CN114803467A

CN114803467A - Telescopic claw type material taking device

Info

Publication number: CN114803467A
Application number: CN202210339949.9A
Authority: CN
Inventors: 高峰; 刘博�; 李艳; 郭旭; 韦嘉诚; 全涛; 祁卓越
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2022-07-29

Abstract

The invention provides a telescopic paw type material taking device, which comprises a bearing seat, a fixed connecting rod, a rotating shaft bearing and at least one paw mechanism, wherein the fixed connecting rod is arranged on the bearing seat; two ends of the rotating shaft are connected with a bearing seat on the frame through the rotating shaft bearing; the paw mechanism is fixed on the rotating shaft and synchronously rotates with the rotating shaft; one end of the fixed connecting rod is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the rack. According to the invention, a mechanical device replaces a human hand to finish the taking action of the bar stock, so that the whole device has a compact structure and occupies small space; the gripper can stretch out and draw back by means of motor driving by adopting the parallel design of a four-bar linkage mechanism and a five-bar linkage mechanism; therefore, the five-bar mechanism can also obtain a determined motion track under the combined action of the four-bar mechanism and the motor drive, so that the paw can be stretched; therefore, the device can work smoothly, unnecessary constraint force is avoided, and power is saved.

Description

Telescopic claw type material taking device

Technical Field

The invention belongs to the field of automatic production equipment, and particularly relates to a telescopic gripper taking device.

Background

Elongated rod-shaped materials are common in several industries, such as forging and machining of metal rods in the machine manufacturing industry; in the agricultural field, the straws left after harvesting of a plurality of crops such as wheat, corn and the like are also in a bar shape; bar-like food products, such as noodles, are also common in the field of food processing.

Most barstocks are always kept orderly during actual transportation and use, for example, wheat straws are always uniformly packed into wheat bundles for transportation. In the actual storage and conveying process, the bars are stacked disorderly and disorderly, the bars are not convenient to take, and meanwhile, the bars are easy to slip and collapse, and like the metal bars, the safety of field equipment and workers is easily endangered. Therefore, how to arrange the disordered bars into orderly stacking or conveying in the bar taking process is a key problem, and most of the prior arts adopt manual arrangement.

The manual mode is got the material and is consumed long time, intensity is big, and inefficiency, to the jumbo size, the material that weight is big, can have the potential safety hazard in the material getting process, but this kind of mode can guarantee that the bar of taking out is neat orderly. Therefore, the manual material taking action is simulated, and the device is designed to replace a human hand to grab, so that the orderliness of the bar can be ensured, and the defect of a manual mode can be avoided.

It is noted that this section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.

Disclosure of Invention

The invention aims to provide a telescopic paw fetching device, which uses a mechanical executing mechanism to replace the action of hands to grab bars, reduces the labor intensity and improves the operation safety.

In order to achieve the purpose, the invention adopts the following technical scheme:

the telescopic gripper type material taking device comprises a bearing seat, a fixed connecting rod, a rotating shaft bearing and at least one gripper mechanism;

two ends of the rotating shaft are connected with the bearing seats on the rack through the rotating shaft bearings; the paw mechanism is fixed on the rotating shaft and rotates synchronously with the rotating shaft; one end of the fixed connecting rod is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the rack.

Furthermore, the gripper mechanism comprises an outer flange plate, a fixed eccentric wheel, an eccentric wheel outer ring bearing, an inner flange plate and a gripper assembly;

the outer flange plate is fixed on the rotating shaft and rotates synchronously with the rotating shaft; the fixed eccentric wheel is connected with the frame through the fixed connecting rod, an eccentric hole of the fixed eccentric wheel is connected with the rotating shaft through a bearing, and the inner flange plate is sleeved on the fixed eccentric wheel (9) through an outer ring bearing of the eccentric wheel;

three connecting holes are uniformly distributed on the periphery of the inner flange plate, and three gripper assemblies are respectively arranged on the three connecting holes; the two paw components respectively comprise a hinge rod and paws, one end of the hinge rod is connected with the inner flange plate, and the other end of the hinge rod is connected with the paws; one end of the fixed rod is connected with the inner flange plate, and the other end of the fixed rod is connected with the paw; the three claws are hinged on the outer flange plate through short shafts and flange bearings.

Further, the rotating shafts comprise a plurality of short rotating shafts, and the short rotating shafts are connected through a coupler.

Further, the number of the gripper mechanisms is 3.

Further, the device also comprises a rotating shaft spacer bush; the rotating shaft spacer bush is sleeved on the rotating shaft and is positioned between the outer flange plate and the fixed eccentric wheel.

Furthermore, the flange plate fixing device also comprises a fixing flange plate used for fixing the outer flange plate; the fixed flange plate is sleeved on the rotating shaft and is positioned on the outer side of the outer flange plate.

Further, the locking device also comprises a locking sleeve for fixing the fixed eccentric wheel; the locking sleeve is sleeved on the rotating shaft and located on the outer side of the fixed eccentric wheel.

Furthermore, one end of the fixed connecting rod is fixedly connected with the paw mechanism through a bolt, and the other end of the fixed connecting rod is fixedly connected with the rack through a bolt.

Furthermore, a retainer ring is arranged between the fixed eccentric wheel and the eccentric wheel outer ring bearing.

Further, the rotating shaft is driven by a motor.

The invention has the beneficial effects that:

1) the invention discloses a telescopic paw material taking device, which uses a mechanical device to replace hands to finish taking and taking actions of bars, and has compact structure and small occupied space; the gripper can stretch out and draw back by means of motor driving by adopting the parallel design of a four-bar linkage mechanism and a five-bar linkage mechanism; therefore, the five-bar mechanism can also obtain a determined motion track under the combined action of the four-bar mechanism and the motor drive, so that the paw can be stretched; therefore, the device can work smoothly, unnecessary constraint force is avoided, and power is saved.

2) The invention discloses a telescopic gripper taking device, wherein the connection of a gripper and a connecting rod, the connection of the gripper and an outer flange plate, and the connection of a hinged connecting rod and an inner flange plate are realized through a connecting rod shaft, a flange bearing, a shaft sleeve and a snap spring, so that the axial fixation of a component is ensured while the relative movement is ensured, and the condition that parts fall off is avoided.

3) The invention discloses a telescopic gripper material taking device which is mechanized compared with the traditional manual material taking operation, reduces the labor intensity of workers and greatly improves the working efficiency; the intermittent action of human hands is replaced, so that the taken bar stock can be ensured to be in an orderly state; the safety problem that probably brought when the bar topples over when having solved artifical during operation, guarantee security, the reliability of work.

4) The invention discloses a telescopic gripper taking device, which can realize quantitative grabbing by reasonably controlling the rotating speed, can effectively ensure the production rhythm, has simple structure and strong functionality compared with other mechanical grabbing devices, can be applied to various industries (agriculture, machining industry and food processing industry), and has wide prospect.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the gripper mechanism of the present invention;

FIG. 3 is a side view of the gripper mechanism of the present invention;

FIG. 4 is a cross-sectional view of the jaw articulation position of the gripper mechanism of the present invention;

FIG. 5 is a first operating condition of the gripper mechanism of the present invention;

FIG. 6 is a second operational state view of the gripper mechanism of the present invention;

FIG. 7 is a third operating condition of the gripper mechanism of the present invention

Figure 8 is a fourth operating condition of the gripper mechanism of the present invention.

In the figure, 1, a bearing seat; 2. fixing the connecting rod; 3. a coupling; 4. a rotating shaft; 5. a rotating shaft bearing; 6. an outer flange plate; 7. fixing the rod; 8. a paw; 9. fixing an eccentric wheel; 10. an eccentric wheel outer ring bearing; 11. a retainer ring; 12. an inner flange plate; 13. a hinged lever; 14. fixing a flange plate; 15. a rotating shaft spacer bush; 16. a locking sleeve; 17. a minor axis; 18. and (4) a flange bearing.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features or characteristics may be combined in any suitable manner in one or more embodiments.

The invention is described in detail with reference to the accompanying drawings, and the specific steps are as follows:

fig. 1 is an overall schematic diagram of a retractable gripper type material taking device, which is provided with three sets of gripper mechanisms, and a common rotating shaft 4 of the gripper mechanisms is connected together through a coupling 3 and can rotate synchronously. And two ends of the connected rotating shaft are provided with rotating shaft bearings 5 which are fixed on a rack in a working area through bearing blocks 1. One end of the fixed connecting rod 2 is connected with a fixed eccentric wheel 9 of the paw mechanism through a bolt, and the other end of the fixed connecting rod is connected with a fixed frame in a working area through a bolt, so that the fixed eccentric wheel is fixed all the time in the working process. When the device works, the motor drives the rotating shaft 4 to rotate, the paw mechanisms connected in parallel on the rotating shaft synchronously act, and the paws stretch simultaneously, so that the taken-out bars can be ensured to be smooth and orderly.

As shown in fig. 2, which is a schematic structural diagram of the gripper mechanism of the present invention, and fig. 3, which is a side view of the gripper mechanism of the present invention, the outer flange 6 is fixedly connected to the rotating shaft 4 through the fixed flange 14, and rotates synchronously with the rotating shaft, the periphery of the outer flange 6 is hinged to the three grippers 8 through the short shaft 17 and the flange bearing 18, the fixed eccentric wheel 9 is connected to the frame through the fixed connecting rod 2, and a bearing is installed between the eccentric hole and the rotating shaft, so that the fixed eccentric wheel and the rotating shaft can rotate relatively. The three gripper components comprise a first gripper component 8.1, a second gripper component 8.2 and a third gripper component 8.3, respectively. The inner flange 12 is sleeved on the fixed eccentric wheel 9, an eccentric wheel outer ring bearing 10 is arranged between the fixed eccentric wheel 9 and can rotate relatively, and a retainer ring 11 is arranged between the fixed eccentric wheel 9 and the eccentric wheel outer ring bearing 10. Three connecting holes are uniformly distributed on the periphery of the inner flange 12 and are respectively connected with a fixed rod 7 and two hinged rods 13. The fixed connecting rod 7 is fixedly connected with a connecting hole of the inner flange 12 through a bolt, and the hinge rod 13 is hinged with the connecting hole of the inner flange 12 through a short shaft 17 and a flange bearing 18 and can rotate relative to the inner flange 12; the other ends of the three connecting rods are correspondingly hinged to the claws 8 on the outer flange 6. The rotating shaft spacer bush 15 is sleeved on the rotating shaft 4 and is positioned between the outer flange 6 and the fixed eccentric wheel 9; the locking sleeve 16 is sleeved on the rotating shaft 4 and is positioned outside the fixed eccentric wheel 9.

When the wheel shaft rotating device works, the wheel shaft 4 is driven by the motor to rotate, the outer flange 6 fixed on the wheel shaft 4 also rotates along with the wheel shaft, the claw 8 on the wheel shaft is driven to rotate around the central shaft, and the claw 8 is connected with the inner flange 12 through the fixed rod 7 and the hinged rod 13. When the paw 8 rotates to the position closest to the fixed eccentric wheel 9 along with the outer flange 6, the paw 8 extends to the maximum stroke under the drive of the connecting rod; similarly, when the paw 8 rotates to the farthest position away from the fixed eccentric wheel 9 along with the outer flange 6, the paw 8 is retracted to the innermost end under the driving of the connecting rod. The contraction process simulates the grabbing process of a human hand.

As shown in fig. 5-8, the fixed end finger is shown as an example, and in the position of fig. 5, the finger is about to extend beyond the outer flange; when the device is rotated to the position shown in figure 6, the paw extends out of the outer flange plate to start grabbing the bar stock; when the working state is as shown in the position of fig. 7, the paw extends to the farthest position to reach the set bar material taking amount, and simultaneously, under the combined action of the three groups of grabbing parts, disordered bar materials are gradually parallel to the rotating shaft in the grabbing process, so that the ordered arrangement of the bar materials is realized; when the device is turned to the position of figure 8, the gripper begins to retract gradually into the outer flange, whereupon the bar begins to disengage from the device, either to the working position or onto the conveyor.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. The utility model provides a scalable hand claw formula extracting device which characterized in that: the device comprises a bearing seat (1), a fixed connecting rod (2), a rotating shaft (4), a rotating shaft bearing (5) and at least one gripper mechanism;

two ends of the rotating shaft (4) are connected with the bearing seat (1) on the rack through the rotating shaft bearing (5); the paw mechanism is fixed on the rotating shaft (4) and synchronously rotates with the rotating shaft (4); one end of the fixed connecting rod (2) is fixedly connected with the paw mechanism, and the other end of the fixed connecting rod is fixedly connected with the rack.

2. The retractable gripper reclaiming device as set forth in claim 1, wherein: the gripper mechanism comprises an outer flange plate (6), a fixed eccentric wheel (9), an eccentric wheel outer ring bearing (10), an inner flange plate (12) and a gripper assembly;

the outer flange plate (6) is fixed on the rotating shaft (4) and rotates synchronously with the rotating shaft (4); the fixed eccentric wheel (9) is connected with the frame through the fixed connecting rod (2), an eccentric hole of the fixed eccentric wheel (9) is connected with the rotating shaft (4) through a bearing, and the inner flange (12) is sleeved on the fixed eccentric wheel (9) through an eccentric wheel outer ring bearing (10);

three connecting holes are uniformly distributed on the periphery of the inner flange plate (12), and three gripper components are respectively arranged on the three connecting holes; the two paw components respectively comprise a hinged rod (13) and a paw (8), one end of the hinged rod (13) is connected with the inner flange (12), and the other end of the hinged rod is connected with the paw (8); the gripper assembly comprises a fixed rod (7) and a gripper (8), one end of the fixed rod (7) is connected with the inner flange plate (12), and the other end of the fixed rod is connected with the gripper (8); the three claws (8) are hinged on the outer flange plate (6) through short shafts (17) and flange bearings (18).

3. The retractable gripper reclaiming device as set forth in claim 2, wherein: the rotating shaft (4) comprises a plurality of short rotating shafts, and the short rotating shafts are connected through a coupler (3).

4. The retractable gripper reclaiming device as set forth in claim 3, wherein: the number of the paw mechanisms is 3.

5. The retractable gripper reclaiming device as set forth in any one of claims 1 to 4, wherein: also comprises a rotating shaft spacer bush (15); the rotating shaft spacer bush (15) is sleeved on the rotating shaft (4) and is positioned between the outer flange plate (6) and the fixed eccentric wheel (9).

6. The retractable gripper reclaiming device as set forth in claim 5, wherein: the flange plate also comprises a fixed flange plate (14) used for fixing the outer flange plate (6); the fixed flange plate (14) is sleeved on the rotating shaft (4) and is positioned on the outer side of the outer flange plate (6).

7. The retractable gripper reclaiming device as set forth in claim 6, wherein: the locking device also comprises a locking sleeve (16) used for fixing the fixed eccentric wheel (9); the locking sleeve (16) is sleeved on the rotating shaft (4) and is positioned on the outer side of the fixed eccentric wheel (9).

8. The retractable gripper reclaiming device as set forth in claim 7, wherein: one end of the fixed connecting rod (2) is fixedly connected with the paw mechanism through a bolt, and the other end of the fixed connecting rod is fixedly connected with the rack through a bolt.

9. The retractable gripper reclaiming device as set forth in claim 8, wherein: and a retainer ring (11) is arranged between the fixed eccentric wheel (9) and the eccentric wheel outer ring bearing (10).

10. The retractable gripper reclaiming device as set forth in claim 9, wherein: the rotating shaft (4) is driven by a motor.