CN114919988A - Mechanical device for grabbing synthetic cavity of cubic press - Google Patents

Mechanical device for grabbing synthetic cavity of cubic press Download PDF

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Publication number
CN114919988A
CN114919988A CN202210546883.0A CN202210546883A CN114919988A CN 114919988 A CN114919988 A CN 114919988A CN 202210546883 A CN202210546883 A CN 202210546883A CN 114919988 A CN114919988 A CN 114919988A
Authority
CN
China
Prior art keywords
mechanical
mechanical arm
clamping jaw
electric cylinder
supporting sheet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210546883.0A
Other languages
Chinese (zh)
Inventor
丁仁杰
董玉革
王虎
丁曙光
贺良国
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
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Hefei University of Technology
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Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN202210546883.0A priority Critical patent/CN114919988A/en
Publication of CN114919988A publication Critical patent/CN114919988A/en
Pending legal-status Critical Current

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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
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • B65G47/905—Control arrangements

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a mechanical device for grabbing a synthetic cavity of a cubic press, wherein a rotating seat is fixedly arranged on a mechanical arm support, one end of a mechanical arm is rotatably connected with a rotating base and can enable the whole mechanical arm to rotate in space, the other end of the mechanical arm is fixedly connected with a mechanical gripper part, the mechanical gripper part comprises a mechanical gripper support plate, a supporting sheet pushing electric cylinder and a clamping jaw electric cylinder, the mechanical gripper support plate is a U-shaped plate, a right side plate of the U-shaped plate is fixedly connected with the mechanical arm, a left side plate of the U-shaped plate is fixedly provided with the clamping jaw electric cylinder, the supporting sheet pushing electric cylinder is fixedly arranged below a bottom plate of the U-shaped plate, a supporting sheet is fixed at the moving end of the supporting sheet pushing electric cylinder and is positioned below the clamping jaw electric cylinder, the supporting sheet pushing electric cylinder pushes the supporting sheet to move left and right, clamping jaws are fixed on two clamping jaw piston rods of the clamping jaw electric cylinder, the clamping portion of the jaw is open at 45 deg..

Description

Mechanical device for grabbing hexahedral top press synthetic cavity
Technical Field
The invention relates to the technical field of industrial mechanical arms, in particular to a mechanical device for grabbing a synthetic cavity of a cubic press.
Background
Most cubic press synthetic cavity at present is all snatched by the workman with the hand, then puts into cubic press work platform because cubic press work platform high temperature, the environment is abominable, causes the influence of certain degree to workman's safety, the work efficiency of cubic press that has significantly reduced.
Disclosure of Invention
The invention aims to make up the defects of the prior art and provides a mechanical device for grabbing a synthetic cavity of a cubic press.
The invention is realized by the following technical scheme:
a mechanical device for grabbing a synthetic cavity of a cubic press comprises a mechanical arm support, a rotary base, a mechanical arm and a mechanical claw hand part, wherein the rotary base is fixedly installed on the mechanical arm support, one end of the mechanical arm is rotatably connected with the rotary base and can enable the whole mechanical arm to rotate in space, the other end of the mechanical arm is fixedly connected with the mechanical claw hand part, the mechanical claw hand part comprises a mechanical claw hand support plate, a supporting piece pushing electric cylinder and a clamping claw electric cylinder, the mechanical claw hand support plate is a U-shaped plate, a right side plate of the U-shaped plate is fixedly connected with the mechanical arm, a left side plate is fixedly installed with the clamping claw electric cylinder, the supporting piece pushing electric cylinder is fixedly installed below a bottom plate of the U-shaped plate, a supporting piece is fixed at a moving end of the supporting piece pushing electric cylinder and is located below the clamping claw electric cylinder, the supporting piece pushing electric cylinder pushes the supporting piece to move left and right, the clamping jaws are fixed on two clamping jaw piston rods of the clamping jaw electric cylinder, and clamping parts of the clamping jaws are 45-degree openings and used for pushing a cubic press to form a cavity.
The mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected in a rotating mode, wherein the first mechanical arm is connected with the rotating base in a rotating mode, and the third mechanical arm is fixedly connected with the mechanical claw hand supporting plate.
The first mechanical arm, the second mechanical arm and the third mechanical arm rotate in the same plane.
The length l of the first mechanical arm 1 Greater than the length l of a second mechanical arm 2 Greater than three mechanical arms length l 3 。
The vertical distance between the clamping jaw and the supporting sheet is 25 mm.
The end part of the supporting sheet is an inclined plane end, so that the cavity combined by the cubic press can be better supported.
The clamping jaw comprises two clamping jaw rods, the right ends of the two clamping jaw rods are respectively fixed on two clamping jaw piston rods of the clamping jaw electric cylinder, the right end parts of the two clamping jaw rods are parallel to each other, the middle parts of the two clamping jaw rods incline to the outside by 45 degrees, and the left end parts of the two clamping jaw rods incline to the inside by 45 degrees.
And fixing the mechanical arm support on the AGV.
The third mechanical arm is fixedly connected with the mechanical gripper supporting plate, so that the mechanical gripper hand part and the third mechanical arm have the same motion form.
The invention has the advantages that:
1. the mechanical arm replaces a worker, and the body of the worker is prevented from being injured under the working environment of the cubic press for a long time.
2. The mechanical arm has the advantages of compact design structure, strong reliability and lower cost, and can well complete target actions.
Drawings
FIG. 1 is an assembly schematic of the present invention.
Figure 2 is a schematic view of a robotic arm.
Fig. 3 is a partial structure view of the mechanical gripper.
Figure 4 is a view of the jaws pushed into the cavity.
Detailed Description
As shown in fig. 1 and 3, a mechanical device for grabbing a synthetic cavity of a cubic press comprises a mechanical arm support 1, a rotating base 2, a mechanical arm and a mechanical gripper part 13, wherein the rotating base 2 is fixedly mounted on the mechanical arm support 1, one end of the mechanical arm is rotatably connected with the rotating base 2 and can enable the whole mechanical arm to rotate in space, the other end of the mechanical arm is fixedly connected with the mechanical gripper part 13, the mechanical gripper part 13 comprises a mechanical gripper support plate 6, a supporting plate pushing electric cylinder 9 and a clamping jaw electric cylinder 7, the mechanical gripper support plate 6 is a U-shaped plate, a right side plate of the U-shaped plate is fixedly connected with the mechanical arm, a left side plate is fixedly mounted with the clamping jaw electric cylinder 7, the supporting plate pushing electric cylinder 9 is fixedly mounted below a bottom plate of the U-shaped plate, a supporting plate 10 is fixed at a moving end of the supporting plate pushing electric cylinder 9, the supporting sheet 10 is positioned below the clamping jaw electric cylinder 7, the supporting sheet pushes the electric cylinder 9 to push the supporting sheet 10 to move left and right, the clamping jaws 8 are fixed on two clamping jaw piston rods of the clamping jaw electric cylinder 7, and a clamping part of each clamping jaw 8 is provided with a 45-degree opening and used for pushing a synthetic cavity 11 of the cubic press.
As shown in fig. 2, the mechanical arm includes a first mechanical arm 3, a second mechanical arm 4 and a third mechanical arm 5 which are sequentially connected in a rotating manner, wherein the first mechanical arm 3 is rotatably connected with the rotating base 2, and the third mechanical arm 5 is fixedly connected with the mechanical claw hand support plate 6. The mechanical arms are driven by the servo motor and the spline, and joints among the mechanical arms are driven by the servo motor to rotate, so that the mechanical arms are controlled to rotate.
The first mechanical arm 3, the second mechanical arm 4 and the third mechanical arm 5 rotate in the same plane.
The length l of the first mechanical arm 3 1 Greater than the length l of a second mechanical arm 4 2 Greater than the length l of the third mechanical arm 5 3 。
The vertical distance between the clamping jaw 8 and the supporting sheet 10 is 25 mm.
The end part of the supporting sheet 10 is an inclined end, so that the cavity 11 formed by the cubic press can be supported better.
The clamping jaw 8 comprises two clamping jaw rods, the right ends of the two clamping jaw rods are respectively fixed on two clamping jaw piston rods of the clamping jaw electric cylinder 7, the right end parts of the two clamping jaw rods are parallel to each other, the middle parts of the two clamping jaw rods incline to the outer side by 45 degrees, and the left end parts of the two clamping jaw rods incline to the inner side by 45 degrees.
And fixing the mechanical arm support 1 on the AGV.
As shown in fig. 4, the gripper pushes the synthesis chamber 11 with a plane with 45 ° end into the correct position on the cubic press table 12.
The working principle of the invention is as follows:
firstly, the mechanical arm is opened, the mechanical claw part 13 is horizontally moved to a cubic press synthetic cavity warehouse, the clamping jaw 8 is opened under the driving of the clamping jaw electric cylinder 7, then the cubic press synthetic cavity 11 is clamped, and then the supporting sheet 10 is driven by the supporting sheet pushing electric cylinder 9 to extend forwards to support the cubic press synthetic cavity 11.
Secondly, the mechanical arm moves to the side of a working platform 12 of the cubic press along with the AGV, then the mechanical arm is controlled to rotate, the mechanical clamping jaw part is horizontally placed on the working platform 12 under the control of a servo motor, the synthetic cavity body is positioned on the platform, then the supporting sheet 10 retracts under the drive of the supporting sheet pushing electric cylinder 9, the clamping jaw 8 is opened under the drive of the clamping jaw electric cylinder 7, then the three-mechanical arm 5 is controlled to retract, the clamping jaw 8 retracts for a certain distance, and then the clamping jaw 8 clamps for a certain distance, so that the synthetic cavity body can be pushed into a correct position.
And thirdly, after all actions are finished, the mechanical clamping jaw part and the mechanical arm return to the initial state and return to the initial position to be ready under the driving of the AGV.

Claims (8)

1. The utility model provides a mechanical device for snatching cubic press synthetic cavity which characterized in that: comprises a mechanical arm support, a rotating base, a mechanical arm and a mechanical claw hand part, wherein the rotating base is fixedly arranged on the mechanical arm support, one end of the mechanical arm is rotationally connected with the rotating base, the other end of the mechanical arm is fixedly connected with the mechanical claw part, the mechanical claw hand part comprises a mechanical claw hand supporting plate, a supporting sheet pushing electric cylinder and a clamping claw electric cylinder, the mechanical claw hand supporting plate is a U-shaped plate, the right side plate of the U-shaped plate is fixedly connected with the mechanical arm, the left side plate is fixedly provided with the clamping jaw electric cylinder, the supporting plate pushes the electric cylinder to be fixedly arranged below the bottom plate of the U-shaped plate, a supporting sheet is fixed at the moving end of the supporting sheet pushing electric cylinder, the supporting sheet is positioned below the clamping jaw electric cylinder, the supporting sheet pushes the electric cylinder to push the supporting sheet to move left and right, clamping jaws are fixed on two clamping jaw piston rods of the clamping jaw electric cylinder, and clamping parts of the clamping jaws are 45-degree openings.
2. The mechanical device for gripping the synthetic cavity of a cubic press as set forth in claim 1, characterized in that: the mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected in a rotating mode, wherein the first mechanical arm is connected with the rotating base in a rotating mode, and the third mechanical arm is fixedly connected with the mechanical claw hand supporting plate.
3. The mechanical device for gripping the synthetic cavity of a cubic press as set forth in claim 2, characterized in that: the first mechanical arm, the second mechanical arm and the third mechanical arm rotate in the same plane.
4. The mechanical device for gripping the synthetic cavity of a cubic press as set forth in claim 2, characterized in that: the length l of the first mechanical arm 1 Greater than two mechanical arms length l 2 Greater than three mechanical arms length l 3 。
5. The mechanical device for gripping the synthetic cavity of a cubic press as set forth in claim 1, characterized in that: the vertical distance between the clamping jaw and the supporting sheet is 25 mm.
6. The mechanical device for grabbing the synthetic cavity of a cubic press as set forth in claim 1, characterized in that: the end part of the supporting sheet is an inclined plane end.
7. The mechanical device for grabbing the synthetic cavity of a cubic press as set forth in claim 1, characterized in that: the clamping jaw comprises two clamping jaw rods, the right ends of the two clamping jaw rods are respectively fixed on two clamping jaw piston rods of the clamping jaw electric cylinder, the right end parts of the two clamping jaw rods are parallel to each other, the middle parts of the two clamping jaw rods incline to the outside by 45 degrees, and the left end parts of the two clamping jaw rods incline to the inside by 45 degrees.
8. The mechanical device for gripping the synthetic cavity of a cubic press as set forth in claim 1, characterized in that: and fixing the mechanical arm support on the AGV.
CN202210546883.0A 2022-05-18 2022-05-18 Mechanical device for grabbing synthetic cavity of cubic press Pending CN114919988A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210546883.0A CN114919988A (en) 2022-05-18 2022-05-18 Mechanical device for grabbing synthetic cavity of cubic press

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210546883.0A CN114919988A (en) 2022-05-18 2022-05-18 Mechanical device for grabbing synthetic cavity of cubic press

Publications (1)

Publication Number Publication Date
CN114919988A true CN114919988A (en) 2022-08-19

Family

ID=82808724

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210546883.0A Pending CN114919988A (en) 2022-05-18 2022-05-18 Mechanical device for grabbing synthetic cavity of cubic press

Country Status (1)

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CN (1) CN114919988A (en)

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030047955A (en) * 2003-05-28 2003-06-18 최종원 Forming machine using air cylinder
CN202045634U (en) * 2011-03-15 2011-11-23 北京诚志北分机电技术有限公司 Anti-explosion robot
KR20180034855A (en) * 2016-09-28 2018-04-05 김진국 Laundry transferring robot arm
CN207309929U (en) * 2017-10-31 2018-05-04 河南明华智能系统研究院有限公司 Diamond synthesizing intelligent device
CN208307868U (en) * 2018-02-09 2019-01-01 上海乾承机械设备有限公司 A kind of seat load moving fixture
CN109227589A (en) * 2018-10-17 2019-01-18 芜湖市越泽机器人科技有限公司 A kind of robot arm hand grabs structure
CN209940382U (en) * 2019-04-09 2020-01-14 河南省国测计量研究院有限公司 Moving device for metering tank body
CN110940675A (en) * 2020-01-03 2020-03-31 佛亚智能装备（苏州）有限公司 Visual detection device and detection method for six-surface full-inspection machine of electric appliance product
CN210414587U (en) * 2019-06-10 2020-04-28 苏州陆钢精密模具有限公司 Device for taking out tungsten steel bar after sintering
CN210557845U (en) * 2019-04-17 2020-05-19 云南财经大学 Grabbing device of commodity circulation turnover case
CN210589339U (en) * 2019-09-30 2020-05-22 许文雅 Manipulator capable of automatically taking materials
CN211388849U (en) * 2019-12-30 2020-09-01 伊春市中小学生综合实践学校 Manipulator for clamping spherical object
CN211920118U (en) * 2019-12-18 2020-11-13 安徽皓月电气有限公司 Device with adjustable automatic feeding position of capacitor shell
CN112125230A (en) * 2020-09-24 2020-12-25 宁波知行物联科技有限公司 Workpiece taking manipulator based on AGV trolley and control method thereof
CN213890043U (en) * 2020-08-19 2021-08-06 广州高千自动化科技有限公司 Robot tongs anti-drop mechanism
CN214520188U (en) * 2021-02-26 2021-10-29 宁波万金现代钣金有限公司 Automatic adjusting mechanical gripper for unmanned intensive intelligent storehouse
CN215037562U (en) * 2021-04-08 2021-12-07 关华 Electric manipulator
CN215093708U (en) * 2021-04-02 2021-12-10 山东鑫益搪瓷制品有限公司 Enamel blank-making manipulator
CN215358496U (en) * 2021-07-28 2021-12-31 常州孟腾智能装备有限公司 Special clamping jaw for wireless automatic charging type power battery
CN216376612U (en) * 2021-12-07 2022-04-26 佛山文峰宏创新材料科技有限公司 Reciprocating type pile up neatly machinery hand of aluminium ingot

Patent Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030047955A (en) * 2003-05-28 2003-06-18 최종원 Forming machine using air cylinder
CN202045634U (en) * 2011-03-15 2011-11-23 北京诚志北分机电技术有限公司 Anti-explosion robot
KR20180034855A (en) * 2016-09-28 2018-04-05 김진국 Laundry transferring robot arm
CN207309929U (en) * 2017-10-31 2018-05-04 河南明华智能系统研究院有限公司 Diamond synthesizing intelligent device
CN208307868U (en) * 2018-02-09 2019-01-01 上海乾承机械设备有限公司 A kind of seat load moving fixture
CN109227589A (en) * 2018-10-17 2019-01-18 芜湖市越泽机器人科技有限公司 A kind of robot arm hand grabs structure
CN209940382U (en) * 2019-04-09 2020-01-14 河南省国测计量研究院有限公司 Moving device for metering tank body
CN210557845U (en) * 2019-04-17 2020-05-19 云南财经大学 Grabbing device of commodity circulation turnover case
CN210414587U (en) * 2019-06-10 2020-04-28 苏州陆钢精密模具有限公司 Device for taking out tungsten steel bar after sintering
CN210589339U (en) * 2019-09-30 2020-05-22 许文雅 Manipulator capable of automatically taking materials
CN211920118U (en) * 2019-12-18 2020-11-13 安徽皓月电气有限公司 Device with adjustable automatic feeding position of capacitor shell
CN211388849U (en) * 2019-12-30 2020-09-01 伊春市中小学生综合实践学校 Manipulator for clamping spherical object
CN110940675A (en) * 2020-01-03 2020-03-31 佛亚智能装备（苏州）有限公司 Visual detection device and detection method for six-surface full-inspection machine of electric appliance product
CN213890043U (en) * 2020-08-19 2021-08-06 广州高千自动化科技有限公司 Robot tongs anti-drop mechanism
CN112125230A (en) * 2020-09-24 2020-12-25 宁波知行物联科技有限公司 Workpiece taking manipulator based on AGV trolley and control method thereof
CN214520188U (en) * 2021-02-26 2021-10-29 宁波万金现代钣金有限公司 Automatic adjusting mechanical gripper for unmanned intensive intelligent storehouse
CN215093708U (en) * 2021-04-02 2021-12-10 山东鑫益搪瓷制品有限公司 Enamel blank-making manipulator
CN215037562U (en) * 2021-04-08 2021-12-07 关华 Electric manipulator
CN215358496U (en) * 2021-07-28 2021-12-31 常州孟腾智能装备有限公司 Special clamping jaw for wireless automatic charging type power battery
CN216376612U (en) * 2021-12-07 2022-04-26 佛山文峰宏创新材料科技有限公司 Reciprocating type pile up neatly machinery hand of aluminium ingot

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