CN211415173U

CN211415173U - Steel plate grabbing robot

Info

Publication number: CN211415173U
Application number: CN202020040755.5U
Authority: CN
Inventors: 陈正录
Original assignee: Golden Century Akerson Jiangsu Laser Technology Co ltd
Current assignee: Golden Century Akerson Jiangsu Laser Technology Co ltd
Priority date: 2020-01-09
Filing date: 2020-01-09
Publication date: 2020-09-04
Anticipated expiration: 2030-01-09

Abstract

The utility model discloses a steel plate grabbing robot, which comprises a base frame, wherein the base frame is respectively fixed with a lower bearing seat, a gas storage tank, a manned platform and a support plate through bolts, the support plate is arranged above the lower bearing seat, the gas storage tank is arranged between the support plate and the manned platform, a cylinder is pressurized through a load pressure regulating valve to obtain larger pulling force to pull up an object, the forces at two ends of the cylinder and a triangular connecting plate can reach a balanced state, a grabbing device can easily move up and down and left and right, a position through valve is closed when no-load is switched, the load pressure regulating valve does not have gas inlet and can not pressurize, the load pressure regulating valve does not work at the moment, only the no-load pressure regulating valve works, the forces at two ends of the grabbing device and the cylinder are balanced through the no-load pressure regulating valve, the grabbing device can easily move up and down, complete quick snatching and improve the processing efficiency.

Description

Steel plate grabbing robot

Technical Field

The utility model relates to a technical robot field specifically is a steel sheet snatchs robot.

Background

The existing industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, and is a machine which realizes various functions by self power and control capability. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.

In mechanical lathe processing, need apply industrial robot and improve machining efficiency, when industrial robot presss from both sides and gets some great spare parts of volume, spare parts such as steel sheet, steel pipe often because the position that the steel sheet was put through in the transportation is inconsistent, and some steel sheets are placed in the slope, lead to the robot to be difficult to adjust its direction and the angle of grabbing at level and vertical face at will, lead to needing the workman to keep flat the steel sheet, lead to the fact the reduction of efficiency and the increase of labour cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a steel sheet snatchs robot has concrete position and angle according to the steel sheet, and adjustment sucking disc level and vertical direction orientation improve the efficiency advantage of its processing, have solved the problem among the prior art.

In order to achieve the above object, the utility model provides a following technical scheme: a steel plate grabbing robot comprises an underframe, wherein a lower bearing seat, an air storage tank, a manned platform and a supporting plate are respectively fixed on the underframe through bolts, the supporting plate is built above the lower bearing seat, and the air storage tank is positioned between the supporting plate and the manned platform;

a rotating main shaft is inserted into the lower bearing seat, the top end of the main shaft penetrates through the supporting plate to be connected with a lower connecting seat, side plates are welded on the edges of the lower connecting seat along the length direction, a vertical connecting rod is inserted between the front ends of the side plates, and an air cylinder is inserted between the rear ends of the side plates;

the top end of the vertical connecting rod is fixedly provided with a triangular connecting plate, and bolts penetrating through two sides of the bottom end of the vertical connecting rod are meshed with the side plates;

the rotating pins connected with the two ends of the air cylinder are movably connected with the side plates, and the end of the telescopic air cylinder rod on the air cylinder is penetrated through by a bolt at the bottom of the rear limiting plate;

the bolt penetrating through the middle position on the triangular connecting plate is respectively sleeved with an upper rotating rod and a lower rotating rod, one end of the upper rod and one end of the lower rod are respectively and correspondingly sleeved on the bolt at the middle position on the rear limiting plate, and the other end of the upper rod and the other end of the lower rod are respectively and correspondingly sleeved on the bolt at the middle position on the front limiting plate;

an upper connecting seat is fixed on the bottom surface of the front limiting plate, an auxiliary shaft is fixed on the lower surface of the upper connecting seat, a spacer bush is fixed at the bottom end of the auxiliary shaft, a movable cross beam is sleeved on the auxiliary shaft above the spacer bush, a plane bearing is installed at the bottom end of the cross beam, a rectangular cylinder is installed at the lower end of the plane bearing, rectangular steel penetrates through the rectangular cylinder, and a plurality of groups of grabbing devices are connected to the rectangular steel;

the gripping device comprises side beams, suckers and a sleeve frame, the sleeve frame is sleeved on the rectangular steel at equal intervals, the top of the sleeve frame is fixedly lapped on the side beams on the rectangular steel, the suckers are mounted at the front end and the rear end of each side beam, and the gas storage tank is connected with the cylinders and each group of suckers through pipelines.

Preferably, a handle is welded to the front end of the rectangular steel.

Preferably, the suckers are divided into two rows and distributed on two sides of the rectangular steel.

Preferably, the suction cup is externally wound with a spring, and the top of the spring is abutted against the side beam.

Preferably, the suction cup is mounted on the side beam by a detachable magnet and an electromagnet.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the steel plate grabbing robot enables an air cylinder to obtain larger pulling force to pull up an object through pressurization of a load pressure regulating valve, the forces at two ends of the air cylinder and a triangular connecting plate can reach a balanced state, a grabbing device can easily move up and down and left and right, a position valve is closed when the grabbing device is switched to be in no-load, the load pressure regulating valve does not admit air and can not pressurize, the load pressure regulating valve does not work at the moment, only the no-load pressure regulating valve works, the forces at two ends of the grabbing device and the air cylinder are balanced through the no-load pressure regulating valve, the grabbing device can easily move up and down, a rear limiting plate and a front limiting plate synchronously incline inwards or outwards, a plane bearing drives a sucker to synchronously incline clockwise, radial rotation of the sucker is completed, a rectangular cylinder is driven by a handle to rotate around a plane bearing, a beam can also be driven to rotate, complete quick snatching and improve the processing efficiency.

Drawings

FIG. 1 is an overall perspective view of the present invention;

fig. 2 is an overall front view of the present invention;

fig. 3 is an overall plan view of the present invention;

fig. 4 is an overall side view of the present invention;

FIG. 5 is a view showing the rotation state of the clockwise needle of the gripping device of the present invention;

fig. 6 is a counterclockwise rotation state diagram of the gripping device of the present invention;

fig. 7 is a horizontal rotation diagram of the gripping device of the present invention;

fig. 8 is a schematic diagram of the working of the cylinder of the present invention.

In the figure: 1. a chassis; 2. a lower bearing seat; 21. a main shaft; 3. a gas storage tank; 4. a manned platform; 41. a support plate; 5. a lower connecting seat; 51. a side plate; 52. a vertical connecting rod; 6. a cylinder; 7. a rear limiting plate; 8. a triangular connecting plate; 81. a rod is arranged; 82. a lower rod; 83. a front limiting plate; 831. an upper connecting seat; 9. a counter shaft; 91. a spacer sleeve; 92. a cross beam; 921. a flat bearing; 93. a rectangular cylinder; 931. rectangular steel; 932. a handle; 10. a gripping device; 101. a side beam; 102. a suction cup; 103. and (5) sleeving a frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, a steel plate grabbing robot comprises an underframe 1, wherein the underframe 1 is respectively fixed with a lower bearing seat 2, an air storage tank 3, a manned platform 4 and a support plate 41 through bolts, the support plate 41 is built above the lower bearing seat 2, the lower bearing seat 2 is covered by the support plate 41, the air storage tank 3 is positioned between the support plate 41 and the manned platform 4, and the air storage tank 3 is provided with an air pump;

a rotating main shaft 21 is inserted into the lower bearing seat 2, the main shaft 21 can rotate in a bearing of the lower bearing seat 2, the top end of the main shaft 21 penetrates through the supporting plate 41 to be connected with a lower connecting seat 5, the main shaft 21 can also rotate on the supporting plate 41 and simultaneously drives the lower connecting seat 5 to rotate, side plates 51 are welded on the edges of the lower connecting seat 5 in the length direction, the two side plates 51 are arranged side by side, a vertical connecting rod 52 is inserted between the front ends of the side plates 51, an air cylinder 6 is inserted between the rear ends of the side plates 51, and the vertical connecting rod 52 and the air cylinder 6 are arranged at the front and;

the triangular connecting plate 8 is fixed at the top end of the vertical connecting rod 52, bolts penetrating through two sides of the bottom end of the vertical connecting rod 52 are meshed with the side plates 51, and the bottom of the vertical connecting rod 52 is fixed in position by the aid of the bolts;

the rotating pins connected with the two ends of the cylinder 6 are movably connected with the side plate 51, the cylinder 6 can also rotate around the rotating pin on the side plate 51 as the center, and the telescopic cylinder rod port on the cylinder 6 is movably connected with the rear limiting plate 7 through the rotating pin to rotate mutually;

the rotary upper rod 81 and the rotary lower rod 82 are respectively sleeved on the inserted pins penetrating through the middle positions on the triangular connecting plate 8, the middle parts of the upper rod 81 and the lower rod 82 respectively rotate around the middle upper position of the triangular connecting plate 8, one ends of the upper rod 81 and the lower rod 82 are respectively and correspondingly sleeved on the inserted pins at the middle positions on the rear limiting plate 7, the other ends of the upper rod 81 and the lower rod 82 are respectively and correspondingly sleeved on the inserted pins at the middle positions on the front limiting plate 83, the positions of the two ends of the upper rod 81 and the lower rod 82 are limited by the front limiting plate 83 and the rear limiting plate 7 which are arranged at the same time, the rotation of the upper rod 81 and the lower rod 82 is not influenced, and the upper rod 81 and the lower rod 82 are always kept in a;

an upper connecting seat 831 is fixed on the bottom surface of the front limiting plate 83, a countershaft 9 is fixed on the lower surface of the upper connecting seat 831, a spacer 91 is fixed at the bottom end of the countershaft 9, a movable cross beam 92 is sleeved on the countershaft 9 above the spacer 91, the spacer 91 supports one end of the cross beam 92, but the rotation of the cross beam 92 around the countershaft 9 cannot be influenced, a plane bearing 921 is installed at the bottom end of the cross beam 92, a rectangular cylinder 93 is installed at the lower end of the plane bearing 921, the rectangular cylinder 93 can rotate on the plane bearing 921, rectangular steel 931 penetrates through the rectangular cylinder 93, the rectangular cylinder 93 supports the rectangular steel 931, and a plurality of groups of grabbing devices 10 are connected on the rectangular steel 931;

the gripping device 10 comprises side beams 101, suckers 102 and sleeve frames 103, the sleeve frames 103 are sleeved on rectangular steel 931 at equal intervals, the distribution positions of the sleeve frames 103 are uniform, the top of the sleeve frames 103 is fixedly lapped on the side beams 101 on the rectangular steel 931, a plurality of side beams 101 are perpendicular to the rectangular steel 931, the sleeve frames 103 support the side beams 101, handles 932 are welded on the front ends of the rectangular steel 931 and can be gripped by a user, the gripping device 10 is driven to rotate around a plane bearing 921 and an auxiliary shaft 9, the suckers 102 are installed on the front end and the rear end of each side beam 101, the suckers 102 are divided into two rows and distributed on two sides of the rectangular steel 931, springs are wound outside the suckers 102, the tops of the springs abut against the side beams 101, the suckers 102 are installed on the side beams 101 through detachable magnets and electromagnets, the installation and the detachment are convenient, the suckers 102 deform when gripping steel plates, and the springs can play a, the gas holder 3 is connected with the cylinder 6 and each group of suckers 102 through the pipeline respectively, the gas holder 3 is under the work of two way pipelines of air pump, wherein the inside gas of the sucking disc 102 of all the ways of extraction produces the negative pressure, the steel sheet is absorb in sucking disc 102 and steel sheet contact, the gas holder 3 can control the inside piston of cylinder 6 to move, it is flexible to drive the cylinder pole, thereby the vertical direction rotation state of the regulation grabbing device 10 of the control grabbing device 10 upper and lower position, the steel sheet that is fit for different angles and places can all be inhaled.

Referring to fig. 4, the rear limiting plate 7 and the front limiting plate 83 are in a vertical state, and the suction cup 102 of the gripping device 10 is also in a horizontal state.

Referring to fig. 5-6, the air storage tank 3 can control the piston inside the air cylinder 6 to move, so as to drive the air cylinder 6 to rotate clockwise around the side plate 51 while the air cylinder rod extends, the upper rod 81 and the lower rod 82 rotate around the triangular connecting plate 8, the rear limiting plate 7 and the front limiting plate 83 tilt counterclockwise synchronously, and the plane bearing 921 drives the suction cup 102 to tilt counterclockwise synchronously, so as to complete the counterclockwise rotation of the suction cup 102; the gas holder 3 can control the piston in the cylinder 6 to move, the cylinder 6 rotates around the side plate 51 anticlockwise when driving the cylinder rod to shorten, the rear limiting plate 7 descends, the upper rod 81 and the lower rod 82 rotate around the triangular connecting plate 8, the rear limiting plate 7 and the front limiting plate 83 incline synchronously clockwise, the plane bearing 921 drives the sucker 102 to incline synchronously clockwise, the sucker 102 rotates anticlockwise when being completed, and the sucker 102 can be adjusted to rotate in the vertical direction through the cylinder 6.

Referring to fig. 7, the spacer 91 supports one end of the cross beam 92, the rotation of the cross beam 92 around the auxiliary shaft 9 is not affected, the bottom end of the cross beam 92 is provided with the plane bearing 921, the lower end of the plane bearing 921 is provided with the rectangular cylinder 93, the rectangular cylinder 93 can rotate on the plane bearing 921, the handle 932 drives the rectangular cylinder 93 to rotate around the plane bearing 921, and the cross beam 92 can also be driven to rotate around the auxiliary shaft 9, so that the suction cup 102 is adjusted to rotate in the horizontal direction, the grabbing is completed according to the specific position and angle of the steel plate, and the processing efficiency is improved.

Referring to fig. 8, when the empty load switch is switched to the load, the 2-position 3-way valve is opened to ventilate, the air cylinder 6 is pressurized by the load pressure regulating valve to pull up the object with a larger pulling force, after the object is pulled up, the forces at the two ends of the air cylinder 6 and the triangular connecting plate 8 can reach a balanced state, the gripping device 10 can easily move up, down, left and right after the object is pulled up, when the empty load switch is switched to the no-load state, the 2-position 3-way valve is closed, the load pressure regulating valve does not have air intake and can not pressurize, the load pressure regulating valve does not work at this time, only the no-load pressure regulating valve works, the forces at the two ends of the gripping device.

In summary, the following steps: the steel plate grabbing robot enables an air cylinder 6 to obtain larger pulling force to pull up an object through pressurization of a load pressure regulating valve, the forces at two ends of the air cylinder 6 and a triangular connecting plate 8 can reach a balanced state, a grabbing device 10 can easily move up and down and left and right, when the steel plate grabbing robot is switched to be in idle, a 2-position 3-way valve is closed, the load pressure regulating valve does not have air inlet and cannot pressurize, the load pressure regulating valve does not work at the moment, only the idle pressure regulating valve works, the forces at two ends of the grabbing device 10 and the air cylinder 6 are balanced through the idle pressure regulating valve, the grabbing device 10 can easily move up and down, a rear limiting plate 7 and a front limiting plate 83 synchronously incline inwards or outwards, a plane bearing 921 drives a sucker 102 to synchronously incline clockwise, radial rotation of the sucker 102 is completed, a handle 932 drives a rectangular cylinder 93 to rotate around a plane bearing 921, and can also drive a crossbeam 92, according to the concrete position and the angle of the steel plate, the quick grabbing is completed, and the machining efficiency is improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a steel sheet snatchs robot, includes chassis (1), its characterized in that: the chassis (1) is respectively fixed with a lower bearing seat (2), a gas storage tank (3), a manned platform (4) and a support plate (41) through bolts, the support plate (41) is built above the lower bearing seat (2), and the gas storage tank (3) is positioned between the support plate (41) and the manned platform (4);

a rotating main shaft (21) is inserted into the lower bearing seat (2), the top end of the main shaft (21) penetrates through the supporting plate (41) to be connected with a lower connecting seat (5), side plates (51) are welded on the edge of the lower connecting seat (5) along the length direction, a vertical connecting rod (52) is inserted between the front ends of the side plates (51), and an air cylinder (6) is inserted between the rear ends of the side plates (51);

the top end of the vertical connecting rod (52) is fixedly provided with a triangular connecting plate (8), and bolts penetrating through two sides of the bottom end of the vertical connecting rod (52) are meshed with the side plates (51);

the rotating pins connected with the two ends of the air cylinder (6) are movably connected with the side plate (51), and the end of the telescopic air cylinder rod on the air cylinder (6) is penetrated through by a bolt at the bottom of the rear limiting plate (7);

a rotary upper rod (81) and a rotary lower rod (82) are respectively sleeved on a bolt penetrating through the middle position of the triangular connecting plate (8), one end of each of the upper rod (81) and the lower rod (82) is respectively and correspondingly sleeved on a bolt in the middle position of the rear limiting plate (7), and the other end of each of the upper rod (81) and the lower rod (82) is respectively and correspondingly sleeved on a bolt in the middle position of the front limiting plate (83);

an upper connecting seat (831) is fixed on the bottom surface of the front limiting plate (83), an auxiliary shaft (9) is fixed on the lower surface of the upper connecting seat (831), a spacer bush (91) is fixed at the bottom end of the auxiliary shaft (9), a movable cross beam (92) is sleeved on the auxiliary shaft (9) above the spacer bush (91), a plane bearing (921) is installed at the bottom end of the cross beam (92), a rectangular cylinder (93) is installed at the lower end of the plane bearing (921), rectangular steel (931) penetrates through the rectangular cylinder (93), and a plurality of groups of grabbing devices (10) are connected to the rectangular steel (931);

grabbing device (10) include curb girder (101), sucking disc (102) and cover frame (103), the cover of cover frame (103) equidistant on rectangular steel (931), and the top of cover frame (103) is fixed and is taken curb girder (101) on rectangular steel (931), installs sucking disc (102) on the front and back both ends of every curb girder (101), and gas holder (3) are connected between through pipeline and cylinder (6) and every group sucking disc (102) respectively.

2. The steel plate grabbing robot according to claim 1, characterized in that a handle (932) is welded on the front end of the rectangular steel (931).

3. A steel plate grabbing robot according to claim 1, characterized in that said suction cups (102) are divided into two rows distributed on both sides of a rectangular steel (931).

4. A plate gripping robot according to claim 1, characterized in that the suction cups (102) are externally wound with springs, the tops of which rest against the side beams (101).

5. A steel plate grabbing robot according to claim 1, wherein said suction cups (102) are mounted on the side beams (101) by means of detachable magnets and electromagnets.