a tooth buckle 12, a fluted disc 13, a belt pulley 14, a belt pulley shaft 15, a shaft sleeve 16, a spiral disc 17, a support 18, a clamping motor 19, a conductive sliding ring 20, a bearing 21, a turnover mechanism 22, a second electric push rod 23, a push rod connector 24, a first connecting shaft 25, a second connecting shaft 26, a scissor mechanism 27, a first rocker arm 28, a second rocker arm 29, a third rocker arm 30, a deep groove ball bearing 31, a thrust ball bearing 32, a nut 33, a rotating motor 34 and a ball type universal wheel 35
In fig. 10:
a relay: KA1, KA2, KA3, KA4, KA5, KA6, KA7, KA8, KA9, KA10, KA11
A button switch: SB1, SB2, SB3, SB4, SB5, SB6, SB7, SB8
A travel switch: SQ1, SQ2, SQ3
A circuit breaker: QF1
Overcurrent relay: KAI1, KAI2, KAI3, KAI4
A potentiometer: r1
A first electric push rod: m1, M2, M3, M4
A second electric push rod: m5, M6
Clamping a motor: m7
A rotating electric machine: m8
The SB1 button controls the first electric push rod motor to rotate forward (ascend), after the first electric push rod motor ascends to a designated height, SQ1 is closed, and the motor stops rotating
SB2 push-button controlled first electric push-rod motor reverse rotation (descending)
The SB3 button controls the second electric push rod motor to rotate forward (turn over horizontally), SQ2 is closed after reaching the horizontal position, and the motor stops rotating
The SB4 button controls the second electric push rod motor to rotate reversely (turn vertically), the SQ3 is closed after the second electric push rod motor reaches the vertical position, and the motor stops rotating
SB5 button controlled clamping motor positive rotation (clamping)
SB6 Press-button controlled clamping Motor reverse rotation (Release)
SB7 push-button controlled rotating electric machine forward rotation
SB8 push-button controlled rotating electric machine reverse rotation
Potentiometer R1, adjusting clamping motor current (controlling clamping torque)
Overcurrent relay, current limiting protection
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, unless otherwise explicitly stated or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection. 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. 1-10, an embodiment of the present invention is shown: a graphite electrode pre-installation joint manipulator comprises an outer frame 1, wherein the outer frame 1 comprises a bottom plate 2, a first electric push rod 4 and an operation panel 5, the first electric push rod 4 is respectively fixed on four corners of the bottom plate 2, a bottom frame 3 is embedded on the bottom plate 2, the first electric push rod 4 is connected with four corners of the top of a lifting frame 6, the operation panel 5 is installed on one side of the top of the outer frame 1, a lithium battery 7 is fixedly connected with one side of the lifting frame 6, the manipulator 8 is connected with the other side of the lifting frame 6, the manipulator 8 is connected with a turnover mechanism 22, the turnover mechanism 22 comprises a second electric push rod 23, a first connecting shaft 25, a second connecting shaft 26 and a scissor fork mechanism 27, a push rod connector 24 is arranged on the second electric push rod 23, the push rod connector 24 is connected with the second connecting shaft 26, the first connecting shaft 25 is arranged on the right side of the second connecting shaft 26, first connecting axle 25, second connecting axle 26 are connected through nut 33 with scissors mechanism 27, scissors mechanism 27 bottom is connected with crane 6, scissors mechanism 27 is connected with the cantilever beam through thrust ball bearing 32, cantilever beam and clamping motor 19 fixed connection, clamping motor 19 below is connected with fluted disc 13 through belt pulley 14, clamping motor 19 right side fixedly connected with rotating electrical machines 34.
Specifically, the scissor mechanism 27 comprises a first rocker arm 28, a second rocker arm 29 and a third rocker arm 30, the second rocker arm 29 is in an X shape, one end of the first rocker arm 28 and one end of the third rocker arm 30 are respectively connected with two top ends of the second rocker arm 29 through a deep groove ball bearing 31, the other end of the first rocker arm 28 is connected with the lifting frame 6, and the other end of the third rocker arm 30 is connected with the clamping motor 19 through a thrust ball bearing 32.
Specifically, the manipulator 8 includes a clamping jaw 9, a slider 10, a tooth claw 11, a fluted disc 13, a belt pulley 14, a shaft sleeve 16, a spiral disc 17, a support 18, a clamping motor 19 and a conductive sliding ring 20, the clamping jaw 9 is installed on the tooth claw 11, the slider 10 is arranged between the clamping jaw 9 and the tooth claw 11, the tooth claw 11 is arranged on the fluted disc 13 through a tooth buckle 12, the upper portion of the fluted disc 13 is connected with the clamping motor 19 through the belt pulley 14, a bearing 21 is arranged between the belt pulley 14 and the clamping motor 19, the shaft sleeve 16 is arranged between the belt pulley 14 and the bearing 21, the spiral disc 17 is arranged between the bearing 21 and the clamping motor 19, the support 18 is arranged on two sides of the clamping motor 19, and the conductive sliding ring 20 is arranged on the support 18.
Specifically, rubber sheets are adhered to the inner sides of the clamping jaws 9.
Specifically, the lower part of the clamping motor 19 is connected with the belt pulley 14 through a belt pulley shaft 15.
Specifically, the first electric push rod 4 is a column-type electric push rod.
Specifically, the lifting frame 6 is provided with infrared laser positioning.
Specifically, the outer frame 1, the underframe 3 and the lifting frame 6 are all made of a national standard 6060 aluminum alloy material.
Specifically, a ball type universal wheel 35 is mounted below the bottom plate of the outer frame 1.
Specifically, the number of the first electric push rods 4 is 4.
In particular, the method comprises the following steps of,
the above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. A graphite electrode pre-assembly connector manipulator comprises an outer frame and is characterized in that the outer frame comprises a bottom plate, a first electric push rod and an operation panel, the first electric push rod is respectively fixed on four corners of the bottom plate, a bottom frame is embedded on the bottom plate, the first electric push rod is connected with four corners of the top of a lifting frame, the operation panel is installed on one side of the top of the outer frame, a lithium battery is fixedly connected with one side of the lifting frame, the manipulator is connected with the other side of the lifting frame, the turnover mechanism comprises a second electric push rod, a first connecting shaft, a second connecting shaft and a scissor mechanism, a push rod connector is arranged on the second electric push rod and connected with the second connecting shaft, the first connecting shaft is arranged on the right side of the second connecting shaft, the first connecting shaft and the second connecting shaft are connected with the scissor mechanism through nuts, the bottom of the shearing fork mechanism is connected with the lifting frame, the shearing fork mechanism is connected with the cantilever frame through a thrust ball bearing, the cantilever frame is fixedly connected with the clamping motor, the lower part of the clamping motor is connected with the fluted disc through a belt pulley, and the right side of the clamping motor is fixedly connected with a rotating motor.
2. The graphite electrode pre-assembly joint manipulator of claim 1, wherein the scissor mechanism comprises a first rocker arm, a second rocker arm and a third rocker arm, the second rocker arm is X-shaped, one end of the first rocker arm and one end of the third rocker arm are respectively connected with two top ends of the second rocker arm through deep groove ball bearings, the other end of the first rocker arm is connected with the lifting frame, and the other end of the third rocker arm is connected with the clamping motor through a thrust ball bearing.
3. The graphite electrode pre-assembly connector manipulator as claimed in claim 1, wherein the manipulator comprises a clamping jaw, a sliding block, a tooth claw, a tooth disc, a belt pulley, a shaft sleeve, a spiral disc, a support, a clamping motor and a conductive sliding ring, the clamping jaw is mounted on the tooth claw, the sliding block is arranged between the clamping jaw and the tooth claw, the tooth claw is arranged on the tooth disc through a tooth buckle, the upper portion of the tooth disc is connected with the clamping motor through the belt pulley, a bearing is arranged between the belt pulley and the clamping motor, the shaft sleeve is arranged between the belt pulley and the bearing, the spiral disc is arranged between the bearing and the clamping motor, the support is arranged on two sides of the clamping motor, and the conductive sliding ring is arranged on the support.
4. The graphite electrode pre-joint manipulator according to claim 3, wherein rubber sheets are adhered to the inner sides of the clamping jaws.
5. The graphite electrode pre-assembly manipulator of claim 1, wherein the clamping motor is connected with a pulley via a pulley shaft below the clamping motor.
6. The graphite electrode pre-assembly manipulator of claim 1, wherein the first electric push rod is a column electric push rod.
7. The graphite electrode pre-assembly joint manipulator of claim 1, wherein the lifting frame is provided with an infrared laser positioning device.
8. The manipulator of claim 1, wherein the outer frame, the bottom frame and the lifting frame are made of a national standard 6060 aluminum alloy.
9. The manipulator of claim 1, wherein ball type universal wheels are mounted under the bottom plate of the outer frame.
10. The graphite electrode pre-assembly manipulator of claim 1, wherein the number of the first electric push rods is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110656492.XA CN113305860A (en) | 2021-06-11 | 2021-06-11 | Graphite electrode pre-installation joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110656492.XA CN113305860A (en) | 2021-06-11 | 2021-06-11 | Graphite electrode pre-installation joint manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113305860A true CN113305860A (en) | 2021-08-27 |
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ID=77378677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110656492.XA Pending CN113305860A (en) | 2021-06-11 | 2021-06-11 | Graphite electrode pre-installation joint manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113305860A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105107890A (en) * | 2015-09-15 | 2015-12-02 | 许继电气股份有限公司 | Overturning device, feeding device employing overturning device and bending system employing overturning device |
| CN107813332A (en) * | 2017-11-30 | 2018-03-20 | 苏州哈工众志自动化科技有限公司 | A kind of rotating machinery formula fixture matched with robot |
| CN109483582A (en) * | 2018-11-30 | 2019-03-19 | 商丘师范学院 | A kind of forearm is equipped with the robot of mechanical arm assembly |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | Mechanical gripper capable of rotating randomly |
| CN111994842A (en) * | 2020-09-06 | 2020-11-27 | 桂林电子科技大学 | Novel water feeding device |
-
2021
- 2021-06-11 CN CN202110656492.XA patent/CN113305860A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105107890A (en) * | 2015-09-15 | 2015-12-02 | 许继电气股份有限公司 | Overturning device, feeding device employing overturning device and bending system employing overturning device |
| CN107813332A (en) * | 2017-11-30 | 2018-03-20 | 苏州哈工众志自动化科技有限公司 | A kind of rotating machinery formula fixture matched with robot |
| CN109483582A (en) * | 2018-11-30 | 2019-03-19 | 商丘师范学院 | A kind of forearm is equipped with the robot of mechanical arm assembly |
| CN111673786A (en) * | 2020-07-19 | 2020-09-18 | 深圳市华瑞康生物科技有限公司 | Mechanical gripper capable of rotating randomly |
| CN111994842A (en) * | 2020-09-06 | 2020-11-27 | 桂林电子科技大学 | Novel water feeding device |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20210827 |