CN205255022U - Metallurgical special purpose machinery popularity claw - Google Patents
Metallurgical special purpose machinery popularity claw Download PDFInfo
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- CN205255022U CN205255022U CN201521037435.XU CN201521037435U CN205255022U CN 205255022 U CN205255022 U CN 205255022U CN 201521037435 U CN201521037435 U CN 201521037435U CN 205255022 U CN205255022 U CN 205255022U
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Abstract
本实用新型公开了一种冶金专用机器人气爪，包括气爪本体及气爪连接件，气爪本体包括气缸、气爪手指支撑架、第一气爪以及第二气爪，气爪连接件由两块完全相同的Y形连接板及连接架组成；两块Y形连接板平行对称设置且通过顶端的连接架固定，两块Y形连接板之间靠近顶端的位置藏设有两根柱形上连接杆；两块Y形连接板之间靠近底端的位置也藏设有两根柱形下连接杆；两根下连接杆分别通过一气缸与位于同侧的上连接杆活动连接，其中一侧气缸通过与其同侧的下连接杆与第一气爪活动连接，另一侧气缸通过与其同侧的下连接杆与第二气爪活动连接。
The utility model discloses a metallurgical robot air claw, which comprises an air claw body and an air claw connecting piece. The air claw body includes a cylinder, an air claw finger support frame, a first air claw and a second air claw, and the air claw connecting piece consists of It consists of two identical Y-shaped connecting plates and a connecting frame; the two Y-shaped connecting plates are arranged in parallel and symmetrically and are fixed by the connecting frame at the top. The upper connecting rod; two cylindrical lower connecting rods are also hidden between the two Y-shaped connecting plates near the bottom; the two lower connecting rods are respectively movably connected to the upper connecting rod on the same side through a cylinder, one of which The side cylinder is movably connected with the first air claw through the lower connecting rod on the same side, and the other side cylinder is movably connected with the second air claw through the lower connecting rod on the same side.
Description
技术领域 technical field
本实用新型涉及冶金技术领域，特别是一种冶金专用机器人气爪。 The utility model relates to the technical field of metallurgy, in particular to a metallurgical special robot air claw.
背景技术 Background technique
冶金机器人是集机械、电子、控制、传感器、人工智能等多科学先进技术于一体的现代制造业重要的自动化装备，在构造和性能上兼有人和机器的优点，气爪是冶金专用机器人的关键部件，其灵活性、准确性在很大程度上决定了冶金机器人的灵活性、准确性，现有技术中，大部分冶金机器人采用吸盘式气爪，结构较为复杂，安装起来不方便，且抓件不牢；为方便安装，提高工作效率，本实用新型提出一种冶金专用机器人气爪。 Metallurgical robots are important automation equipment for modern manufacturing that integrates machinery, electronics, control, sensors, artificial intelligence and other scientific and advanced technologies. In terms of structure and performance, they have the advantages of both humans and machines. Air claws are the key to metallurgical robots. The flexibility and accuracy of parts determine the flexibility and accuracy of metallurgical robots to a large extent. In the prior art, most metallurgical robots use suction cup-type air claws, which have a complicated structure and are inconvenient to install. The parts are not firm; in order to facilitate installation and improve work efficiency, the utility model proposes a metallurgical robot air claw.
实用新型内容 Utility model content
本实用新型所要解决的技术问题是，针对以上现有技术的缺点，提出一种冶金专用机器人气爪，不仅提高了工作效率，而且使得安装更加便捷，运动钢架平稳，结构简单，维护方便。为了解决上述技术问题，本实用新型设计了一种冶金专用机器人气爪，包括气爪本体及气爪连接件，气爪本体包括气缸、气爪手指支撑架、第一气爪以及第二气爪，气爪连接件由两块完全相同的Y形连接板及连接架组成； The technical problem to be solved by the utility model is to propose a special metallurgical robot air claw for the above shortcomings of the prior art, which not only improves the work efficiency, but also makes the installation more convenient, the moving steel frame is stable, the structure is simple, and the maintenance is convenient. In order to solve the above technical problems, the utility model designs a metallurgical robot air claw, which includes the air claw body and the air claw connector. The air claw body includes the cylinder, the air claw finger support frame, the first air claw and the second air claw , the air claw connector consists of two identical Y-shaped connecting plates and connecting frames;
两块Y形连接板平行对称设置且通过顶端的连接架固定，两块Y形连接板之间靠近顶端的位置藏设有两根柱形上连接杆，两根上连接杆相互平行且对称设置在连接架的两侧，上连接杆的两端分别固定在两块Y形连接板上，且垂直于两块Y形连接板； The two Y-shaped connecting plates are parallel and symmetrically arranged and fixed by the connecting frame at the top. Two cylindrical upper connecting rods are hidden between the two Y-shaped connecting plates near the top. The two upper connecting rods are parallel to each other and symmetrically arranged on the On both sides of the connecting frame, the two ends of the upper connecting rod are respectively fixed on two Y-shaped connecting plates, and are perpendicular to the two Y-shaped connecting plates;
两块Y形连接板之间靠近底端的位置也藏设有两根柱形下连接杆，两根下连接杆相互平行且对称设置在连接架的两侧，并与两块Y形连接板垂直； There are also two cylindrical lower connecting rods hidden between the two Y-shaped connecting plates near the bottom. The two lower connecting rods are parallel to each other and symmetrically arranged on both sides of the connecting frame, and are perpendicular to the two Y-shaped connecting plates. ;
两根下连接杆分别通过一气缸与位于同侧的上连接杆活动连接，其中一侧气缸通过与其同侧的下连接杆与第一气爪活动连接，另一侧气缸通过与其同侧的下连接杆与第二气爪活动连接。技术效果：通过上述的技术方案，本实用新型使用气缸与气爪相连接，且气爪连接件为Y形连接装置，简化了冶金专用机器人气爪的结构，节省了材料，并且方便了工人安装，同时也使得气爪运动更加平稳，提高了工作效率，并且该技术方案结构简单，使用可靠，维护简单。本实用新型进一步限定的技术方案是： The two lower connecting rods are respectively movably connected to the upper connecting rod on the same side through a cylinder, one side of the cylinder is movably connected to the first claw through the lower connecting rod on the same side, and the other side is movably connected to the first claw through the lower connecting rod on the same side. The connecting rod is movably connected with the second air claw. Technical effect: Through the above-mentioned technical scheme, the utility model uses the cylinder to connect with the air claw, and the connecting part of the air claw is a Y-shaped connection device, which simplifies the structure of the metallurgical robot air claw, saves materials, and facilitates the installation of workers , At the same time, it also makes the movement of the air claw more stable and improves the work efficiency, and the technical solution is simple in structure, reliable in use and easy in maintenance. The technical scheme that the utility model is further limited is:
前述的冶金专用机器人气爪，第一气爪由至少两根气爪手指组成，第二气爪由至少四根气爪手指组成，气爪手指之间通过气爪手指支撑架固定连接。 As for the metallurgical robot air gripper mentioned above, the first air gripper is composed of at least two air gripper fingers, the second air gripper is composed of at least four air gripper fingers, and the air gripper fingers are fixedly connected by the air gripper finger support frame.
前述的冶金专用机器人气爪，连接Y形连接板的连接架上还设有安装孔组。 In the aforementioned metallurgical special-purpose robot air gripper, the connecting frame connected to the Y-shaped connecting plate is also provided with a set of mounting holes.
本实用新型的有益效果是：通过本实用新型的技术方案，气爪连接件为Y形连接装置，且使用气缸与气爪相连接，简化了冶金专用机器人气爪的结构，节省了材料，并且方便了工人安装，气爪手指之间采用气爪手指支撑架固定连接，使得气爪运动更加平稳，提高了工作效率，并且该技术方案结构简单，使用方便，维护简单。 The beneficial effects of the utility model are: through the technical scheme of the utility model, the air claw connector is a Y-shaped connection device, and the air cylinder is used to connect the air claw, which simplifies the structure of the metallurgical robot air claw, saves materials, and It is convenient for workers to install, and the air claw fingers are fixedly connected by the air claw finger support frame, which makes the movement of the air claw more stable and improves the work efficiency, and the technical scheme is simple in structure, easy to use and easy to maintain.
附图说明 Description of drawings
图1为本实用新型所设计的冶金专用机器人气爪的结构示意图； Fig. 1 is the structural representation of the metallurgical special-purpose robot air claw that the utility model designs;
其中：1-气爪连接件，2-气缸，3-气爪手指支撑架，4-第一气爪，5-第二气爪，6-气爪手指。 Among them: 1- air claw connector, 2- air cylinder, 3- air claw finger support frame, 4- first air claw, 5- second air claw, 6- air claw fingers.
具体实施方式 detailed description
下面对本实用新型做进一步的详细说明： The utility model is described in further detail below:
本实施例提供的一种冶金专用机器人气爪，包括气爪本体及气爪连接件1，气爪本体包括气缸2、气爪手指支撑架3、第一气爪4以及第二气爪5，气爪连接件1由两块完全相同的Y形连接板及连接架组成，连接Y形连接板的连接架上设有安装孔组； A metallurgical robot air gripper provided in this embodiment includes an air gripper body and an air gripper connector 1, the air gripper body includes a cylinder 2, an air gripper finger support frame 3, a first air gripper 4 and a second air gripper 5, The air claw connector 1 is composed of two identical Y-shaped connecting plates and a connecting frame, and the connecting frame connected to the Y-shaped connecting plate is provided with a set of mounting holes;
两块Y形连接板平行对称设置且通过顶端的连接架固定，两块Y形连接板之间靠近顶端的位置藏设有两根柱形上连接杆，两根上连接杆相互平行且对称设置在连接架的两侧，上连接杆的两端分别固定在两块Y形连接板上，且垂直于两块Y形连接板； The two Y-shaped connecting plates are parallel and symmetrically arranged and fixed by the connecting frame at the top. Two cylindrical upper connecting rods are hidden between the two Y-shaped connecting plates near the top. The two upper connecting rods are parallel to each other and symmetrically arranged on the On both sides of the connecting frame, the two ends of the upper connecting rod are respectively fixed on two Y-shaped connecting plates, and are perpendicular to the two Y-shaped connecting plates;
两块Y形连接板之间靠近底端的位置也藏设有两根柱形下连接杆，两根下连接杆相互平行且对称设置在连接架的两侧，并与两块Y形连接板垂直； There are also two cylindrical lower connecting rods hidden between the two Y-shaped connecting plates near the bottom. The two lower connecting rods are parallel to each other and symmetrically arranged on both sides of the connecting frame, and are perpendicular to the two Y-shaped connecting plates. ;
两根下连接杆分别通过一气缸2与位于同侧的上连接杆活动连接，其中一侧气缸2通过与其同侧的下连接杆与第一气爪4活动连接，另一侧气缸2通过与其同侧的下连接杆与第二气爪5活动连接； The two lower connecting rods are respectively movably connected to the upper connecting rod on the same side through a cylinder 2, wherein the cylinder 2 on one side is movably connected to the first claw 4 through the lower connecting rod on the same side, and the cylinder 2 on the other side is movably connected to the first air claw 4 through the lower connecting rod on the same side. The lower connecting rod on the same side is movably connected with the second air gripper 5;
第一气爪4由两根气爪手指6组成，第二气爪5由四根气爪手指6组成，气爪手指6之间通过气爪手指支撑架3固定连接。 The first air gripper 4 is composed of two air gripper fingers 6 , the second air gripper 5 is composed of four air gripper fingers 6 , and the air gripper fingers 6 are fixedly connected by the air gripper finger support frame 3 .
这样通过本实用新型的技术方案，气爪连接件为Y形连接装置，且使用气缸与气爪相连接，简化了冶金专用机器人气爪的结构，节省了材料，并且方便了工人安装，气爪手指之间采用气爪手指支撑架固定连接，使得气爪运动更加平稳，提高了工作效率，并且该技术方案结构简单，使用方便，维护简单。 In this way, through the technical proposal of the utility model, the air claw connector is a Y-shaped connection device, and the air cylinder is connected with the air claw, which simplifies the structure of the metallurgical robot air claw, saves materials, and facilitates the installation of the workers. The fingers are fixedly connected by the finger support frame of the air claw, which makes the movement of the air claw more stable and improves the work efficiency, and the technical scheme is simple in structure, easy to use and easy to maintain.
以上实施例仅为说明本实用新型的技术思想，不能以此限定本实用新型的保护范围，凡是按照本实用新型提出的技术思想，在技术方案基础上所做的任何改动，均落入本实用新型保护范围之内。 The above embodiments are only to illustrate the technical ideas of the utility model, and can not limit the protection scope of the utility model with this. All technical ideas proposed according to the utility model, any changes made on the basis of the technical solution, all fall into the scope of the utility model. within the scope of the new protection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521037435.XU CN205255022U (en) | 2015-12-14 | 2015-12-14 | Metallurgical special purpose machinery popularity claw |
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| CN201521037435.XU CN205255022U (en) | 2015-12-14 | 2015-12-14 | Metallurgical special purpose machinery popularity claw |
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| CN205255022U true CN205255022U (en) | 2016-05-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965503A (en) * | 2016-07-06 | 2016-09-28 | 东北大学 | Hydraulic mechanical arm suitable for cutter changing operation of shield tunneling machine |
| CN116986299A (en) * | 2023-09-27 | 2023-11-03 | 万向钱潮股份公司 | Grabbing device |
-
2015
- 2015-12-14 CN CN201521037435.XU patent/CN205255022U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965503A (en) * | 2016-07-06 | 2016-09-28 | 东北大学 | Hydraulic mechanical arm suitable for cutter changing operation of shield tunneling machine |
| CN105965503B (en) * | 2016-07-06 | 2018-01-02 | 东北大学 | A kind of hydraulic manipulator suitable for shield machine tool changing operation |
| CN116986299A (en) * | 2023-09-27 | 2023-11-03 | 万向钱潮股份公司 | Grabbing device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190814 Address after: 211800 Room 913, Hatching Building, 99 Unity Road, Yanchuang Park, Jiangbei New District, Nanjing City, Jiangsu Province Patentee after: Nanjing Huiyihe Sheng Trading Co.,Ltd. Address before: 211500 Jiangsu Province, Nanjing city Liuhe District Xiongzhou Street God Ganglu No. 10 Patentee before: NANJING KINSEN PRECISION MACHINE MANUFACTURE CO.,LTD. |
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| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 913, Yingying Building, No. 99 Tuanjie Road, Yanchuangyuan, Jiangbei New District, Nanjing, Jiangsu Province, 211800 Patentee after: Nanjing Huiyi Hesheng New Material Technology Co.,Ltd. Address before: Room 913, Yingying Building, No. 99 Tuanjie Road, Yanchuangyuan, Jiangbei New District, Nanjing, Jiangsu Province, 211800 Patentee before: Nanjing Huiyihe Sheng Trading Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CX01 | Expiry of patent term |
Granted publication date: 20160525 |
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| CX01 | Expiry of patent term |