CN117302957A - Automatic change material warehouse with snatching firm gripper - Google Patents
Automatic change material warehouse with snatching firm gripper Download PDFInfo
- Publication number
- CN117302957A CN117302957A CN202311350988.XA CN202311350988A CN117302957A CN 117302957 A CN117302957 A CN 117302957A CN 202311350988 A CN202311350988 A CN 202311350988A CN 117302957 A CN117302957 A CN 117302957A
- Authority
- CN
- China
- Prior art keywords
- gripper
- gripper jaw
- connecting rod
- gear
- mechanical
- 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
Links
- 239000000463 material Substances 0.000 title claims abstract description 24
- 210000000078 claw Anatomy 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 125000006850 spacer group Chemical group 0.000 claims description 2
- 244000023431 Proboscidea parviflora Species 0.000 description 1
- 235000019096 Proboscidea parviflora Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical claws, and particularly discloses a mechanical claw with firm grabbing for an automatic material warehouse, which comprises a mechanical claw, wherein the mechanical claw comprises: the hydraulic mounting seat, gripper jaw mount pad, the one end of connecting rod is connected with the gripper jaw, and the outside end of gripper jaw is connected with mechanical swing arm through the pivot, and auxiliary claw includes: the side support plate, side gripper jaw, the side support plate is located the one end that is close to the side shrouding and installs the rotation gear, and antiskid ribbed tile is installed to the inboard of side gripper jaw, and the engaging lug board is installed in the outside of side shrouding, and drive gear is installed to the inside array of side support plate, and drive gear's top is provided with drive gear, and one side of drive gear is provided with the centre gripping motor. The clamping motor drives the driving gear to rotate, the driving rotating gear integrally controls the auxiliary claw to integrally adjust the direction at the outer side of the connecting guide block, the side support plate integrally cooperates with the clamping claw to form a cage body for limiting the object, and the object can be transported without applying excessive pressure.
Description
Technical Field
The invention relates to the field of mechanical claws, in particular to a mechanical claw with firm grabbing for an automatic material warehouse.
Background
The automatic loading and unloading device mainly comprises an executing mechanism, a driving mechanism and a control system, and can replace people to carry out heavy labor so as to realize mechanization and automation of production.
However, due to the existing mechanical claws for storage in the market, a double-claw type mechanical arm is often adopted to handle the clamping of some large-size objects, and the handling of some large-mass objects (balls, rectangular blocks and the like) with smaller sizes is inconvenient.
Disclosure of Invention
Aiming at the existing problems, the invention provides the mechanical claw with firm grabbing for the automatic material warehouse, and the device can effectively solve the problems in the background technology by being matched with the mechanical claw.
In order to solve the problems, the invention adopts the following technical scheme:
automatic change material warehouse with snatching firm gripper, including the gripper, the gripper includes: the hydraulic mounting seat, gripper jaw mount pad, the connecting rod mounting groove has been seted up to the outside end of gripper jaw mount pad, the inside of connecting rod mounting groove is connected with the connecting rod through the pivot, the one end of connecting rod is connected with the gripper jaw, the outside end of gripper jaw is connected with mechanical swing arm through the pivot, the outside of gripper jaw is provided with the side seal board, the outside of side seal board is provided with auxiliary claw, auxiliary claw includes: the side support plate is located to be close to the one end of side seal board is installed and is rotated the gear, antiskid ribbed tile is installed to the inboard of side seal board, the connection otic placode is installed in the outside of side seal board, the connection otic placode with be connected with the connection guide block between the gear that rotates, one side end of connection guide block is located the outside of connection otic placode is installed and is transferred to the motor, the drive gear is installed to the inside array of side support plate, drive gear's top is provided with drive gear, one side of drive gear is provided with the centre gripping motor.
As still further aspects of the invention: the hydraulic cylinder is installed to the upper end of gripper, connecting rod perforation has been seted up to the inside of gripper mount pad, the lower extreme of hydraulic mount pad is connected with the push rod, the lower extreme of push rod is located connecting rod fenestrate internal connection has the spacer pin.
As still further aspects of the invention: the front surface of the clamping claw mounting seat is provided with a limit guide block, and the outer side of the limit guide block is positioned on the front surface of the side sealing plate and provided with a guide groove.
As still further aspects of the invention: the inner side of the clamping claw is provided with anti-slip teeth, and the outer sides of the upper end and the lower end of the pushing rod are provided with replacement thread grooves.
As still further aspects of the invention: the rotating gear is meshed with the transmission gear for rotation, and the side clamping claws are fixedly connected with the transmission gear through connecting rods.
As still further aspects of the invention: the driving gear is meshed with the transmission gear for rotation, the clamping motor is fixedly connected with the side supporting plate, and the direction-adjusting motor drives the connecting guide block to rotate through the rotating shaft.
As still further aspects of the invention: and the limiting pin is in limiting clamping connection with the connecting rod through hole.
As still further aspects of the invention: the pushing rod is meshed and fixed with the limiting pin and the lifting rod of the hydraulic cylinder through the replacement thread groove.
As still further aspects of the invention: the clamping claw mounting seat is in sliding connection with the guide groove through the limiting guide block.
As still further aspects of the invention: the connecting rod is movably connected with the clamping jaw, the mechanical swing arm is movably connected with the clamping jaw, and the connecting rod is movably connected with the clamping jaw mounting seat.
Compared with the prior art, the invention has the beneficial effects that:
1. the clamping motor drives the driving gear to rotate, the driving gear can be driven to rotate when the driving gear rotates, the driving rotating gear integrally controls the auxiliary claw to integrally adjust the direction at the outer side of the connecting guide block, the anti-skid plate at the lower end of the side clamping claw can support and limit the lower position of a moving object, the side supporting plate integrally cooperates with the clamping claw to form a cage body to limit the object, and the object can be transported without applying excessive pressure.
2. The push rod can be selected through replacing the thread groove, the hydraulic rod and the limiting pin are installed and disassembled, and the expansion and closing degree of the whole clamping claw can be controlled by replacing the push rod with different lengths, so that the objects with different outer diameters can be carried.
3. When the hydraulic cylinder is used for controlling the hydraulic rod to move upwards, the whole clamping claw mounting seat is pulled to the upper part inside the mechanical claw, and the two clamping claws are driven to be integrally closed to clamp and fix an object under the rotation action of the mechanical swing arm and the connecting rod, so that the purpose of carrying is realized.
Drawings
FIG. 1 is a schematic view of a gripper for automated material storage;
FIG. 2 is a schematic view of the structure of the auxiliary jaw of the gripper for automated material warehouse;
FIG. 3 is a cross-sectional view of an auxiliary jaw of the gripper for automated material storage;
FIG. 4 is a schematic view of the internal structure of a gripper of the gripper for automated material storage;
FIG. 5 is a schematic view of the structure of the gripper for automated material storage;
FIG. 6 is a schematic view of the structure of the gripper for automated material storage;
fig. 7 is a schematic view of the structure of the gripper for the automated material warehouse.
In the figure: 1. a mechanical claw; 2. a hydraulic cylinder; 3. a mechanical swing arm; 4. a connecting rod; 5. clamping claws; 6. an auxiliary claw; 7. a side sealing plate; 8. a guide groove; 101. a hydraulic mount; 102. a gripper jaw mount; 103. a connecting rod installation groove; 104. a limit guide block; 105. punching a connecting rod; 106. a push rod; 107. a limiting pin; 108. replacing the thread groove; 501. anti-slip teeth; 601. a side support plate; 602. a direction-adjusting motor; 603. connecting an ear plate; 604. clamping the motor; 605. side gripper jaws; 606. a drive gear; 607. rotating the gear; 608. a transmission gear; 609. a cleat; 610. and connecting the guide blocks.
Detailed Description
The following description of the embodiments of the present invention will be made more complete and clear to those skilled in the art, and it is intended that the embodiments described are only some, but not all, of the embodiments of the present invention and that all other embodiments may be made without inventive faculty by those skilled in the art based on the embodiments of the present invention.
In the description of the present specification, reference to the terms "present embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and in the specification, schematic representations of the terms described above do not necessarily refer to the same embodiment or example, and the particular feature, structure, material, or characteristic described may be combined in any one or more embodiments or examples in a suitable manner.
As shown in fig. 1 to 7, the present embodiment provides a gripper for an automated material warehouse, which is firmly gripped, and includes a gripper 1, the gripper 1 including: the hydraulic mounting seat 101, the gripper jaw mount pad 102, connecting rod mounting groove 103 has been seted up to gripper jaw mount pad 102's outside end, connecting rod 4 has been connected with through the pivot to the inside of connecting rod mounting groove 103, connecting rod 4 and gripper jaw mount pad 102 swing joint, the one end of connecting rod 4 is connected with gripper jaw 5, connecting rod 4 and gripper jaw 5 swing joint, gripper jaw 5's outside end is connected with machinery swing arm 3 through the pivot, machinery swing arm 3 and gripper jaw 5 swing joint, the outside of gripper jaw 1 is provided with side seal plate 7, the outside of side seal plate 7 is provided with auxiliary claw 6, auxiliary claw 6 includes: the side support plate 601, side gripper 605, the rotation gear 607 is installed to the one end that side support plate 601 is located to be close to side seal plate 7, antiskid plate 609 is installed to the inboard of side gripper 605, connecting lug 603 is installed in the outside of side seal plate 7, be connected with the guide block 610 between connecting lug 603 and the rotation gear 607, the steering motor 602 is installed in the outside that one side end of guide block 610 is located connecting lug 603, drive gear 608 is installed to the inside array of side support plate 601, rotation gear 607 and drive gear 608 meshing rotate, side gripper 605 passes through connecting rod and drive gear 608 fixed connection, drive gear 608's top is provided with driving gear 606, driving gear 606 and drive gear 608 meshing rotate, one side of driving gear 606 is provided with clamp motor 604, clamp motor 604 and side support plate 601 fixed connection, steering motor 602 passes through the pivot and drives the rotation of guide block 610.
As shown in fig. 1-5, in this embodiment, a hydraulic cylinder 2 is installed at the upper end of a gripper 1, a connecting rod through hole 105 is formed in a gripper jaw mounting seat 102, a push rod 106 is connected to the lower end of the hydraulic mounting seat 101, a limit pin 107 is connected to the lower end of the push rod 106 and located in the connecting rod through hole 105, the limit pin 107 is in limit clamping connection with the connecting rod through hole 105, a limit guide block 104 is installed on the front surface of the gripper jaw mounting seat 102, the gripper jaw mounting seat 102 is slidably connected with a guide groove 8 through the limit guide block 104, the guide groove 8 is formed in the front surface of the side sealing plate 7 on the outer side of the limit guide block 104, anti-slip teeth 501 are arranged on the inner side of the gripper jaw 5, replacement thread grooves 108 are formed in the outer sides of the upper end and the lower end of the push rod 106, and the push rod 106 are meshed and fixed with the limit pin 107 and the lifting rod of the hydraulic cylinder 2 through the replacement thread grooves 108.
The working principle of the invention is as follows: when handling large-mass objects (such as steel pipes) in a ship warehouse, the clamping claw 5 is used for carrying, the carrying tightness can be ensured, the hydraulic rod is driven to move through the hydraulic cylinder 2, the hydraulic rod drives the limiting pin 107 to drive the clamping claw mounting seat 102 to move downwards through the driving pushing rod 106, the limiting guide block 104 on the outer side of the clamping claw mounting seat 102 can carry out limiting movement in the guide groove 8 in the side sealing plate 7, the connecting rod 4 arranged in the connecting rod mounting groove 103 on the inner side can drive the mechanical swing arm 3 and the clamping claw 5 to rotate during the movement of the clamping claw mounting seat 102, the integral unfolding effect of the clamping claw 5 is realized, after the integral movement of the mechanical claw 1 to the outer side of the object is controlled, the integral clamping claw mounting seat 102 is pulled to the upper side of the interior of the mechanical claw 1 when the hydraulic rod is controlled to move upwards through the hydraulic cylinder 2, the two clamping claws 5 are driven to be integrally closed under the rotation action of the mechanical swing arm 3 and the connecting rod 4 to clamp and fix the object, the purpose of carrying is realized, the push rod 106 can be used for selecting and installing and dismantling the hydraulic rod and the limiting pin 107 through the replacement of the threaded groove 108, the expansion and closing degree of the whole clamping claw 5 can be controlled by using the replacement of the push rod 106 with different lengths, the carrying of the object with different outer diameters is realized, when the object with smaller outer diameter or lighter weight is carried, the two clamping claws 5 can be integrally arranged at the outer side of the object, the connecting guide block 610 is driven to integrally swing towards the position below the clamping claw 5 by using the control direction-adjusting motor 602, the auxiliary claw 6 is driven to integrally swing towards the position below the clamping claw 5 by using the control clamping motor 604 after the swinging is maximized, the driving gear 606 is driven to rotate by the clamping motor 604, when the driving gear 606 rotates, the driving gear 608 is driven to rotate, the rotating driving gear 608 can drive the rotating gear 607 to integrally control the auxiliary claw 6 to integrally adjust the direction at the outer side of the connecting guide block 610, meanwhile, the end part of the driving gear 608 can drive the side clamping claw 605 to rotate, the lower part of an object which can move is supported and limited by the anti-skid plate 609 at the lower end of the side clamping claw 605, the side supporting plate 601 can integrally cooperate with the clamping claw 5 to form a cage body for limiting the object, and the object can be transported without applying excessive pressure.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. Automatic change material warehouse with snatching firm gripper, including gripper (1), its characterized in that, gripper (1) includes: the hydraulic mounting seat (101), gripper jaw mount pad (102), connecting rod mounting groove (103) have been seted up to the outside end of gripper jaw mount pad (102), the inside of connecting rod mounting groove (103) is connected with connecting rod (4) through the pivot, the one end of connecting rod (4) is connected with gripper jaw (5), the outside end of gripper jaw (5) is connected with machinery swing arm (3) through the pivot, the outside of gripper jaw (1) is provided with side seal board (7), the outside of side seal board (7) is provided with auxiliary claw (6), auxiliary claw (6) include: side backup pad (601), side gripper jaw (605), side backup pad (601) are located and are close to rotation gear (607) are installed to the one end of side gripper jaw (7), antiskid plate (609) are installed to the inboard of side gripper jaw (605), link otic placode (603) are installed in the outside of side gripper jaw (7), link otic placode (603) with be connected with between rotation gear (607) and connect guide block (610), one side end of link guide block (610) is located connect the outside of otic placode (603) and install steering motor (602), drive gear (608) are installed to the inside array of side backup pad (601), the top of drive gear (608) is provided with driving gear (606), one side of driving gear (606) is provided with centre gripping motor (604).
2. The automatic material warehouse is with snatching firm gripper according to claim 1, characterized in that, pneumatic cylinder (2) is installed to the upper end of gripper (1), connecting rod perforation (105) have been seted up to the inside of gripper jaw mount pad (102), the lower extreme of hydraulic mount pad (101) is connected with push rod (106), the lower extreme of push rod (106) is located the internal connection of connecting rod perforation (105) has spacer pin (107).
3. The mechanical gripper for automatic material warehouse, according to claim 1, characterized in that the front surface of the gripper jaw mounting seat (102) is provided with a limit guide block (104), and the outer side of the limit guide block (104) is provided with a guide groove (8) on the front surface of the side sealing plate (7).
4. The mechanical gripper for automatic material warehouse, according to claim 2, characterized in that the inner side of the gripper jaw (5) is provided with anti-slip teeth (501), and the outer sides of the upper and lower ends of the pushing rod (106) are provided with replacement thread grooves (108).
5. The gripper for automated material storage systems according to claim 1, wherein the rotary gear (607) rotates in engagement with the drive gear (608), and the side gripper (605) is fixedly connected to the drive gear (608) by means of a connecting rod.
6. The gripper for automatic material warehouse, according to claim 1, characterized in that said driving gear (606) rotates in mesh with said transmission gear (608), said clamping motor (604) is fixedly connected to said side support plate (601), and said steering motor (602) drives said connection guide block (610) to rotate through a rotation shaft.
7. The gripper of claim 2, wherein the stop pin (107) is in stop engagement with the link aperture (105).
8. The gripper for automatic material warehouse, according to claim 4, characterized in that the pushing rod (106) is engaged and fixed with the limit pin (107) and the lifting rod of the hydraulic cylinder (2) through the replacement thread groove (108).
9. A gripper according to claim 3, characterized in that the gripper jaw mounting (102) is slidingly connected with the guide slot (8) via the limit guide blocks (104).
10. The mechanical gripper for automatic material warehouse, according to claim 1, characterized in that the connecting rod (4) is movably connected with the gripper jaw (5), the mechanical swing arm (3) is movably connected with the gripper jaw (5), and the connecting rod (4) is movably connected with the gripper jaw mounting seat (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311350988.XA CN117302957A (en) | 2023-10-18 | 2023-10-18 | Automatic change material warehouse with snatching firm gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311350988.XA CN117302957A (en) | 2023-10-18 | 2023-10-18 | Automatic change material warehouse with snatching firm gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117302957A true CN117302957A (en) | 2023-12-29 |
Family
ID=89288201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311350988.XA Pending CN117302957A (en) | 2023-10-18 | 2023-10-18 | Automatic change material warehouse with snatching firm gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117302957A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985464A (en) * | 2024-04-03 | 2024-05-07 | 常州优纳新材料科技有限公司 | Carrying device for slitting mesoporous heat insulating material |
-
2023
- 2023-10-18 CN CN202311350988.XA patent/CN117302957A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985464A (en) * | 2024-04-03 | 2024-05-07 | 常州优纳新材料科技有限公司 | Carrying device for slitting mesoporous heat insulating material |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11480019B2 (en) | Attachment for making up or breaking out pipe | |
| CN117302957A (en) | Automatic change material warehouse with snatching firm gripper | |
| CN102917970B (en) | Gripping assembly and gripping members for a grapple attachment | |
| US20090057019A1 (en) | Grapple attachment for use with drill pipes | |
| CA2967373C (en) | Rod positioning device | |
| US6880430B2 (en) | Vise apparatus | |
| CN209737634U (en) | Unloading truss manipulator snatchs subassembly | |
| CN109292444A (en) | Battery modules fixture | |
| CN213928381U (en) | Tunnel bow member positioning device | |
| CN112922542B (en) | Automatic loading and unloading device and method for large spiral plug-in type drill rod | |
| CN201722138U (en) | Wharf loading arm quick joint | |
| CN110668170A (en) | Split type folding mechanical tongs | |
| CN211851761U (en) | Folding type mud splash-proof box | |
| RU185872U1 (en) | Universal Wheel Pickup | |
| CN214558761U (en) | Large-tonnage turnover machine | |
| CN220223262U (en) | Hoisting tool | |
| CN219840599U (en) | Iron roughneck punching clamp | |
| CN220481711U (en) | Manipulator for arch frame trolley | |
| CN213923759U (en) | Hoisting equipment for cylinder cover of automobile engine | |
| CN221027214U (en) | Pipeline fixing and clamping mechanism | |
| CN215848240U (en) | Carrying clamping jaw with rotating function | |
| CN221027226U (en) | Hydraulic grab bucket capable of being adjusted in rotating mode | |
| CN210370550U (en) | Automatic petroleum well workover equipment | |
| CN114455448A (en) | Metal parts shifts uses load handling device and driving | |
| KR101331247B1 (en) | Swing type grapper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |