CN210046669U - Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system - Google Patents
Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system Download PDFInfo
- Publication number
- CN210046669U CN210046669U CN201920799610.0U CN201920799610U CN210046669U CN 210046669 U CN210046669 U CN 210046669U CN 201920799610 U CN201920799610 U CN 201920799610U CN 210046669 U CN210046669 U CN 210046669U
- Authority
- CN
- China
- Prior art keywords
- swing arm
- arm
- sleeve
- movable frame
- connecting rod
- 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.)
- Active
Links
Images
Abstract
The application relates to a manipulator with a sleeve loading and unloading function and an automatic sleeve loading system, and belongs to the technical field of strip steel production lines. The mechanical arm with the sleeve assembling and disassembling function comprises a base, a swing arm moving frame, a swing arm, an upper clamping arm and a lower clamping arm; the swing arm removes the frame and installs on the base and can remove along first direction of predetermineeing for the base, the one end of swing arm removes the frame with the swing arm and is connected and can remove the frame and rotate around first axis for the swing arm, the one end of going up the arm lock is connected with the swing arm and can rotate around the second axis for the swing arm, the one end of lower arm lock is connected with the swing arm and can rotate around the third axis for the swing arm, go up the arm lock and be used for cooperating the centre gripping sleeve with lower arm lock, first axis, the second axis, third axis and first direction of predetermineeing are parallel to each other. The mechanical arm with the sleeve assembling and disassembling function and the automatic sleeve assembling and disassembling system can realize automatic assembling and disassembling of the sleeve, save labor and are high in safety.
Description
Technical Field
The application relates to the technical field of strip steel production lines, in particular to a manipulator with a sleeve assembling and disassembling function and an automatic sleeve assembling system.
Background
At present, when the thickness specification of a strip steel product is thin, a finishing line for cold rolling production, particularly a galvanized wire and a color coating line, is used for preventing the strip steel from being damaged in the storage or transportation process, and meanwhile, in order to prevent the surface of an inner ring of a steel coil from being damaged in the hoisting process, a paper sleeve is usually added when the strip steel is coiled by a coiling machine, so that the reinforcing and protecting effects are achieved. In the traditional technology, an operator manually sleeves a paper sleeve into a winding drum of a coiler, namely, a manual mode; the sleeve is arranged in a manual mode, the number of people involved is at least 2, the labor intensity of operators is high, and meanwhile, the potential safety hazard of mechanical injury exists when the operators are close to the recoiling machine, the auxiliary support, the coiling aid, the recoiling machine press roller and other equipment in the operation process.
SUMMERY OF THE UTILITY MODEL
The application aims to solve the problems and provides a mechanical arm with a sleeve assembling and disassembling function and an automatic sleeve assembling and disassembling system, which can realize automatic assembling and disassembling of a sleeve, save labor and improve safety, so that the problems are solved.
The manipulator with the sleeve assembling and disassembling function comprises a base, a swing arm moving frame, a swing arm, an upper clamping arm and a lower clamping arm; the swing arm removes the frame and installs on the base and can remove along first direction of predetermineeing for the base, the one end of swing arm removes the frame with the swing arm and is connected and can remove the frame and rotate around first axis for the swing arm, the one end of going up the arm lock is connected with the swing arm and can rotate around the second axis for the swing arm, the one end of lower arm lock is connected with the swing arm and can rotate around the third axis for the swing arm, go up the arm lock and be used for cooperating the centre gripping sleeve with lower arm lock, first axis, the second axis, third axis and first direction of predetermineeing are parallel to each other.
According to the manipulator with the sleeve assembling and disassembling function, the swing arm is moved to the designated position through the swing arm moving frame, the swing arm is moved to the working position through the rotation of the swing arm relative to the swing arm moving frame, and the sleeve can be clamped and loosened through the rotation of the upper clamping arm and the lower clamping arm relative to the swing arm; this manipulator with sleeve loading and unloading function can realize the telescopic loading and unloading of different stations, and the flexible operation has saved the manpower, avoids the potential safety hazard in the production process, has improved the production security.
In addition, the manipulator with the sleeve loading and unloading function according to the embodiment of the application has the following additional technical characteristics:
according to some embodiments of the application, the manipulator with the sleeve loading and unloading function further comprises a connecting rod assembly and a connecting rod driving mechanism, the connecting rod assembly is hinged to the upper clamping arm and the lower clamping arm respectively, the connecting rod driving mechanism is arranged along the length direction of the swing arm, the connecting rod driving mechanism is installed on the swing arm, and the connecting rod driving mechanism is connected with the connecting rod assembly and can drive the connecting rod assembly to move relative to the swing arm, so that the upper clamping arm and the lower clamping arm rotate relative to the swing arm respectively.
In the above embodiment, the link assembly moves relative to the swing arm through the link driving mechanism, so that the upper clamping arm and the lower clamping arm rotate relative to the swing arm, and the sleeve is clamped or released by the upper clamping arm and the lower clamping arm.
In some embodiments of the present application, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod is connected to the connecting rod driving mechanism, the first connecting rod includes a first end and a second end which are oppositely disposed, one end of the second connecting rod is hinged to the first end, the other end of the second connecting rod is hinged to the upper clamping arm, one end of the third connecting rod is hinged to the second end, the other end of the third connecting rod is hinged to the lower clamping arm, and the second connecting rod and the third connecting rod are symmetrically disposed relative to the first connecting rod.
In the above embodiment, the upper clamping arm is hinged to the second connecting rod, and the lower clamping arm is hinged to the third connecting rod, so that the flexibility of the connection between the upper clamping arm and the lower clamping arm and the swing arm are improved, the first connecting rod is hinged to the second connecting rod and the third connecting rod, the upper clamping arm and the lower clamping arm can rotate synchronously, the sleeve can be clamped or loosened, and the upper clamping arm and the lower clamping arm can be adjusted flexibly.
Optionally, the swing arm is of a hollow structure, the connecting rod driving mechanism is a telescopic cylinder, a cylinder body of the telescopic cylinder is located in the swing arm, and a telescopic rod of the telescopic cylinder is connected with the first connecting rod.
In the embodiment, the connecting rod driving mechanism adopts the telescopic cylinder, so that the connecting rod assembly can move flexibly and can realize automatic reset; the telescopic cylinder is arranged in the swing arm, so that the installation space is saved.
According to some embodiments of the application, the manipulator with sleeve loading and unloading function still includes removing a frame drive telescoping cylinder, and the base is provided with the linear guide who extends along first predetermined direction, and the swing arm removes the frame and is connected with linear guide slidable, removes a frame drive telescoping cylinder and installs in the base, removes the output and the swing arm of a frame drive telescoping cylinder and removes the frame and link to each other, removes a frame drive telescoping cylinder and is used for driving the swing arm to remove the frame and remove along first predetermined direction for linear guide.
In the above embodiment, the swing arm moving frame and the linear guide form a linear guide pair, and the moving frame driving telescopic cylinder provides driving power for the swing arm moving frame, so that the swing arm moving frame can move along a first preset direction relative to the linear guide, and the swing arm moving frame moves flexibly.
According to some embodiments of the application, the manipulator with sleeve loading and unloading function still includes swing arm swing telescoping cylinder, and swing arm swing telescoping cylinder's one end is articulated with the swing arm removal frame, and swing arm swing telescoping cylinder's the other end is articulated with the swing arm, and swing arm swing telescoping cylinder is used for driving the swing arm and removes the frame and rotate around first axis for the swing arm.
In the above embodiment, the swing arm swings relative to the swing arm moving frame through the swing arm swing telescopic cylinder, so that the swing flexibility of the swing arm is improved.
The automatic sleeve feeding system comprises a rack, a slide way, a movable frame driving telescopic cylinder and a mechanical arm with a sleeve loading and unloading function, wherein the slide way is installed on the rack and extends along a second preset direction;
the movable frame is provided with a first working position and a second working position, when the movable frame is located at the first working position, the movable frame can bear the sleeve, when the movable frame is located at the second working position and the swing arm movable frame moves to correspond to the movable frame, the swing arm can rotate relative to the swing arm movable frame to be matched with the movable frame, and therefore the upper clamping arm and the lower clamping arm clamp the sleeve located on the movable frame.
According to the automatic sleeve feeding system of the embodiment of the application, the sleeve is conveyed to the second working position through the movable frame, the swing arm is moved to be matched with the movable frame through the swing arm moving frame, the clamping or loosening of the sleeve is realized through the matching of the upper clamping arm and the lower clamping arm, the automatic loading and unloading and the transportation of the sleeve can be realized through the action process, the manpower is saved, and the production safety and the production efficiency are improved.
According to some embodiments of the present application, the moving frame includes a first receiving plate and a second receiving plate, the first receiving plate being connected with the second receiving plate and forming a bearing area.
In the above embodiment, the sleeve is supported by the supporting area formed by the first supporting plate and the second supporting plate, so that the sleeve is convenient to transport.
In some embodiments of the present application, an angle between the first receiving plate and the second receiving plate is greater than or equal to 90 °.
In the above embodiment, the included angle of 90 ° or more facilitates the placement of the sleeves and improves the smoothness of the sleeve transportation.
In some embodiments of the present application, the first receiving plate is provided with an avoiding opening for avoiding the lower clamping arm.
In the above embodiment, the arrangement of the avoiding port facilitates the clamping of the upper clamping arm and the lower clamping arm on the sleeve, and the clamping flexibility of the sleeve is improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of a robot with a sleeve loading and unloading function according to an embodiment of the first aspect of the present application;
FIG. 2 is a partial schematic view of the robot of FIG. 1 with a sleeve loading and unloading function;
FIG. 3 is a top view of the robot of FIG. 1 with a sleeve loading and unloading function;
FIG. 4 is a schematic view of an automatic sleeve loading system provided in an embodiment of the second aspect of the present application;
fig. 5 is a partial schematic view of the automated sleeve loading system of fig. 4.
Icon: 100-a manipulator with a sleeve assembling and disassembling function; 11-a base; 111-linear guide rail; 12-a swing arm moving frame; 121-the movable frame drives the telescopic cylinder; 122-swing arm swing telescopic cylinder; 13-swing arm; 131-link drive mechanism; 132-a first link; 133-a second link; 134-a third link; 135-a first end; 136-a second end; 14-upper clamping arm; 15-lower clamping arm; 3-a sleeve; 200-automatic sleeve-mounting system; 21-a frame; 22-a slide; 23-moving the frame; 231-a first receiving plate; 232-a second bearing plate; 233-a carrier region; 24-moving the frame drives the telescoping cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when using, and are only used for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally 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 application can be understood in a specific case by those of ordinary skill in the art.
Embodiments of the first aspect
A robot 100 having a socket attaching and detaching function according to an embodiment of the first aspect of the present application will be described with reference to the drawings.
As shown in fig. 1, a robot 100 having a socket attaching and detaching function according to an embodiment of the present application includes: the device comprises a base 11, a swing arm moving frame 12, a swing arm 13, an upper clamping arm 14 and a lower clamping arm 15.
Specifically, the base 11 is used for being mounted on a fixed object (e.g., a floor of a workshop) and plays a role in supporting and positioning. The swing arm moving frame 12 is installed on the base 11 and can move along a first preset direction relative to the base 11, so that movement among different stations is realized. One end of the swing arm 13 is connected with the swing arm moving frame 12 and can rotate around the first axis relative to the swing arm moving frame 12, so that the swing arm 13 can move at different heights. One end of the upper clamping arm 14 is connected with the swing arm 13 and can rotate around a second axis relative to the swing arm 13; one end of the lower clamping arm 15 is connected with the swing arm 13 and can rotate around a third axis relative to the swing arm 13; the sleeve 3 is clamped or loosened by the cooperation of the upper clamping arm 14 and the lower clamping arm 15. The first axis, the second axis, the third axis and the first preset direction are parallel to each other, and the swing arm 13, the upper clamping arm 14 and the lower clamping arm 15 rotate in the same plane or in a plane parallel to each other, that is, the rotation in the up-and-down direction is realized at the corresponding rotation point.
It should be noted that, as shown in fig. 1, the first axis, the second axis, the third axis and the first predetermined direction are all directions perpendicular to the plane of the view of fig. 1, i.e. the X direction shown in fig. 3. In fig. 1, two states of the manipulator are shown, wherein one state is an operating state in which the upper clamping arm 14 and the lower clamping arm 15 cooperate to clamp the sleeve 3, and the other state is a non-operating state in which the upper clamping arm 14 and the lower clamping arm 15 are separated.
According to the manipulator 100 with the sleeve assembling and disassembling function, the swing arm moving frame 12 moves between different stations through the movement of the swing arm moving frame 12 relative to the base 11; the different positions of the swing arm 13 can be adjusted through the rotation of the swing arm 13 relative to the swing arm moving frame 12; the cooperation of the upper clamp arm 14 and the lower clamp arm 15 to clamp or unclamp the sleeve 3 is achieved by rotation of the upper clamp arm 14 relative to the swing arm 13 and rotation of the lower clamp arm 15 relative to the swing arm 13. This manipulator 100 with sleeve loading and unloading function can realize the loading and unloading of the sleeve 3 of different stations, and the flexible operation has saved the manpower, avoids the potential safety hazard in the production process, has improved the production security.
According to some embodiments of the present application, the robot 100 with the sleeve loading and unloading function further includes a connecting rod assembly and a connecting rod driving mechanism 131, the connecting rod assembly is hinged to the upper clamping arm 14 and the lower clamping arm 15, the connecting rod driving mechanism 131 is disposed along a length direction of the swing arm 13, the connecting rod driving mechanism 131 is mounted to the swing arm 13, and the connecting rod driving mechanism 131 is connected to the connecting rod assembly and can drive the connecting rod assembly to move relative to the swing arm 13, so that the upper clamping arm 14 and the lower clamping arm 15 rotate relative to the swing arm 13, respectively. The connecting rod assembly moves relative to the swing arm 13 through the connecting rod driving mechanism 131, and along with the movement of the connecting rod assembly, the connecting rod assembly drives the upper clamping arm 14 and the lower clamping arm 15 to rotate relative to the swing arm 13, so that the upper clamping arm 14 and the lower clamping arm 15 are close to or far away from each other, and clamping or loosening of the sleeve 3 is completed. The arrangement of the connecting rod driving mechanism 131 and the connecting rod assembly improves the rotation flexibility of the upper clamping arm 14 and the lower clamping arm 15, and realizes the automatic rotation of the upper clamping arm 14 and the lower clamping arm 15.
In some embodiments of the present application, as shown in fig. 1 and 2, the linkage assembly includes a first link 132, a second link 133, and a third link 134. The first link 132 is connected to the link driving mechanism 131, the first link 132 includes a first end 135 and a second end 136 which are oppositely disposed, one end of the second link 133 is hinged to the first end 135, the other end of the second link 133 is hinged to the upper clamping arm 14, and the movement of the first link 132 can drive the second link 133 to move, so as to drive the upper clamping arm 14 to rotate relative to the swing arm 13. One end and the second end 136 of the third connecting rod 134 are hinged, the other end of the third connecting rod 134 is hinged to the lower clamping arm 15, and the movement of the first connecting rod 132 can drive the third connecting rod 134 to move, so as to drive the lower clamping arm 15 to rotate relative to the swing arm 13. The second connecting rod 133 and the third connecting rod 134 are symmetrically arranged relative to the first connecting rod 132, and the second connecting rod 133 and the third connecting rod 134 are symmetrically distributed on two sides of the center line of the first connecting rod 132, when the first connecting rod 132 moves relative to the swing arm 13 under the action of the connecting rod driving mechanism 131, the first connecting rod 132 drives the second connecting rod 133 and the third connecting rod 134 to synchronously move, the second connecting rod 133 pulls the upper clamping arm 14 to rotate relative to the swing arm 13, and the third connecting rod 134 pulls the lower clamping arm 15 to rotate relative to the swing arm 13, that is, the upper clamping arm 14 and the lower clamping arm 15 simultaneously rotate relative to the swing arm 13, so that the upper clamping arm 14 and the lower clamping arm 15 can be close to or far away.
Go up arm 14 and second connecting rod 133 articulated, lower arm 15 is articulated with third connecting rod 134, has improved the arm 14 and has gone up arm 15 and lower arm 15 and be connected with swing arm 13's flexibility respectively, and first connecting rod 132 is articulated with second connecting rod 133 and third connecting rod 134 respectively for go up arm 14 and lower arm 15 and can rotate in step, realize the centre gripping of sleeve 3 or loosen, go up arm 14 and adjust in a flexible way with lower arm 15.
Optionally, the swing arm 13 is a hollow structure, the connecting rod driving mechanism 131 is a telescopic cylinder, a cylinder body of the telescopic cylinder is located in the swing arm 13, and a telescopic rod of the telescopic cylinder is connected to the first connecting rod 132. The connecting rod driving mechanism 131 adopts a telescopic cylinder, so that the connecting rod assembly can move flexibly and can realize automatic reset; the hollow structure design of the swing arm 13 enables the telescopic cylinder to move in the swing arm 13, so that the installation space is saved, and meanwhile, the guiding effect is achieved.
As an alternative of the present application, the connecting rod driving mechanism 131 employs an oil cylinder, which facilitates clamping of the sleeve 3 by the upper clamping arm 14 and the lower clamping arm 15. In other embodiments of the present application, the link driving mechanism 131 may be an air cylinder, an electric cylinder, or the like.
According to some embodiments of the present application, as shown in fig. 3, the manipulator 100 with a sleeve assembling and disassembling function further includes a moving frame driving telescopic cylinder 121, the base 11 is provided with a linear guide rail 111 extending along a first preset direction, the swing arm moving frame 12 is slidably connected with the linear guide rail 111, the moving frame driving telescopic cylinder 121 is mounted on the base 11, an output end (telescopic rod) of the moving frame driving telescopic cylinder 121 is connected with the swing arm moving frame 12, and the moving frame driving telescopic cylinder 121 is used for driving the swing arm moving frame 12 to move along the first preset direction relative to the base 11. The swing arm moving frame 12 and the linear guide rail 111 form a linear guide rail pair, and the moving frame driving telescopic cylinder 121 provides driving power for the swing arm moving frame 12, so that the swing arm moving frame 12 can move along a first preset direction relative to the linear guide rail 111, and the swing arm moving frame 12 moves flexibly.
According to some embodiments of the present application, the mechanical arm with sleeve assembling and disassembling function 100 further includes a swing arm swing telescopic cylinder 122, one end of the swing arm swing telescopic cylinder 122 is hinged to the swing arm moving frame 12, the other end of the swing arm swing telescopic cylinder 122 is hinged to the swing arm 13, and the swing arm swing telescopic cylinder 122 is configured to drive the swing arm 13 to rotate around the first axis relative to the swing arm moving frame 12. The swing arm 13 swings relative to the swing arm moving frame 12 by the swing arm swing telescopic cylinder 122, and the swing flexibility of the swing arm 13 is improved.
In order to facilitate the stretching action of the swing arm swing telescopic cylinder 122, the cylinder body of the swing arm swing telescopic cylinder 122 is hinged to the swing arm moving frame 12, and the telescopic rod of the swing arm swing telescopic cylinder 122 is hinged to the swing arm 13, in other words, the swing arm swing telescopic cylinder 122 is located below the swing arm 13, and the swing arm 13 is pushed to rotate relative to the swing arm moving frame 12 by unfolding the telescopic rod of the swing arm swing telescopic cylinder 122, so that the swing arm swing telescopic cylinder 122 can apply acting force to the swing arm 13 conveniently. As an optional mode of the application, the swing arm swing telescopic cylinder 122 adopts an oil cylinder, so that a larger acting force is convenient to provide. In other embodiments of the present application, the swing arm swing telescopic cylinder 122 may also be a pneumatic cylinder or an electric cylinder, depending on the actual situation.
The operation principle of the robot 100 having the socket attaching and detaching function according to the embodiment of the present application is:
the movable frame drives the telescopic rod to drive the swing arm movable frame 12 to move along a first preset direction relative to the base 11, so that the swing arm movable frame 12 can move between different stations; the swing arm 13 drives the telescopic cylinder to drive the swing arm 13 to rotate relative to the swing arm moving frame 12, so that different positions of the swing arm 13 can be adjusted; the connecting rod assembly is driven by the connecting rod driving mechanism 131 to move relative to the swing arm 13, so as to drive the upper clamping arm 14 to rotate relative to the swing arm 13 and the lower clamping arm 15 to rotate relative to the swing arm 13, and the upper clamping arm 14 and the lower clamping arm 15 are matched to clamp the sleeve 3 or loosen the sleeve 3.
This manipulator 100 with sleeve loading and unloading function can realize the loading and unloading of the sleeve 3 of different stations, and the flexible operation has saved the manpower, avoids the potential safety hazard in the production process, has improved the production security.
Examples of the second aspect
An automatic sleeve mounting system 200 according to an embodiment of the second aspect of the present application is described below with reference to the drawings.
As shown in fig. 4, the automatic sleeve mounting system 200 according to the embodiment of the present application includes: a frame 21, a slideway 22, a moving frame 23, a moving frame driving telescopic cylinder 24 and a manipulator 100 with a sleeve loading and unloading function according to the embodiment of the first aspect of the present application.
Specifically, the frame 21 is used for being mounted on a fixed object (such as a workshop floor, etc.) and plays a role in positioning. The slideway 22 is mounted to the frame 21, and the slideway 22 extends in a second predetermined direction. The moving frame 23 is slidably connected with the slideway 22, and the moving frame 23 can move along a second preset direction (Y direction in fig. 4) relative to the slideway 22; the moving frame 23 is used to carry the sleeve 3 and carry the sleeve 3. The moving frame driving telescopic cylinder 24 is used for driving the moving frame 23 to move along a second preset direction relative to the slideway 22. The mobile frame 23 has a first work position and a second work position, when the mobile frame 23 is in the first work position, the mobile frame 23 is able to carry the sleeve 3, this position being the loading position; when the moving frame 23 is at the second working position, the position is a position to be clamped, when the swing arm moving frame 12 moves to correspond to the moving frame 23, the swing arm 13 can rotate to be matched with the moving frame 23 relative to the swing arm moving frame 12, and at this time, the upper clamping arm 14 and the lower clamping arm 15 can clamp the sleeve 3 positioned on the moving frame 23 relative to the swing arm 13.
According to the automatic sleeve feeding system 200 of the embodiment of the application, the sleeve 3 is conveyed to the second working position through the moving frame 23, the swing arm 13 is moved to be matched with the moving frame 23 through the swing arm moving frame 12, the sleeve 3 is clamped or loosened through the matching of the upper clamping arm 14 and the lower clamping arm 15, the automatic loading and unloading and transportation of the sleeve 3 can be realized in the action process, the manpower is saved, and the production safety and the production efficiency are improved.
It should be noted that fig. 4 shows the state of the two working positions of the moving frame 23, when the moving frame 23 is away from the robot, in the first working position; when the moving frame 23 is close to the robot, it is in the second working position. Meanwhile, fig. 4 also shows two states of the manipulator, one of which is a state where the upper clamp arm 14 and the lower clamp arm 15 clamp the sleeve 3, and the other is a state where the upper clamp arm 14 and the lower clamp arm 15 are separated.
According to some embodiments of the present application, as shown in fig. 5, the moving frame 23 includes a first receiving plate 231 and a second receiving plate 232, the first receiving plate 231 is connected with the second receiving plate 232 and forms a receiving area 233, and the receiving area 233 is used for receiving the sleeve 3. After the first bearing plate 231 and the second bearing plate 232 are connected, an included angle is formed between the first bearing plate 231 and the second bearing plate 232, the sleeve 3 is accommodated in the bearing area 233 formed by the first bearing plate 231 and the second bearing plate 232, the sleeve 3 can be supported, and the sleeve 3 can be conveniently transported.
When the angle between the first receiving plate 231 and the second receiving plate 232 is smaller, the bearing stability of the sleeve 3 by the first receiving plate 231 and the second receiving plate 232 is poorer. In some embodiments of the present application, an included angle between the first receiving plate 231 and the second receiving plate 232 is greater than or equal to 90 °, so as to ensure the stability of the sleeve 3 when the moving frame 23 moves.
In order to adapt to the working environment, the second predetermined direction has an angle with the horizontal plane, which facilitates the moving frame 23 to carry the sleeve 3. As shown in fig. 4, the first receiving plate 231 is disposed along the second predetermined direction, and the second receiving plate 232 is disposed obliquely relative to the first receiving plate 231, so that when the moving frame 23 moves along the second predetermined direction, the second receiving plate 232 and the first receiving plate 231 can support the sleeve 3, and meanwhile, the transportation stability of the sleeve 3 is ensured.
In some embodiments of the present application, the first receiving plate 231 defines an avoiding opening for avoiding the lower clamping arm 15. When the movable frame 23 moves to the second working position, the lower clamping arm 15 and the upper clamping arm 14 are matched with the clamping sleeve 3 to avoid the opening, the lower clamping arm 15 can penetrate through the opening to be contacted with the sleeve 3 and clamp the sleeve 3, the clamping stability (the middle part of the sleeve 3 can be clamped by the lower clamping arm 15) and the flexibility of the sleeve 3 are improved, and the interference of the lower clamping arm 15 and the first bearing plate 231 is avoided.
The automatic sleeve mounting system 200 according to the second aspect of the present application works on the following principle:
when the sleeve 3 needs to be mounted, the movable frame 23 is located at a first working position, and after the sleeve 3 is placed on the movable frame 23, the movable frame drives the telescopic cylinder 24 to work to drive the movable frame 23 to a second working position; the swing arm moving frame 12 moves to a position corresponding to the moving frame 23 under the action of the moving frame driving telescopic cylinder 121, the swing arm 13 rotates relative to the swing arm moving frame 12 under the action of the swing arm swinging telescopic cylinder 122, after the swing arm 13 rotates to be matched with the moving frame 23, the connecting rod driving mechanism 131 drives the connecting rod assembly to move so that the upper clamping arm 14 and the lower clamping arm 15 respectively rotate relative to the swing arm 13, and clamping of the upper clamping arm 14 and the lower clamping arm 15 on the sleeve 3 is achieved.
Above-mentioned action process can realize the auto-control handling and the transportation of sleeve 3, has saved the manpower, has improved production security and production efficiency.
It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A manipulator with a sleeve assembling and disassembling function is characterized by comprising a base, a swing arm moving frame, a swing arm, an upper clamping arm and a lower clamping arm;
the swing arm removes the frame and installs on the base and can for the base removes along first predetermined direction, the one end of swing arm with the swing arm removes the connection of frame and can for the swing arm removes the frame and rotates around first axis, go up the arm lock the one end with the swing arm is connected and can for the swing arm rotates around the second axis, down the arm lock the one end with the swing arm is connected and can for the swing arm rotates around the third axis, go up the arm lock with the arm lock is used for cooperating the centre gripping sleeve down, first axis the second axis the third axis and first predetermined direction is parallel to each other.
2. The mechanical arm with the sleeve loading and unloading function of claim 1, further comprising a connecting rod assembly and a connecting rod driving mechanism, wherein the connecting rod assembly is hinged to the upper clamping arm and the lower clamping arm respectively, the connecting rod driving mechanism is arranged along the length direction of the swing arm, the connecting rod driving mechanism is mounted on the swing arm, and the connecting rod driving mechanism is connected to the connecting rod assembly and can drive the connecting rod assembly to move relative to the swing arm, so that the upper clamping arm and the lower clamping arm respectively rotate relative to the swing arm.
3. The manipulator as claimed in claim 2, wherein the link assembly includes a first link, a second link and a third link, the first link is connected to the link driving mechanism, the first link includes a first end and a second end, the first end and the second end are opposite to each other, one end of the second link is hinged to the first end, the other end of the second link is hinged to the upper clamp arm, one end of the third link is hinged to the second end, the other end of the third link is hinged to the lower clamp arm, and the second link and the third link are symmetrically arranged with respect to the first link.
4. The mechanical arm with the sleeve assembling and disassembling function of claim 3, wherein the swing arm is a hollow structure, the connecting rod driving mechanism is a telescopic cylinder, a cylinder body of the telescopic cylinder is located in the swing arm, and a telescopic rod of the telescopic cylinder is connected with the first connecting rod.
5. The mechanical arm with the sleeve assembling and disassembling function of claim 1, further comprising a movable frame driving telescopic cylinder, wherein the base is provided with a linear guide rail extending along the first preset direction, the swing arm movable frame is slidably connected with the linear guide rail, the movable frame driving telescopic cylinder is mounted on the base, an output end of the movable frame driving telescopic cylinder is connected with the swing arm movable frame, and the movable frame driving telescopic cylinder is used for driving the swing arm movable frame to move along the first preset direction relative to the linear guide rail.
6. The mechanical arm with the sleeve assembling and disassembling function of claim 1, further comprising a swing arm swing telescopic cylinder, wherein one end of the swing arm swing telescopic cylinder is hinged to the swing arm moving frame, the other end of the swing arm swing telescopic cylinder is hinged to the swing arm, and the swing arm swing telescopic cylinder is used for driving the swing arm to rotate around the first axis relative to the swing arm moving frame.
7. An automatic sleeve feeding system is characterized by comprising a rack, a slide way, a movable frame driving telescopic cylinder and the manipulator with the sleeve loading and unloading function of any one of claims 1 to 6, wherein the slide way is installed on the rack and extends along a second preset direction, the movable frame is slidably connected with the slide way and is used for bearing a sleeve, the movable frame driving telescopic cylinder is installed on the rack and is connected with the movable frame, and the movable frame driving telescopic cylinder is used for driving the movable frame to move along the second preset direction relative to the slide way;
the movable frame is provided with a first working position and a second working position, when the movable frame is located at the first working position, the movable frame can bear a sleeve, and when the movable frame is located at the second working position and the swing arm movable frame moves to correspond to the movable frame, the swing arm can rotate relative to the swing arm movable frame to be matched with the movable frame, so that the upper clamping arm and the lower clamping arm are clamped and located on the sleeve of the movable frame.
8. The automated sleeve feeding system of claim 7, wherein said traveling frame includes a first receiving plate and a second receiving plate, said first receiving plate being connected to said second receiving plate and forming a receiving area.
9. The automated sleeve feeding system of claim 8, wherein an included angle between said first receiving plate and said second receiving plate is greater than or equal to 90 °.
10. The automatic sleeve feeding system of claim 8, wherein said first receiving plate defines an avoidance opening for avoiding said lower clamp arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799610.0U CN210046669U (en) | 2019-05-29 | 2019-05-29 | Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920799610.0U CN210046669U (en) | 2019-05-29 | 2019-05-29 | Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210046669U true CN210046669U (en) | 2020-02-11 |
Family
ID=69396606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920799610.0U Active CN210046669U (en) | 2019-05-29 | 2019-05-29 | Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210046669U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623729A (en) * | 2020-12-11 | 2021-04-09 | 中铝瑞闽股份有限公司 | Method for realizing rapid coiling and collision prevention of coiled material |
| CN114589208A (en) * | 2022-02-11 | 2022-06-07 | 马鞍山尊马科技有限公司 | Cold rolling steel pipe ejection of compact auxiliary device |
| CN116638282A (en) * | 2023-05-15 | 2023-08-25 | 江苏中赫冶金设备有限公司 | Auxiliary structure for rapid assembly and disassembly of roller shaft sleeve and application method thereof |
-
2019
- 2019-05-29 CN CN201920799610.0U patent/CN210046669U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623729A (en) * | 2020-12-11 | 2021-04-09 | 中铝瑞闽股份有限公司 | Method for realizing rapid coiling and collision prevention of coiled material |
| CN114589208A (en) * | 2022-02-11 | 2022-06-07 | 马鞍山尊马科技有限公司 | Cold rolling steel pipe ejection of compact auxiliary device |
| CN116638282A (en) * | 2023-05-15 | 2023-08-25 | 江苏中赫冶金设备有限公司 | Auxiliary structure for rapid assembly and disassembly of roller shaft sleeve and application method thereof |
| CN116638282B (en) * | 2023-05-15 | 2023-12-05 | 江苏中赫冶金设备有限公司 | Auxiliary structure for rapid assembly and disassembly of roller shaft sleeve and application method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210046669U (en) | Mechanical arm with sleeve assembling and disassembling function and automatic sleeve assembling system | |
| JP6023321B2 (en) | Wind turbine generator rotor blade handling equipment | |
| CN111071862A (en) | Automatic loading and unloading system for wire spool, loading and unloading method and winding production line | |
| CN111069316A (en) | Special-shaped steel drawing production line | |
| CN212559197U (en) | Large-specification battery carrying cantilever crane device | |
| JP4352360B2 (en) | Stacker reclaimer | |
| CN210789054U (en) | Cylinder barrel hot extrusion production line with manipulator | |
| CN113666239A (en) | Electromagnetic rotary lifting appliance | |
| CN210255473U (en) | Double-station deburring workstation | |
| CN210214187U (en) | Equipment is put things in good order to batch aluminum mould board | |
| CN209256948U (en) | A kind of conveying robot and its process equipment including the conveying robot | |
| CN112496601A (en) | Axle clamp matched with manipulator | |
| KR20040041448A (en) | Apparatus for disassembling a cylindrical sleeve from a payoff reel and transferring the sleeve to a storing place | |
| CN111975816A (en) | Installation type robot maintenance platform with storage tool and part function | |
| CN217859876U (en) | Full-automatic two transport directional assembly devices | |
| CN220738097U (en) | Roller hanging device | |
| CN219358549U (en) | Automatic positioning device after rolling bottom ring of pressure container | |
| CN219077084U (en) | Transportation equipment | |
| CN216711374U (en) | Snatch subassembly, hoist and handling device | |
| CN220077806U (en) | Tire tube transfer device and transfer system | |
| CN216336093U (en) | Electromagnetic rotary lifting appliance | |
| CN219427524U (en) | Automatic overturning mechanism for embryo and embryo transfer system | |
| CN113478467B (en) | Mechanical arm | |
| CN219254557U (en) | Welding workshop back panel moves and carries installation helping hand arm | |
| CN218556918U (en) | Pipe bundle dismounting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |