CN212497806U - Mechanical arm end effector for shearing steel coil head - Google Patents
Mechanical arm end effector for shearing steel coil head Download PDFInfo
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- CN212497806U CN212497806U CN202021101776.XU CN202021101776U CN212497806U CN 212497806 U CN212497806 U CN 212497806U CN 202021101776 U CN202021101776 U CN 202021101776U CN 212497806 U CN212497806 U CN 212497806U
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Abstract
The utility model relates to an end effector of mechanical arm for shearing steel coil head, including the mounting box, the front end of mounting box is provided with the recess, the groove is provided with the rotary drum, be provided with the three-jaw mounting panel on the flange, the three-jaw mounting panel is the L type, the bending part of three-jaw mounting panel have with flange connection, all install telescopic cylinder on the front surface of bending part is kept away from on the both sides limit of the L type of three-jaw mounting panel, telescopic cylinder's push rod's end all is provided with the connecting plate, all install the guide bar in the guide cylinder, the front end of guide bar all with connecting plate fixed connection; one of the connecting plates is provided with a hydraulic shear, and the other connecting plate is provided with a hydraulic clamp. Install on the end effector flange of arm, can realize pressing from both sides the steel coil and get and cut, the mill only needs to purchase single arm just can realize shearing and the usage that pincers got, reduces equipment purchasing cost.
Description
Technical Field
The utility model relates to a steel shearing equipment technical field, especially an arm end effector for shearing steel coil head.
Background
The wire diameter specification of the wire rod produced by the high wire plant is 9 specifications from phi 6 to phi 20, the wire rod is respectively basically divided into 7 types of different materials, and coils with the wire diameters of the same specification are organized and produced every day according to a production plan made by selling finished wire rods. And each group of coils with the same wire diameter is about 2.5 tons, and after the coils are suspended by the C-shaped hook and move to a designated station along the track, the specified coil number of the head and the tail is cut off by a technician so as to ensure the quality of the main coil. The action of manual shearing can be divided into 'grabbing', 'pulling', 'pushing', 'pulling', 'lifting' and 'shearing', and the core purpose is to find the position of the thread end and cut the thread end; two arms need to be used when shearing at present, and two end effector are respectively installed to two machinery, are used for shearing respectively and press from both sides and get the steel coil.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems, the present invention provides an end effector for shearing steel coil head, which is used for clamping and shearing a steel coil in a mechanical arm.
The embodiment of the utility model provides an in adopt following scheme to realize: the mechanical arm end effector comprises a mounting box, wherein a groove is formed in the front end of the mounting box, a mounting flange is fixed to the rear end of the mounting box, a first motor is mounted at the rear portion of the mounting box, a rotary drum is mounted at the groove, a first synchronous belt wheel is mounted at one end of the rotary drum, a second synchronous belt wheel is mounted at an output shaft of the first motor, and synchronous belts are mounted on the first synchronous belt wheel and the second synchronous belt wheel; the middle part of the outer wall of the rotary drum is provided with a connecting flange; the connecting flange is provided with a three-jaw mounting plate, the three-jaw mounting plate is L-shaped, the bending part of the three-jaw mounting plate is connected with the connecting flange, the front surfaces of the two side edges of the L-shaped of the three-jaw mounting plate, which are far away from the bending part, are respectively provided with a telescopic cylinder, the tail end of a push rod of each telescopic cylinder is provided with a connecting plate, the three-jaw mounting plate is provided with three guide cylinders surrounding the telescopic cylinders, guide rods are respectively arranged in the guide cylinders, and the front ends of the guide rods are respectively fixedly connected with the connecting plate; one of the connecting plates is provided with a hydraulic shear, and the other connecting plate is provided with a hydraulic clamp.
The utility model relates to an embodiment, the hydraulic tong includes left side pincers handle, right side pincers handle and second fixing base, the second fixing base is fixed on the connecting plate, a left side pincers handle is fixed on the second fixing base, right side pincers handle cross-section is the L type, the department of buckling of right side pincers handle with the rear portion of left side pincers handle is articulated, the end of right side pincers handle articulates there is the third pneumatic cylinder, the cylinder body of third pneumatic cylinder is articulated on the perisporium of second fixing base, the department of keeping silent of hydraulic tong is provided with pressure sensor.
In an embodiment of the present invention, the hydraulic shears includes a left shear handle, a right shear handle and a first fixing seat, the first fixing seat is fixed on a connecting plate, the left shear handle is fixed on the first fixing seat, the tail of the right shear handle is bent outward to form an L-shape, the bent portion of the right shear handle is hinged to the middle portion of the right shear handle, and the shearing mouth formed by the left shear handle and the right shear handle is an olecranon shape; a cutting groove is formed in the left cutting handle; the tail part of the right shear handle is far away from the bent part and is hinged with a fourth hydraulic cylinder, and the cylinder body of the fourth hydraulic cylinder is hinged on the peripheral wall of the first fixing seat.
The utility model has the advantages that: the utility model provides an end effector of mechanical arm for shearing a steel coil head, which is arranged on an end effector connecting flange of the mechanical arm, can clamp and shear a steel coil, avoids manual operation tools to clamp and shear the steel coil, and improves the automation level of steel coil production; manpower is liberated from severe operating environments such as high temperature, labor cost is reduced, and personnel safety is guaranteed; the purpose of shearing and clamping can be realized only by purchasing a single mechanical arm in a factory, and the equipment purchase cost is reduced.
Drawings
Fig. 1 is a schematic view of the structure of an end effector of a robot arm for shearing a steel coil head.
Fig. 2 is a partially enlarged schematic view of fig. 1.
Fig. 3 is a partial perspective view of the mounting box.
Fig. 4 is a schematic structural view of the hydraulic clamp.
Fig. 5 is a schematic structural view of the hydraulic shears.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1 to 5, the utility model provides an end effector of a mechanical arm for shearing a steel coil head, which comprises a mounting box 1, wherein a groove is arranged at the front end of the mounting box 1, a mounting flange 2 is fixed at the rear end of the mounting box 1, a first motor 12 is arranged at the rear part in the mounting box 1, a rotary drum 3 is arranged at the groove, a first synchronous belt 13 wheel 14 is arranged at one end of the rotary drum 3, a second synchronous belt 13 wheel 15 is arranged at the output shaft of the first motor 12, and a synchronous belt 13 is arranged on the first synchronous belt 13 wheel and the second synchronous belt 13 wheel; the middle part of the outer wall of the rotary drum 3 is provided with a connecting flange 4; the connecting flange 4 is provided with a three-jaw mounting plate 5, the three-jaw mounting plate 5 is L-shaped, the bent part of the three-jaw mounting plate 5 is connected with the connecting flange 4, the front surfaces of the two side edges of the L-shaped of the three-jaw mounting plate 5, which are far away from the bent part, are respectively provided with a telescopic cylinder 6, the tail ends of push rods of the telescopic cylinders 6 are respectively provided with a connecting plate 9, the three-jaw mounting plate 5 is provided with three guide cylinders 7 which surround the telescopic cylinders 6, guide rods 8 are respectively arranged in the guide cylinders 7, and the front ends of the guide rods 8 are respectively fixedly connected with the connecting plates 9; one of the connecting plates 9 is provided with a hydraulic shear 11, and the other connecting plate 9 is provided with a hydraulic clamp 10.
Referring to fig. 1, 2, 4 to 5, in an embodiment of the present invention, the hydraulic clamp 10 includes a left clamp handle 102, a right clamp handle 101, and a second fixing seat 105, the second fixing seat 105 is fixed on the connecting plate 9, the left clamp handle 102 is fixed on the second fixing seat 105, a cross section of the right clamp handle 101 is L-shaped, a bending portion of the right clamp handle 101 is hinged to a rear portion of the left clamp handle 102, a tail of the right clamp handle 101 is hinged to a third hydraulic cylinder 104, a cylinder body of the third hydraulic cylinder 104 is hinged to a peripheral wall of the second fixing seat 105, a jaw of the hydraulic clamp 10 is provided with a pressure sensor 103 for monitoring a pressure transmitted to a steel coil by the hydraulic clamp 10 in real time, and preventing a surface of the steel coil from being damaged due to an excessive clamping force of the hydraulic clamp 10; the opening and closing of the jaws can be realized by the push rod of the third hydraulic cylinder 104 being pushed out and retracted, and the clamping and releasing of the object can be realized.
Referring to fig. 1, 2, 4 to 5, in an embodiment of the present invention, the hydraulic shears 11 includes a left shear handle 112, a right shear handle 111, and a first fixing seat 113, the first fixing seat 113 is fixed on the connecting plate 9, the left shear handle 112 is fixed on the first fixing seat 113, a tail of the right shear handle 111 is bent outward to form an L shape, a bent portion of the right shear handle 111 is hinged to a middle portion of the right shear handle 111, and a shear gap formed by the left shear handle 112 and the right shear handle 111 is an olecranon shape; a shearing groove 115 is formed in the left shearing handle 112; the tail part of the right shear handle 111, which is far away from the bent part, is hinged with a fourth hydraulic cylinder 114, and the cylinder body of the fourth hydraulic cylinder 114 is hinged on the peripheral wall of the first fixed seat 113; the pushing out and retracting of the push rod of the fourth hydraulic cylinder 114 can realize the opening and closing of the scissor mouth to realize the shearing of the article.
The embodiment of the utility model provides an in, it is to explain that the utility model discloses what require is specific mechanical structure, as to how telescopic cylinder, pneumatic cylinder, pressure sensor, motor control transmission data are prior art, do not do the protection requirement here.
The utility model discloses the theory of operation below has:
the first motor rotates to drive the synchronous belt to rotate, so that the rotary drum is driven to rotate, and the pitching oscillation of the hydraulic scissors box hydraulic clamp arranged on the rotary drum is realized; the device is fixed on a connecting flange at the tail end of a mechanical arm through a mounting flange at the rear end of a mounting box, when a steel wire needs to be clamped, the mechanical arm runs to enable a hydraulic clamp on the device to be close to and clamp the steel wire, and a telescopic cylinder below the hydraulic clamp is pushed out to enable the hydraulic clamp to be obviously higher than the hydraulic clamp, so that the clamping operation can be more conveniently carried out without being hindered by the hydraulic clamp, and a wire end is pulled out of a steel coil; otherwise, when the steel coil needs to be cut, the stretching cylinder under the hydraulic shear is pushed out.
The above description is only for the preferred embodiment of the present invention, and should not be interpreted as limiting the scope of the present invention, which is intended to cover all the equivalent changes and modifications made in accordance with the claims of the present invention.
Claims (3)
1. An end effector of a mechanical arm for shearing a steel coil head, characterized in that: the mounting box is characterized by comprising a mounting box, wherein a groove is formed in the front end of the mounting box, a mounting flange is fixed at the rear end of the mounting box, a first motor is mounted at the rear part in the mounting box, a rotary drum is mounted at the groove, a first synchronous belt wheel is mounted at one end of the rotary drum, a second synchronous belt wheel is mounted at an output shaft of the first motor, and synchronous belts are mounted on the first synchronous belt wheel and the second synchronous belt wheel; the middle part of the outer wall of the rotary drum is provided with a connecting flange; the connecting flange is provided with a three-jaw mounting plate, the three-jaw mounting plate is L-shaped, the bending part of the three-jaw mounting plate is connected with the connecting flange, the front surfaces of the two side edges of the L-shaped of the three-jaw mounting plate, which are far away from the bending part, are respectively provided with a telescopic cylinder, the tail end of a push rod of each telescopic cylinder is provided with a connecting plate, the three-jaw mounting plate is provided with three guide cylinders surrounding the telescopic cylinders, guide rods are respectively arranged in the guide cylinders, and the front ends of the guide rods are respectively fixedly connected with the connecting plate; one of the connecting plates is provided with a hydraulic shear, and the other connecting plate is provided with a hydraulic clamp.
2. An end effector of a robotic arm for shearing a steel coil head as recited in claim 1, wherein: the hydraulic pliers comprise a left pliers handle, a right pliers handle and a second fixing seat, the second fixing seat is fixed on a connecting plate, the left pliers handle is fixed on the second fixing seat, the cross section of the right pliers handle is L-shaped, the bending part of the right pliers handle is hinged with the rear part of the left pliers handle, the tail of the right pliers handle is hinged with a third hydraulic cylinder, the cylinder body of the third hydraulic cylinder is hinged on the peripheral wall of the second fixing seat, and a jaw of the hydraulic pliers is provided with a pressure sensor.
3. An end effector of a robotic arm for shearing a steel coil head as recited in claim 1, wherein: the hydraulic shear comprises a left shear handle, a right shear handle and a first fixing seat, wherein the first fixing seat is fixed on a connecting plate, the left shear handle is fixed on the first fixing seat, the tail part of the right shear handle is bent outwards to form an L shape, the bent part of the right shear handle is hinged with the middle part of the right shear handle, and a shearing opening formed by the left shear handle and the right shear handle is in an olecranon shape; a cutting groove is formed in the left cutting handle; the tail part of the right shear handle is far away from the bent part and is hinged with a fourth hydraulic cylinder, and the cylinder body of the fourth hydraulic cylinder is hinged on the peripheral wall of the first fixing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021101776.XU CN212497806U (en) | 2020-06-15 | 2020-06-15 | Mechanical arm end effector for shearing steel coil head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021101776.XU CN212497806U (en) | 2020-06-15 | 2020-06-15 | Mechanical arm end effector for shearing steel coil head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212497806U true CN212497806U (en) | 2021-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021101776.XU Active CN212497806U (en) | 2020-06-15 | 2020-06-15 | Mechanical arm end effector for shearing steel coil head |
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| CN (1) | CN212497806U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038399A (en) * | 2023-04-03 | 2023-05-02 | 深圳市利达成科技有限公司 | Manipulator for processing game machine |
-
2020
- 2020-06-15 CN CN202021101776.XU patent/CN212497806U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038399A (en) * | 2023-04-03 | 2023-05-02 | 深圳市利达成科技有限公司 | Manipulator for processing game machine |
| CN116038399B (en) * | 2023-04-03 | 2023-05-30 | 深圳市利达成科技有限公司 | Manipulator for processing game machine |
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