CN211638880U - Clamp dismantling equipment and holding device thereof - Google Patents
Clamp dismantling equipment and holding device thereof Download PDFInfo
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- CN211638880U CN211638880U CN201922200922.8U CN201922200922U CN211638880U CN 211638880 U CN211638880 U CN 211638880U CN 201922200922 U CN201922200922 U CN 201922200922U CN 211638880 U CN211638880 U CN 211638880U
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Abstract
The utility model discloses a equipment is demolishd to clamp and cohesion device thereof, the latter includes: press from both sides and embrace the frock, press from both sides and embrace the frock and include: the clamping arm comprises a first clamping arm and a second clamping arm; the first power mechanism is in transmission connection with the two clamping and embracing arms respectively, is in transmission connection with the first clamping and embracing arm and the second clamping and embracing arm respectively, and drives the two clamping and embracing arms to be close to or far away from the radial direction of the hoop to be disassembled so as to embrace or release the hoop to be disassembled; the first power mechanism is arranged on the support frame. Like this, this clamp demolishs equipment and cohesion device thereof has solved among the prior art artifical clamp of demolising inefficiency, working strength is big, and the manipulator is demolishd the clamp and is lacked the technical problem of effective location.
Description
Technical Field
The utility model relates to a mechanical equipment technical field, concretely relates to equipment is demolishd to clamp and cohesion device thereof.
Background
As shown in fig. 1, the cardboard barrel comprises a barrel body 101, a barrel cover 102 and a clamp 103, wherein the barrel cover 102 is locked and fixed with the barrel body 101 through the clamp 103. In use, when the barrel 101 needs to be separated from the barrel cover 102, the clamp needs to be opened. In the prior art, the locking of the hoop 103 is released through manual dismantling, so that the working strength is high, manpower and material resources are wasted, the working efficiency is low, and the automation level of a production line is reduced; and if the manipulator is adopted to carry out the clamp unblock, then lack effectual location structure of holding tightly.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides an equipment is demolishd to clamp and cohesion device thereof to at least part is solved the manual work among the prior art and is demolishd the clamp inefficiency, working strength is big, and the manipulator is demolishd the clamp and is lacked the technical problem of effective location.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the utility model provides a cohesion device for clamp demolishs equipment, clamp demolishs equipment and includes the manipulator, cohesion device includes:
press from both sides and embrace the frock, press from both sides and embrace the frock and include:
the clamping arm comprises a first clamping arm and a second clamping arm;
the first power mechanism is in transmission connection with the two clamping and embracing arms respectively, is in transmission connection with the first clamping and embracing arm and the second clamping and embracing arm respectively, and drives the two clamping and embracing arms to be close to or far away from the radial direction of the hoop to be disassembled so as to embrace or release the hoop to be disassembled;
the first power mechanism is arranged on the support frame.
Further, press from both sides and embrace frock still includes:
and the second power mechanism is arranged on the support frame, is in transmission connection with the first clamping arm and the second clamping arm respectively, and drives the two clamping arms to move in the vertical direction so as to be close to or far away from the hoop to be disassembled.
Further, the second power mechanism includes:
the cylinder barrel of the first lifting driving cylinder is fixedly connected with the support frame, and the telescopic rod of the first lifting driving cylinder is fixedly connected with the first clamping arm;
the second goes up and down to drive actuating cylinder, the cylinder of second go up and down to drive actuating cylinder with support frame fixed connection, its telescopic link with the second presss from both sides and embraces arm fixed connection.
Further, the first power mechanism includes:
the cylinder barrel of the first enclasping driving cylinder is fixedly connected with the telescopic rod of the first lifting driving cylinder, and the telescopic rod of the first enclasping driving cylinder is fixedly connected with the first clamping arm;
the second is embraced and is driven actuating cylinder, the second is embraced drive actuating cylinder's cylinder with the telescopic link fixed connection that the second goes up and down to drive actuating cylinder, the second is embraced drive actuating cylinder's telescopic link with the second presss from both sides and embraces arm fixed connection.
Further, the axial compression tool is further included, the axial compression tool comprises a pressing block and a third power mechanism in transmission connection with the pressing block, and the pressing block is driven by the third power mechanism to be close to or far away from the barrel cover where the hoop to be disassembled is located so as to compress or release the barrel cover.
Furthermore, the third power mechanism is a barrel pressing cylinder, a cylinder barrel of the barrel pressing cylinder is arranged on the support frame, and a telescopic rod of the barrel pressing cylinder is fixedly connected with the pressing block.
Furthermore, the auxiliary pressing block and the auxiliary pressing cylinder are in transmission connection with the auxiliary pressing block, and a cylinder barrel of the auxiliary pressing cylinder is mounted on the supporting frame.
The utility model also provides a device is demolishd to clamp, include:
the industrial robot comprises a host and a manipulator in control connection with the host; the manipulator includes:
the wedge-shaped finger is in transmission connection with a power part of the host machine and transversely moves under the driving of the power part so as to stir the hoop to be disassembled;
the pneumatic clamping jaw is in transmission connection with a pneumatic component of the host machine and is driven by the pneumatic component to grab the clamp to be disassembled;
the suction disc is in transmission connection with the power component and is driven by the power component to adsorb the barrel cover where the hoop to be disassembled is located;
and a clasping device as described above.
Further, still include the rotary conveyor, the staving that waits to dismantle the clamp place set up in on the rotary conveyor to according to predetermineeing annular orbit circumferential direction.
Further, still include the vision camera, the vision camera install in the support frame, just the acquisition lens orientation of vision camera the clamp is dismantled to treating.
The utility model provides an embrace device for clamp demolishs equipment, press from both sides through the setting and embrace the first power unit of arm and drive clamp armful arm, make when the clamp is dismantled, effect through first power unit makes first clamp armful arm and second press from both sides and embrace the arm and embrace this and treat the dismantlement clamp, so as to can be when using the manipulator, realize the cooperation of clamp and embrace tightly and fix a position, make the clamp demolish automatically and become the possibility, the clamp need not manual demolishs, the work efficiency is improved, the working strength is reduced, effective location when the manipulator demolishs automatically can be realized to the while. Like this, this clamp demolishs equipment and cohesion device thereof has solved among the prior art artifical clamp of demolising inefficiency, working strength is big, and the manipulator is demolishd the clamp and is lacked the technical problem of effective location.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
FIG. 1 is a schematic diagram of a typical paperboard pail construction;
fig. 2 is a schematic structural diagram of a specific embodiment of the hoop removing apparatus provided in the present invention;
FIG. 3 is a schematic illustration of the clip removal apparatus of FIG. 2 in a ready stage for clip removal;
FIG. 4 is a schematic view of the clip removal apparatus of FIG. 2 in a ready stage for removal of a clip;
FIG. 5 is a schematic view of the clip removal apparatus of FIG. 2 in a clip removal phase;
FIG. 6 is a schematic view of the clip removal apparatus of FIG. 2 in a ready stage for removal of the clip and lid;
fig. 7 is a schematic view of the clip removal apparatus of fig. 2 in a clip and lid removal stage.
Description of reference numerals:
in fig. 1:
101-barrel body 102-barrel cover 103-hoop
In fig. 2-7:
100-clamp 200 to be disassembled-support frame 300-barrel cover 400-industrial robot
500-vision camera
1-clamping arm 2-first power mechanism 3-second power mechanism 4-pressing block 5-third power mechanism
6-auxiliary pressing block 7-auxiliary pressing cylinder
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. 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.
In a specific embodiment, the utility model provides a cohesion device is used for the clamp to demolish equipment, and it can provide effective location when the manipulator of clamp demolishment equipment demolishs the clamp to make the automatic dismantlement of clamp become possible, dismantle efficiency with the improvement clamp, avoid artifical big scheduling problem of working strength who dismantles and cause.
As shown in fig. 2 to 7, the clasping device comprises a clasping tool and a supporting frame 200, wherein the clasping tool further comprises a clasping arm 1 and a first power mechanism 2. Wherein, press from both sides and embrace arm 1 and press from both sides including first clamp and embrace arm and second and embrace the arm, first power unit 2 presss from both sides with two and embraces the arm and transmit respectively and be connected, first power unit 2 with first clamp embrace the arm with the second presss from both sides and embraces the arm and transmit respectively and connect to drive two clamp and embrace arm 1 and radially be close to or keep away from waiting to dismantle clamp 100, in order to embrace tightly or release wait to dismantle clamp 100, first power unit 2 install in support frame 200, support frame 200 are square frame, and it has not only realized the support of each main part, and has enclosed the work area that the clamp was dismantled, and when dismantling, the cardboard bucket that has this clamp is located the work area that support frame 200 enclosed and intra-operatively. Through the setting of arm 1 is embraced to above-mentioned first power unit 2 and two clamp, can realize the circumference location of cardboard bucket to avoid waiting to dismantle clamp 100 and take place rotation in a circumferential direction and skew when the operation is dismantled to the manipulator, formed the most basic location of hugging closely.
In order to improve the holding reliability and stability, the positioning effect between the clamping arm 1 and the paperboard bucket and the clamp is improved, and the surfaces of the clamping arm 1, the paperboard bucket and the clamp are arc-shaped surfaces so as to realize the tight fit of the contact surfaces. In the practical use process, in order to avoid the two clamping arms 1 from rigidly colliding with the paperboard barrel and the hoop to cause damage, an anti-collision layer, such as a polyurethane layer or a rubber layer, can be arranged on the part, attached to the hoop, of the clamping arms 1.
This press from both sides and embrace frock still includes second power unit 3, second power unit 3 install in support frame 200, just second power unit 3 respectively with first press from both sides embrace the arm with the second presss from both sides and embraces the arm transmission and connect to drive two clamp and embrace arm 1 and move in vertical direction, in order to be close to or keep away from wait to dismantle clamp 100. Therefore, in the working process, when the clamping is needed to be tightly held, the second power mechanism 3 drives the first power mechanism and the clamping arm 1 to synchronously move downwards to the working position, and then the first power mechanism is started to realize the horizontal movement of the clamping arm 1 and tightly hold the hoop; after the positioning is finished, the second driving structure drives the first power mechanism and the clamping arm 1 to synchronously move upwards and avoid the working position so as to avoid interference with the manipulator or the clamp when the clamp is taken out after being unlocked.
In this embodiment, each driving mechanism may be in the form of an air cylinder, and theoretically, the driving mechanism is not limited to an air cylinder, and may be in the form of an electric cylinder, an oil cylinder, a motor drive, or the like. The embodiment takes pneumatic driving as an example, specifically, the second power mechanism 3 includes a first lifting driving cylinder and a second lifting driving cylinder, and the first power mechanism includes a first enclasping driving cylinder and a second enclasping driving cylinder, wherein a cylinder barrel of the first lifting driving cylinder is fixedly connected with the support frame 200, a cylinder barrel of the first enclasping driving cylinder is fixedly connected with an expansion link of the first lifting driving cylinder, and the expansion link of the first enclasping driving cylinder is fixedly connected with the first clasping arm; the cylinder barrel of the second lifting driving cylinder is fixedly connected with the support frame 200, the cylinder barrel of the second enclasping driving cylinder is fixedly connected with the telescopic rod of the second lifting driving cylinder, and the telescopic rod of the second enclasping driving cylinder is fixedly connected with the second clamping enclasping arm. Like this, when the lift drive actuating cylinder stretches out, can drive to embrace and drive actuating cylinder and press from both sides and embrace arm 1 synchronous lift, after going up and down to target in place, embrace and drive actuating cylinder drive and press from both sides and embrace arm 1 and embrace the clamp tightly.
In the hoop dismounting process, in addition to the need of circumferential holding, the positioning in the height direction is guaranteed, so that the positioning effect is improved, the holding device further comprises an axial pressing tool, the axial pressing tool comprises a pressing block 4 and a third power mechanism 5 connected with the pressing block 4 in a transmission mode, the pressing block 4 is driven by the third power mechanism 5 to be close to or far away from the barrel cover 300 where the hoop 100 to be dismounted is to be pressed or released the barrel cover 300.
Specifically, the driving mechanism may also adopt a cylinder form, that is, the third power mechanism 5 is a barrel pressing cylinder, a cylinder barrel of the barrel pressing cylinder is mounted on the support frame, and an expansion link of the barrel pressing cylinder is fixedly connected with the pressing block 4.
Further, this cohesion device still include supplementary compact heap 6 and with supplementary compact heap 6 transmission connection's supplementary compress tightly cylinder 7, supplementary compress tightly cylinder 7 the cylinder install in the support frame to just circumference further compresses tightly the clamp, realizes the circumference assistance-localization real-time of clamp, guarantees positioning stability.
In the embodiment, the utility model provides an embrace device for clamp demolishs equipment presss from both sides through the setting and embraces arm 1 and drive clamp and embrace first power unit 2 of arm 1 for when the clamp is dismantled, through the effect of first power unit 2, make first clamp embrace arm and second press from both sides and embrace the arm and embrace this and treat dismantlement clamp 100, so that can be when using the manipulator, realize that the cooperation of clamp is embraced tightly and the location, make the clamp demolish automatically and become the possibility, the clamp need not manual demolishs, the work efficiency is improved, the working strength is reduced, effective location when can realizing the manipulator is demolishd automatically simultaneously. Like this, this clamp demolishs equipment and cohesion device thereof has solved among the prior art artifical clamp of demolising inefficiency, working strength is big, and the manipulator is demolishd the clamp and is lacked the technical problem of effective location.
In addition to the above-mentioned clasping device, in one embodiment, the present invention further provides a band removing apparatus including the clasping device, and referring to fig. 2 to 7, the apparatus further includes an industrial robot 400, wherein the industrial robot 400 includes a main machine and a manipulator in control connection with the main machine; the host is configured to output various control instructions to control operations of different parts of the manipulator according to different requirements, and the specific control process, strategy, and principle are common knowledge in the art and are not described herein again. Specifically, in order to be suitable for hoop dismounting, the manipulator comprises a wedge-shaped finger, and the wedge-shaped finger is in transmission connection with a power part of the host machine and moves transversely under the driving of the power part so as to toggle the hoop 100 to be dismounted; the pneumatic clamping jaw is in transmission connection with a pneumatic component of the host machine and is driven by the pneumatic component to grab the clamp 100 to be disassembled; and the sucker is in transmission connection with the power component and is driven by the power component to suck the barrel cover 300 where the hoop 100 to be disassembled is located.
Further, the equipment also comprises a rotary conveyor, wherein the barrel body where the hoop 100 to be disassembled is arranged on the rotary conveyor and rotates circumferentially according to a preset annular track; like this, when the clamp transported to work area through the roll table, the rotary conveyer drives the staving and rotates to with the clamp towards the direction that the wedge finger is convenient for operate, thereby improve the operation convenience.
In order to improve the visibility of the device, the device further comprises a vision camera 500, wherein the vision camera 500 is mounted on the support frame 200, and a collecting lens of the vision camera 500 faces the clip 100 to be detached.
The following briefly describes the working process of the hoop removing device by taking the above specific embodiment as an example:
the paperboard barrel with the disassembled clamp is sent to a rotary conveyor through a roller way, the rotary conveyor has an accurate rotation function, the paperboard barrel can be rotated to any angle, and the rotary conveyor is matched with a vision camera 500, so that the paperboard barrel can be rotated to a working position where a robot can conveniently disassemble the clamp;
the two lifting driving cylinders contract synchronously, the two enclasping driving cylinders and the two clamping enclasping arms 1 are driven to descend to working positions respectively, then the enclasping driving cylinders extend out, and the two clamping enclasping arms 1 are driven to enclasping the hoops respectively;
after the clamping in the circumferential direction, the auxiliary pressing cylinder 7 extends out to drive the auxiliary pressing block 6 to jack the clamp;
then, the barrel pressing cylinder extends out to drive the pressing block 4 to press the barrel cover 300 tightly, so that positioning preparation is made for the robot to disassemble the hoop;
after positioning is finished, the robot acts, the clamp is pulled open by a wedge-shaped finger, then the auxiliary pressing cylinder 7 contracts to drive the auxiliary pressing block 6 to retract, and then the enclasping driving cylinder contracts to drive the two enclasping driving cylinders and the two clamping enclasping arms 1 to retract upwards;
the two lifting driving cylinders synchronously extend out to drive the two tightly-holding driving cylinders and the two clamping arms 1 to lift the hoop; the barrel pressing cylinder contracts to drive the pressing block 4 to retract and release the barrel cover 300;
the robot acts and drives the pneumatic clamping jaw to take away the hoop and place the hoop at the designated hoop recovery position, and the suction disc is used for taking away the barrel cover 300 and placing the barrel cover 300 at the designated barrel cover 300 recovery position;
finally, the cardboard barrel is taken away by the rotary conveyor and the next work cycle is started.
In the embodiment, the utility model provides a clamp demolishs equipment including embracing tightly the device, press from both sides through the setting and embrace arm 1 and drive clamp and embrace first power unit 2 of arm 1, make when the clamp is dismantled, effect through first power unit 2, make first clamp embrace arm and second press from both sides and embrace the arm and embrace this and treat dismantlement clamp 100, so as to can be when using the manipulator, realize that the cooperation of clamp is embraced tightly and the location, make the clamp demolish automatically and become the possibility, the clamp need not manual demolishs, the work efficiency is improved, the working strength is reduced, effective location when the manipulator is demolishd automatically can be realized to the while. Like this, this clamp demolishs equipment and cohesion device thereof has solved among the prior art artifical clamp of demolising inefficiency, working strength is big, and the manipulator is demolishd the clamp and is lacked the technical problem of effective location.
The above embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above is only the embodiments of the present invention, and is not intended to limit the protection scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a cohesion device for the clamp demolishs equipment, the clamp demolishs equipment and includes the manipulator, its characterized in that, cohesion device includes:
press from both sides and embrace the frock, press from both sides and embrace the frock and include:
the clamping arm comprises a first clamping arm and a second clamping arm;
the first power mechanism is in transmission connection with the two clamping and embracing arms respectively, is in transmission connection with the first clamping and embracing arm and the second clamping and embracing arm respectively, and drives the two clamping and embracing arms to be close to or far away from the radial direction of the hoop to be disassembled so as to embrace or release the hoop to be disassembled;
the first power mechanism is arranged on the support frame.
2. The clasping device of claim 1, wherein the clamp clasping tool further comprises:
and the second power mechanism is arranged on the support frame, is in transmission connection with the first clamping arm and the second clamping arm respectively, and drives the two clamping arms to move in the vertical direction so as to be close to or far away from the hoop to be disassembled.
3. The clasping device of claim 2, wherein the second power mechanism comprises:
the cylinder barrel of the first lifting driving cylinder is fixedly connected with the support frame, and the telescopic rod of the first lifting driving cylinder is fixedly connected with the first clamping arm;
the second goes up and down to drive actuating cylinder, the cylinder of second go up and down to drive actuating cylinder with support frame fixed connection, its telescopic link with the second presss from both sides and embraces arm fixed connection.
4. The clasping device of claim 3, wherein the first power mechanism comprises:
the cylinder barrel of the first enclasping driving cylinder is fixedly connected with the telescopic rod of the first lifting driving cylinder, and the telescopic rod of the first enclasping driving cylinder is fixedly connected with the first clamping arm;
the second is embraced and is driven actuating cylinder, the second is embraced drive actuating cylinder's cylinder with the telescopic link fixed connection that the second goes up and down to drive actuating cylinder, the second is embraced drive actuating cylinder's telescopic link with the second presss from both sides and embraces arm fixed connection.
5. The clasping device as claimed in any one of claims 1 to 4, further comprising an axial compressing tool, wherein the axial compressing tool comprises a pressing block and a third power mechanism in transmission connection with the pressing block, and the pressing block is driven by the third power mechanism to approach or separate from the barrel cover where the hoop to be disassembled is located, so as to compress or release the barrel cover.
6. The clasping device as claimed in claim 5, wherein the third power mechanism is a barrel pressing cylinder, a cylinder barrel of the barrel pressing cylinder is mounted on the support frame, and an expansion link of the barrel pressing cylinder is fixedly connected with the pressing block.
7. The clasping device as claimed in any one of claims 1 to 4, further comprising an auxiliary pressing block and an auxiliary pressing cylinder in transmission connection with the auxiliary pressing block, wherein a cylinder barrel of the auxiliary pressing cylinder is mounted on the support frame.
8. A ferrule removal apparatus, comprising:
the industrial robot comprises a host and a manipulator in control connection with the host; the manipulator includes:
the wedge-shaped finger is in transmission connection with a power part of the host machine and transversely moves under the driving of the power part so as to stir the hoop to be disassembled;
the pneumatic clamping jaw is in transmission connection with a pneumatic component of the host machine and is driven by the pneumatic component to grab the clamp to be disassembled;
the suction disc is in transmission connection with the power component and is driven by the power component to adsorb the barrel cover where the hoop to be disassembled is located;
and a clasping device as claimed in any one of claims 1 to 7.
9. The band removal apparatus according to claim 8, further comprising a rotary conveyor on which the drum to be removed of the band is disposed and which is rotated circumferentially in a predetermined circular track.
10. The clip removal apparatus of claim 8, further comprising a vision camera mounted to the support frame with a capture lens of the vision camera facing the clip to be removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922200922.8U CN211638880U (en) | 2019-12-10 | 2019-12-10 | Clamp dismantling equipment and holding device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922200922.8U CN211638880U (en) | 2019-12-10 | 2019-12-10 | Clamp dismantling equipment and holding device thereof |
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| Publication Number | Publication Date |
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| CN211638880U true CN211638880U (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922200922.8U Active CN211638880U (en) | 2019-12-10 | 2019-12-10 | Clamp dismantling equipment and holding device thereof |
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| CN (1) | CN211638880U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975322A (en) * | 2021-02-26 | 2021-06-18 | 安庆安帝技益精机有限公司 | Barrel hoop material loading locking mechanism |
-
2019
- 2019-12-10 CN CN201922200922.8U patent/CN211638880U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112975322A (en) * | 2021-02-26 | 2021-06-18 | 安庆安帝技益精机有限公司 | Barrel hoop material loading locking mechanism |
| CN112975322B (en) * | 2021-02-26 | 2022-04-19 | 安庆安帝技益精机有限公司 | Barrel hoop material loading locking mechanism |
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