CN114888839A - Automatic clamping mechanical arm and clamping method - Google Patents
Automatic clamping mechanical arm and clamping method Download PDFInfo
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- CN114888839A CN114888839A CN202210759618.0A CN202210759618A CN114888839A CN 114888839 A CN114888839 A CN 114888839A CN 202210759618 A CN202210759618 A CN 202210759618A CN 114888839 A CN114888839 A CN 114888839A
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- 238000000429 assembly Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 3
- 238000005266 casting Methods 0.000 description 14
- 238000003723 Smelting Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
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- 238000010894 electron beam technology Methods 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
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- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- GUCVJGMIXFAOAE-UHFFFAOYSA-N niobium atom Chemical compound [Nb] GUCVJGMIXFAOAE-UHFFFAOYSA-N 0.000 description 1
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- 229910052726 zirconium Inorganic materials 0.000 description 1
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
- B22D29/04—Handling or stripping castings or ingots
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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
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
- C22B9/00—General processes of refining or remelting of metals; Apparatus for electroslag or arc remelting of metals
- C22B9/16—Remelting metals
- C22B9/22—Remelting metals with heating by wave energy or particle radiation
- C22B9/228—Remelting metals with heating by wave energy or particle radiation by particle radiation, e.g. electron beams
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Organic Chemistry (AREA)
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- Manipulator (AREA)
Abstract
The invention provides an automatic clamping mechanical arm and a clamping method, wherein the automatic clamping mechanical arm comprises a fixed cylinder, at least two clamping components are arranged in the circumferential direction of the fixed cylinder, each clamping component comprises a driving arm and a clamping plate arranged at one end of the driving arm, and a transmission gear structure is arranged at the side part of the driving arm; the driving arm is connected with a driving piece in a transmission mode, the driving piece is in transmission connection with the transmission gear structure gear to drive the driving arm, and the clamping plate is driven to clamp and fix the clamping object. The invention utilizes the gear transmission to drive the driving arm to move, adopts a straight gear transmission mode, has large transmission load and large tail end clamping force, and ensures the stable position and the stable clamping force of the object to be clamped.
Description
Technical Field
The invention belongs to the technical field of ingot transportation, and relates to an automatic clamping mechanical arm and a clamping method.
Background
An electron beam smelting furnace is a vacuum smelting device, and utilizes the huge kinetic energy of electron beams accelerated by an electric field to impact a metal furnace charge, so that the kinetic energy is converted into heat energy to smelt the metal, an electron beam gun is a high-temperature heat source, and the temperature of a beam spot can even exceed the melting temperature and the evaporation temperature of all metals, so that the process is mainly used for producing refractory materials, active metals (tantalum, niobium, molybdenum, tungsten, vanadium, hafnium, zirconium and titanium) and alloys thereof.
The electron beam smelting furnace is used for casting refractory metal, can divide into and smelt for the first time and smelt for the second time, all need draw out the ingot casting from the ingot chamber after smelting at every turn, there is certain difficulty in the clamp of circular ingot casting and the transport, circular ingot casting can roll and drop even and cause the dangerous accident in the handling, so the lifting device need closely laminate, press from both sides and get the ingot casting, the ingot casting diameter after twice smelting in addition is different, and the ingot casting diameter of production all has certain deviation at every turn, so the ingot casting after will cooling is carried out and is needed the clamp of an adjustable diameter to get the device.
Approximate scheme has two kinds of structures at present, one kind is that the arm is got to pincerlike clamp, the device structure mainly comprises a pair of large-scale pincers that snatch, through the link mechanism transmission, make the pincers open and shut and be used for getting the ingot casting, the device structure is complicated, it is big to occupy the space, the problem that the transport wastes time and is inflexible, though the fast convenient of clamping, but there are certain danger and potential safety hazard, when the pincerlike arm is got, only two points with the ingot casting contact point, the ingot casting rocks and the unstable condition appears in the handling easily, the power of getting in addition is not enough to rub the power little, can cause the danger that the ingot casting drops. Another kind of device adds 6 groups of bolts by a major diameter cask and constitutes, at cask side processing screw hole, evenly twist 6 groups of bolts soon around the ladle body, revolve wrong 6 groups of bolts simultaneously, just so can fix the ingot casting and carry, the device advantage is in simple structure, the power of clamping satisfies the demands, but there is the problem that wastes time and energy, totally 6 groups of 12 bolts, it is very troublesome to need the manual deswirl, and can't guarantee 6 groups of bolts and precess simultaneously, can cause the ingot casting not at the device center like this, cause eccentric problem, the bolt atress is uneven, there is the dangerous condition of tantalum ingot landing.
CN213165419U discloses based on automatic clamping device of cylindric product centre gripping transportation, including the bracing piece, the first protective housing of one side fixed connection of bracing piece, and the top of first protective housing has seted up spacing hole, first protective housing's inside is provided with first conflict switch, first protective housing's inside is provided with supporting spring rod, and supporting spring rod keeps away from first protective housing's one end fixedly connected with chuck to the inside of chuck is provided with the rubber pad. The utility model discloses a through being provided with spacing hole and lower spacing hole, can let the device's top and bottom also carry out the centre gripping to article when the cylindric article of chuck centre gripping, can cover the surface of article in the centre gripping through being provided with first protecting sheathing and second protecting sheathing, increase the integrality on the in-process surface of transportation of article, improve the security of transportation centre gripping in-process.
CN206105671U discloses a tooling fixture for columnar parts, which comprises a supporting leg and a supporting leg sleeve arranged on the supporting leg, wherein a moving groove is formed in the inner side of the supporting leg, a mounting plate is arranged in the moving groove together, a roller is fixedly arranged on the lower side of the mounting plate, a supporting column is fixedly arranged in the middle of the upper side of the mounting plate, a threaded hole is formed in the upper side of the supporting column, a first screw is connected with the inner thread of the threaded hole, the top end of the first screw is rotatably connected with the lower side of the supporting sleeve, a first bevel gear is fixedly arranged on the first screw, a second bevel gear is meshed with one side of the first bevel gear, the right end of the second bevel gear is connected with a rotating rod, and the right end of the rotating rod is connected with a motor; and a clamping device is arranged in the radial direction of the supporting sleeve. The beneficial effects of the utility model are that can carry out effectual centre gripping to the part, and can also realize the convenient removal of anchor clamps, its adaptability is stronger.
Therefore, how to provide an ingot clamping mechanical arm, improve centre gripping stability and centre gripping conveying efficiency becomes the technical problem that at present needs the solution urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic clamping mechanical arm and a clamping method, wherein a driving arm is driven to move by gear transmission, a straight gear transmission mode is adopted, the transmission load is large, the tail end clamping force is large, the position stability and the clamping force stability of a clamped object are ensured, and the automatic clamping mechanical arm has the characteristics of simple structure, convenience in clamping, fixation, high clamping stability and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides an automatic clamping mechanical arm, which comprises a fixed cylinder, wherein at least two clamping assemblies are arranged in the circumferential direction of the fixed cylinder, each clamping assembly comprises a driving arm and a clamping plate arranged at one end of the driving arm, and a transmission gear structure is arranged at the side part of the driving arm; the driving arm is connected with a driving piece in a transmission mode, the driving piece is in transmission connection with the transmission gear structure gear to drive the driving arm, and the clamping plate is driven to clamp and fix the clamping object.
According to the invention, the transmission gear structure is arranged on the driving arm, and the driving part is used for gear driving transmission, so that a straight gear rotating mode is utilized, the transmission ratio is large, the transmitted torque is large, the transmission load is large, the tail end clamping force is sufficient, and the requirement on the friction force between the clamping plate and the clamping object is effectively met. The clamping mechanism solves the problems that the existing pincerlike clamping mechanical arm is complex in structure, unstable in clamping and prone to sliding off due to ingot shaking in the carrying process, and meanwhile solves the problems that a method for fixing the ingot by using bolts wastes time and labor and an eccentric clamping structure is uneven in stress, and has the advantages of being simple in structure, accurate and stable in clamping and the like.
It should be noted that the structure and driving manner of the driving member are not specifically required or limited, and the driving gear can be driven to rotate, for example, the driving member may be a motor, a driving gear is fixedly disposed at a rotation output portion of the motor, the motor drives the driving gear to rotate, and further, the driving gear and the transmission gear structure are engaged to drive the driving arm to move.
It should be noted that the structure of the clamping plate is not specifically required and limited, and those skilled in the art can reasonably select the structure according to actual operation, for example, the structure of the clamping contact surface of the clamping plate is matched with the clamping object, so as to increase the clamping contact area and ensure the friction force, so that the clamping plate can be further detachably arranged on the driving arm to adapt to different shapes of the clamping object, and in addition, the structure or material layer for increasing the friction force can be additionally arranged on the clamping contact surface to ensure the friction force between the clamping plate and the clamping object.
As a preferred technical solution of the present invention, a portion of the driving arm, where the driving gear structure is provided, is in a sector shape, and the driving gear structure is provided along an arc-shaped edge of the sector shape.
According to the invention, the main body of the driving arm positioned at the transmission gear structure part is in a fan shape, so that when the driving arm is in transmission connection with the gear of the driving part, the driving arm moves along the arc edge of the fan shape, namely, the clamping plate not only applies pressing force in the horizontal direction to a clamped object, but also provides lifting force in the vertical direction of the clamped object in the clamping and fixing process.
Preferably, the driving member is in transmission connection with the transmission tooth structure through at least one transmission tooth.
As a preferred technical solution of the present invention, the fixed cylinder is provided with a through hole, and one side of the driving arm having the clamping plate passes through the through hole and enters the inside of the fixed cylinder.
Preferably, the clamping assembly comprises a support frame arranged on the fixed cylinder, and the driving piece and the transmission teeth are arranged on the support frame.
Preferably, the fan-shaped driving arm is provided with a rotating hole at the position of the circle center, the support frame is provided with a rotating shaft, the rotating shaft penetrates through the rotating hole, and the fan-shaped driving arm is rotatably arranged on the support frame around the position of the circle center.
As a preferable technical scheme of the invention, the driving piece is provided with a rotation number sensor, and the rotation number sensor is used for detecting the rotation number of the driving piece.
Preferably, a pressure sensor is arranged on one side of the clamping plate close to the object to be clamped.
The clamping device is provided with the rotating circle number sensor, so that the rotating circle numbers of the driving pieces are detected in real time, whether the rotating circle numbers of the driving pieces are consistent or not is observed, namely whether the displacement numerical values of the driving arms are consistent or not is observed, the auxiliary detection is further carried out by matching with the pressure sensor, the clamping degree of each clamping plate to a clamped object is ensured, and further whether the clamping assembly is overhauled or not is assisted and prompted.
As a preferred technical scheme of the invention, the automatic clamping mechanical arm further comprises a controller, the controller is respectively and independently electrically connected with the driving part, the rotation number sensor and the pressure sensor in the clamping assembly, and the controller is used for receiving detection signals of the rotation number sensor and the pressure sensor and controlling the rotation of the driving part in a feedback manner.
It should be noted that the controller in the present invention can control the rotation of each driving member, for example, the same rotation time point, the same number of rotation turns, and the same rotation duration of the driving members can be realized, that is, the displacement consistency of the driving arms can be ensured, or one driving member can be independently controlled to rotate independently to adapt to the adjustment of different structural shapes or poor consistency of the driving members.
The controller controls the driving pieces to be started simultaneously, the displacement of each driving arm can be effectively guaranteed to be equal, the structure with high concentricity is uniformly stressed for clamping objects with a columnar structure, the problem of eccentricity in the clamping process is effectively avoided, the clamping is convenient and fast, and the working efficiency is greatly improved.
As a preferred technical solution of the present invention, a lifting lug is disposed at the top of the fixed cylinder, and the lifting lug is used for connecting a lifter.
Preferably, a positioner is arranged on the lifting lug and used for positioning the centroid of the object to be clamped.
As a preferred technical solution of the present invention, the positioner includes a horizontal positioning component for positioning a positioning point where the centroid of the object to be inspected is located in the horizontal direction, and a vertical positioning component for positioning a positioning point where the centroid of the object to be inspected is located in the vertical direction.
Preferably, the horizontal positioning assembly comprises a horizontal positioning sensor arranged on the lifting lug and a horizontal positioning marker arranged on the upper surface of the clamping object.
Preferably, the vertical positioning assembly comprises a vertical positioning sensor arranged in the fixed cylinder and a vertical positioning marker arranged on the side surface of the clamping object.
According to the invention, the centroid of the clamped object is positioned by arranging the positioner, so that the clamping stability of the clamped object is enhanced and ensured. Further, according to the appearance of pressing from both sides the thing, confirm to press from both sides the centroid position of getting the thing to press from both sides the top and the lateral part of getting the thing and set up horizontal positioning marker and vertical location marker respectively, utilize positioning sensor to realize the location of two directions, thereby press from both sides the in-process of getting, can guarantee to press from both sides to get the thing and press from both sides the centroid position of getting the fixed position and for pressing from both sides the thing, effectively avoid eccentric problem to take place, thereby effectively improve the stability of transportation.
As a preferred technical scheme of the invention, the clamping assemblies are uniformly distributed along the circumferential direction of the fixed cylinder;
preferably, the clamping assemblies are arranged at the same height of the fixed cylinder.
In a second aspect, the invention provides a method for clamping an ingot, wherein the method for clamping the ingot adopts the automatic clamping mechanical arm in the first aspect, and the method for clamping the ingot comprises the following steps:
the periphery of article is located to the clamp by the solid fixed cylinder cover, and the driving piece passes through the driving gear structure meshing drive of gear and actuating arm, and the actuating arm drives the grip block and presss from both sides the fastening and presss from both sides the thing of getting.
As a preferred technical scheme of the present invention, the gripping method specifically comprises the following steps:
the fixed cylinder is sleeved on the periphery of the object to be clamped, the driving piece is meshed with a transmission gear structure of the driving arm through the gear and driven, the part of the driving arm provided with the transmission gear structure is fan-shaped, the driving arm drives the clamping plate to move, the driving arm moves along the fan-shaped arc edge, the clamping plate clamps the object to be clamped in the horizontal direction, and the clamping plate supports the object to be clamped in the vertical direction;
the positioner confirms the centroid position of pressing from both sides the thing, and the controller regulates and control grip block to the pressfitting power of pressing from both sides the thing, and the lifter mentions the lug, and the clamp is got the removal and is pressed from both sides the thing, removes the back that targets in place, and the driving piece drives the actuating arm and removes the clamp of getting to the thing of pressing from both sides, accomplishes the uninstallation.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the transmission gear structure is arranged on the driving arm, and the driving part is used for gear driving transmission, so that a straight gear rotating mode is utilized, the transmission ratio is large, the transmitted torque is large, the transmission load is large, the tail end clamping force is sufficient, and the requirement on the friction force between the clamping plate and the clamping object is effectively ensured; the clamping mechanism solves the problems that the existing pincerlike clamping mechanical arm is complex in structure, unstable in clamping and prone to sliding off due to ingot shaking in the carrying process, and meanwhile solves the problems that a method for fixing the ingot by using bolts wastes time and labor and an eccentric clamping structure is uneven in stress, and has the advantages of being simple in structure, accurate and stable in clamping and the like.
Drawings
Fig. 1 is a schematic structural diagram of an automatic clamping mechanical arm according to an embodiment of the present invention.
Wherein, 1-a fixed cylinder; 2-a drive arm; 3-clamping the plate; 4-a gear structure; 5-a driving member; 6-a support frame; 7-lifting lug.
Detailed Description
It is to be understood that in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and 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 taken as limiting the present invention.
It should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solution of the present invention is further explained by the following embodiments.
In a specific embodiment, the invention provides an automatic clamping mechanical arm, as shown in fig. 1, the automatic clamping mechanical arm comprises a fixed cylinder 1, at least two clamping assemblies are arranged on the circumference of the fixed cylinder 1, each clamping assembly comprises a driving arm 2 and a clamping plate 3 arranged at one end of the driving arm 2, and a transmission gear structure 4 is arranged on the side of the driving arm 2; the driving arm 2 is connected with a driving piece 5 in a transmission mode, the driving piece 5 is connected with the transmission gear structure 4 in a gear transmission mode to drive the driving arm 2 and drive the clamping plate 3 to clamp and fix the clamping object.
Specifically, the driving member 5 may be an electric motor, a driving gear is fixedly disposed on a rotation output portion of the electric motor, the electric motor drives the driving gear to rotate, and further, the driving gear is engaged with the transmission gear structure 4 to drive the driving arm 2 to move.
Specifically, the centre gripping contact surface structure of grip block 3 matches with the clamp thing of getting to improve centre gripping area of contact, guarantee frictional force, so grip block 3 can further dismantle to set up on actuating arm 2, in order to adapt to the difference and press from both sides the thing appearance of getting, in addition, the centre gripping contact surface still can add the structure or the material layer that improve friction, guarantees grip block 3 and presss from both sides the frictional force between the thing.
Specifically, the part of the driving arm 2 provided with the transmission gear structure 4 is fan-shaped, the transmission gear structure 4 is arranged along the arc-shaped edge of the fan, and the driving member 5 is in transmission connection with the transmission gear structure 4 through at least one transmission gear. According to the invention, the main body of the driving arm 2 at the transmission gear structure 4 part is in a fan shape, so that when the driving arm 2 is in transmission connection with the gear of the driving part 5, the driving arm 2 moves along the arc-shaped edge of the fan shape, namely, the clamping plate 3 not only applies pressing force in the horizontal direction to the clamped object, but also provides lifting force in the vertical direction of the clamped object in the clamping and fixing process.
Specifically, a through hole is formed in the fixed cylinder 1, and one side of the driving arm 2, which is provided with the clamping plate 3, penetrates through the through hole and enters the inside of the fixed cylinder 1. Further, the clamping assembly comprises a support frame 6 arranged on the fixed cylinder 1, and the driving piece 5 and the transmission teeth are arranged on the support frame 6. The fan-shaped driving arm 2 is provided with a rotating hole at the position of the circle center, the support frame 6 is provided with a rotating shaft, the rotating shaft penetrates through the rotating hole, and the fan-shaped driving arm 2 is rotatably arranged on the support frame 6 around the position of the circle center.
Specifically, be provided with the number of turns sensor on driving piece 5, the number of turns sensor is used for detecting the number of turns of driving piece 5. One side of the clamping plate 3 close to the object to be clamped is provided with a pressure sensor.
According to the invention, the rotation number sensors are arranged to detect the rotation number of the driving parts 5 in real time, and observe whether the rotation number of each driving part 5 is consistent, namely whether the displacement numerical values of each driving arm 2 are consistent, so that the auxiliary detection is further carried out by matching with the pressure sensors, the clamping degree of each clamping plate 3 to a clamped object is ensured, and further the auxiliary prompt is carried out to judge whether the clamping assembly is overhauled or not.
Specifically, the automatic clamping mechanical arm further comprises a controller, the controller is respectively and independently electrically connected with the driving part 5, the rotation number sensor and the pressure sensor in the clamping assembly, and the controller is used for receiving detection signals of the rotation number sensor and the pressure sensor and controlling the rotation of the driving part 5 in a feedback mode.
Specifically, the top of the fixed cylinder 1 is provided with a lifting lug 7, the lifting lug 7 is used for connecting a lifter, and further, the lifting lug 7 is provided with a positioner, and the positioner is used for positioning the centroid of the clamped object. Furthermore, the positioner comprises a horizontal positioning component and a vertical positioning component, wherein the horizontal positioning component is used for positioning the positioning point of the object shape center of the detection clamp in the horizontal direction, and the vertical positioning component is used for positioning the positioning point of the object shape center of the detection clamp in the vertical direction. The horizontal positioning assembly comprises a horizontal positioning sensor arranged on the lifting lug 7 and a horizontal positioning marker arranged on the upper surface of the clamping object. The vertical positioning assembly comprises a vertical positioning sensor arranged in the fixed cylinder 1 and a vertical positioning marker arranged on the side surface of the clamping object. Optionally, the positioning sensor is a laser transmitter, the positioning marker is a laser receiver, and whether the clamping object is at the required position is determined by transmitting and receiving laser.
According to the invention, the centroid of the clamped object is positioned by arranging the positioner, so that the clamping stability of the clamped object is enhanced and ensured. Further, according to the appearance of pressing from both sides the thing, confirm to press from both sides the centroid position of getting the thing to press from both sides the top and the lateral part of getting the thing and set up horizontal positioning marker and vertical location marker respectively, utilize positioning sensor to realize the location of two directions, thereby press from both sides the in-process of getting, can guarantee to press from both sides to get the thing and press from both sides the centroid position of getting the fixed position and for pressing from both sides the thing, effectively avoid eccentric problem to take place, thereby effectively improve the stability of transportation.
Specifically, the clamping assemblies are uniformly distributed along the circumferential direction of the fixed cylinder 1; further, the clamping assemblies are arranged at the same height of the fixed cylinder 1.
In another specific embodiment, the invention provides a method for clamping an ingot, wherein the method for clamping the ingot adopts the automatic clamping mechanical arm, and the method for clamping the ingot comprises the following steps:
the periphery of article is located to the clamp by the 1 cover of solid fixed cylinder, and driving piece 5 passes through the gear and drives with 4 meshing of driving arm 2's driving gear structure, and driving arm 2 drives grip block 3 and presss from both sides tight fixation clamp and gets the article.
Specifically, the clamping method specifically comprises the following steps:
the fixed cylinder 1 is sleeved on the periphery of the object to be clamped, the driving piece 5 is meshed with the transmission gear structure 4 of the driving arm 2 through a gear to drive, the part of the driving arm 2 provided with the transmission gear structure 4 is fan-shaped, the driving arm 2 drives the clamping plate 3 to move, the driving arm 2 moves along the arc-shaped edge, and the clamping plate 3 clamps the object to be clamped in the horizontal direction and supports the object to be clamped in the vertical direction;
the shape center position of thing is got to the anchor clamps definite clamp, and 3 pressfitting power to the thing is got to the clamp of controller regulation and control grip block, and the lug 7 is mentioned to the raiser, and the clamp is got the removal and is pressed from both sides and get the thing, removes the back that targets in place, and driving piece 5 drives actuating arm 2 and removes the clamp of cancellation to the thing of getting of clamp and gets, accomplishes the uninstallation.
According to a specific embodiment, the transmission gear structure 4 is arranged on the driving arm 2, and the driving piece 5 is used for gear driving transmission, so that a straight gear rotating mode is utilized, the transmission ratio is large, the transmitted torque is large, the transmission load is large, the tail end clamping force is sufficient, and the requirement on the friction force between the clamping plate 3 and a clamped object is effectively met; in addition, the displacement that driving piece 5 simultaneous drive can effectively guarantee each actuating arm 2 equals, gets the thing to the clamp of columnar structure, and the high structure atress of concentricity is even, effectively avoids pressing from both sides the eccentric problem of process and takes place to clamping convenient and fast improves work efficiency greatly. The clamping mechanism solves the problems that the existing pincerlike clamping mechanical arm is complex in structure, unstable in clamping and prone to sliding off due to ingot shaking in the carrying process, and meanwhile solves the problems that a method for fixing the ingot by using bolts wastes time and labor and an eccentric clamping structure is uneven in stress, and has the advantages of being simple in structure, accurate and stable in clamping and the like.
The applicant declares that the above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are within the scope and disclosure of the present invention.
Claims (10)
1. The automatic clamping mechanical arm is characterized by comprising a fixed cylinder, at least two clamping assemblies are arranged on the circumference of the fixed cylinder, each clamping assembly comprises a driving arm and a clamping plate arranged at one end of the driving arm, and a transmission tooth structure is arranged on the side part of the driving arm;
the driving arm is connected with a driving piece in a transmission mode, the driving piece is in transmission connection with the transmission gear structure gear to drive the driving arm, and the clamping plate is driven to clamp and fix the clamping object.
2. The automatic clamping mechanical arm according to claim 1, wherein the part of the driving arm provided with the transmission gear structure is in a fan shape, and the transmission gear structure is arranged along the arc-shaped edge of the fan shape;
preferably, the driving member is in driving connection with the driving tooth structure through at least one driving tooth.
3. The automatic clamping mechanical arm according to claim 2, wherein a through hole is formed in the fixed cylinder, and one side of the driving arm, which is provided with the clamping plate, penetrates through the through hole and enters the inside of the fixed cylinder;
preferably, the clamping assembly comprises a support frame arranged on the fixed cylinder, and the driving piece and the transmission gear are both arranged on the support frame;
preferably, the fan-shaped driving arm is provided with a rotating hole at the position of the circle center, the support frame is provided with a rotating shaft, the rotating shaft penetrates through the rotating hole, and the fan-shaped driving arm is rotatably arranged on the support frame around the position of the circle center.
4. The automatic clamping mechanical arm according to any one of claims 1 to 3, wherein a rotation number sensor is arranged on the driving piece and used for detecting the rotation number of the driving piece;
preferably, a pressure sensor is arranged on one side of the clamping plate close to the object to be clamped.
5. The automatic clamping mechanical arm according to claim 4, further comprising a controller, wherein the controller is respectively and independently electrically connected with the driving member, the rotation number sensor and the pressure sensor in the clamping assembly;
the controller is used for receiving detection signals of the rotation number sensor and the pressure sensor and controlling the rotation of the driving piece in a feedback mode.
6. The automatic clamping mechanical arm according to any one of claims 1 to 5, wherein a lifting lug is arranged at the top of the fixed cylinder and used for being connected with a lifter;
preferably, a positioner is arranged on the lifting lug and used for positioning the centroid of the object to be clamped.
7. The automatic clamping mechanical arm according to claim 6, wherein the positioner comprises a horizontal positioning component and a vertical positioning component, the horizontal positioning component is used for positioning a positioning point of the centroid of the object to be detected in the horizontal direction, and the vertical positioning component is used for positioning a positioning point of the centroid of the object to be detected in the vertical direction;
preferably, the horizontal positioning assembly comprises a horizontal positioning sensor arranged on the lifting lug and a horizontal positioning marker arranged on the upper surface of the clamping object;
preferably, the vertical positioning assembly comprises a vertical positioning sensor arranged in the fixed cylinder and a vertical positioning marker arranged on the side surface of the clamping object.
8. The automatic clamping mechanical arm according to any one of claims 1 to 7, wherein the clamping assemblies are uniformly arranged along the circumferential direction of the fixed cylinder;
preferably, the clamping assemblies are arranged at the same height of the fixed cylinder.
9. A clamping method of an ingot, which is characterized in that the clamping method adopts the automatic clamping mechanical arm of any one of claims 1 to 8, and the clamping method comprises the following steps:
the periphery of article is located to the clamp by the solid fixed cylinder cover, and the driving piece passes through the driving gear structure meshing drive of gear and actuating arm, and the actuating arm drives the grip block and presss from both sides the fastening and presss from both sides the thing of getting.
10. The grasping method according to claim 9, characterized in that the grasping method specifically includes the steps of:
the fixed cylinder is sleeved on the periphery of the object clamping body, the driving piece is in meshing driving with a transmission gear structure of the driving arm through the gear, the part of the driving arm with the transmission gear structure is in a fan shape, the driving arm drives the clamping plate to move, the driving arm moves along the arc-shaped edge of the fan shape, the clamping plate clamps the object clamping body along the horizontal direction, and the clamping body is supported in the vertical direction;
the shape center position of thing is got to the anchor clamps definite clamp, and the controller regulates and control grip block to the pressfitting power of getting the thing, and the lug is mentioned to the lifting mechanism, and the clamp is got the removal and is pressed from both sides and get the thing, removes the back that targets in place, and the driving piece drives the actuating arm and removes the clamp of getting the thing to pressing from both sides, accomplishes the uninstallation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210759618.0A CN114888839A (en) | 2022-06-29 | 2022-06-29 | Automatic clamping mechanical arm and clamping method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210759618.0A CN114888839A (en) | 2022-06-29 | 2022-06-29 | Automatic clamping mechanical arm and clamping method |
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| CN114888839A true CN114888839A (en) | 2022-08-12 |
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| CN202210759618.0A Pending CN114888839A (en) | 2022-06-29 | 2022-06-29 | Automatic clamping mechanical arm and clamping method |
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