CN212601873U

CN212601873U - Stacking clamp capable of clamping and overturning metal ingots and used on industrial robot

Info

Publication number: CN212601873U
Application number: CN202020935717.6U
Authority: CN
Inventors: 黄涛; 汤文远; 熊家政
Original assignee: Zhuzhou Torch Industrial Furnace Co ltd; BGRIMM Technology Group Co Ltd
Current assignee: ZHUZHOU TORCH INDUSTRIAL FURNACE CO.,LTD.
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2021-02-26
Anticipated expiration: 2030-05-28

Abstract

The utility model discloses a but pile up neatly anchor clamps of centre gripping upset metal ingot for on industrial robot, include base, holder, be used for the drive the holder is relative actuating mechanism, rotation that the base removed along the centre gripping direction are connected clamping head on the holder with be used for driving the tilting mechanism of clamping head upset, still establish including the cover tilting mechanism drive epaxial and key-type connection's first gear and cover are established the second gear of clamping head installation axle and key-type connection, first gear with second gear meshing transmission, the clamping head passes through the bearing and rotates to be connected on the holder, first gear and the equal both ends of second gear overlap respectively and are equipped with the bearing and connect in order to rotate on the holder. The bearings at the two ends of the two gears gradually transmit impact to the clamping seat, so that the bending damage of the driving shaft is avoided, and the damage of the driving shaft of the turnover mechanism with higher cost is effectively avoided through the damage of the gears with lower cost.

Description

Stacking clamp capable of clamping and overturning metal ingots and used on industrial robot

Technical Field

The utility model relates to a transportation equipment technical field, more specifically say, but relate to a but pile up neatly anchor clamps of centre gripping upset ingot metal for industrial robot.

Background

In the non-ferrous smelting industry, such as automatic production lines of zinc ingot automatic stacking lines, antimony ingot automatic stacking lines and the like, at present, domestic advanced stacking systems are all stacked by industrial robots. Because the form of ingot stack, some ingots need to overturn in the pile up neatly process, and the last anchor clamps of installing of current industrial robot only have a clamping function, need in the stacking line, increase mechanical type ingot mechanism that overturns, the ingot mechanism that overturns mainly through stirring the one end of ingot in order to overturn, this ingot mechanism that overturns is unstable, the card ingot phenomenon appears easily, and the trouble is many, and is inefficient, has also brought very big noise simultaneously. Especially, the turnover mechanism needs to be rotationally connected with the chuck, and when the chuck clamps the ingot body, a certain impact force exists in the clamping direction, and the impact force is easily transmitted to the turnover mechanism, so that the turnover mechanism is easily damaged, and the cost of the turnover mechanism is high, so that the great cost loss is easily caused.

In summary, how to effectively solve the problem that the turnover mechanism of the stacking clamp used on the industrial robot and capable of clamping and turning over the metal ingots is easy to damage is a problem which needs to be solved by the technicians in the field at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a but be used in industrial robot centre gripping upset ingot's pile up neatly anchor clamps, this but be used in industrial robot centre gripping upset ingot's pile up neatly anchor clamps can solve the easy problem of damaging of tilting mechanism of the pile up neatly anchor clamps that can centre gripping upset ingot on industrial robot effectively.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a but pile up neatly anchor clamps of centre gripping upset ingot metal for on industrial robot, includes base, holder, is used for the drive the holder is relative actuating mechanism, rotation that the base removed along the centre gripping direction are connected clamping head on the holder with be used for driving the tilting mechanism of clamping head upset are still established including the cover the tilting mechanism drive epaxial and key-type connection's of key-type first gear and cover are established the second gear of clamping head installation axle and key-type connection, first gear with second gear meshing transmission, the clamping head passes through the bearing and rotates to be connected on the holder, first gear and the equal both ends of second gear are overlapped respectively and are equipped with the bearing and connect in order to rotate on the holder.

In the stacking clamp which is used on an industrial robot and can clamp and turn over metal ingots, when in use, in the process of clamping and stacking the metal ingots, wherein when the clamping head is subjected to impact force, the main clamping seat directly supports the clamping head, and when the impact force of the clamping head is increased, the impact times are increased due to deformation and the precise matching between the mounting shaft of the clamping head and the second gear, therefore, the impact force is transmitted to the second gear, and because the second gear is strictly supported by the clamping seat through the bearings at the two ends, the force impinging on the second gear is transmitted mainly to the cartridge, and even if there is a small amount of force transmitted to the first gear, the first gear is transmitted to the cartridge through the bearings at both ends, and little or no deformation occurs, thereby not transmitting the acting force to the driving shaft and further effectively avoiding the bending deformation of the driving shaft. In this but pile up neatly anchor clamps of centre gripping upset ingot metal on industrial robot, set up gear drive between tilting mechanism's drive shaft and the installation axle of clamping head, and two gears rotate through the bearing of shoulder respectively and connect and support at the holder, with between installation axle and drive shaft, transmit impact to the holder by the bearing at second gear and first gear both ends gradually, and avoid the drive shaft bending to damage, damage through the lower gear of cost, the higher tilting mechanism drive shaft of cost has been avoided effectively to damage, and the anti hitting ability of gear can be stronger than the anti hitting ability of drive shaft, and then improve life effectively, and reduce cost. To sum up, this pile up neatly anchor clamps that can centre gripping upset ingot metal used on industrial robot can solve the easy problem of damaging of tilting mechanism of the pile up neatly anchor clamps that can centre gripping upset ingot metal used on industrial robot effectively.

Preferably, the turnover mechanism and the clamping head are respectively installed on two sides of the clamping seat in the clamping direction, the installation shaft sequentially penetrates into the thrust bearing and the second gear along the reverse direction of the clamping direction, and the inner ring and the outer ring of the thrust bearing are respectively fixed with the installation shaft and the clamping seat relatively.

Preferably, the first gear and the second gear are both cylindrical gears with two contracted end shoulders, deep groove ball bearings are sleeved on the two end shoulders of the cylindrical gears, and the radial outer side faces of the deep groove ball bearings are shorter than the gear face in the middle of the cylindrical gears.

Preferably, one end of the mounting shaft is provided with a limiting shoulder for preventing one end of the second gear from axially moving, and the other end of the mounting shaft is fixedly provided with an end cover for preventing the other end of the second gear from axially moving.

Preferably, the driving mechanism is in transmission connection with the clamping seat through an adjustable connecting block, so that the position of the clamping seat in the clamping direction can be changed through adjustment of the adjustable connecting block.

Preferably, the adjustable connecting block comprises a first connecting piece and a second connecting piece in threaded connection with the first connecting piece, one of the first connecting piece and the second connecting piece is connected with the clamping seat, the other one of the first connecting piece and the second connecting piece is connected with the driving end of the driving mechanism, and at least one of the first connecting piece and the second connecting piece is rotatably connected.

Preferably, the clamping seat and the base are in sliding connection along the clamping direction through a sliding chute and a sliding block.

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 is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a holder according to an embodiment of the present invention;

fig. 2 is a schematic end face structure view of a holder according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the stacking clamp provided by the embodiment of the present invention.

The drawings are numbered as follows:

turnover mechanism 1, drive shaft 2, holder 3, clamping head 4, installation axle 5, first gear 6, second gear 7, deep groove ball bearing 8, footstep bearing 9, opening lid 10, base 11, actuating mechanism 12, adjustable connecting block 13, first connecting piece 14, second connecting piece 15, metal ingot 16.

Detailed Description

The embodiment of the utility model discloses but pile up neatly anchor clamps of centre gripping upset ingot metal are used in industrial robot to solve the easy problem of damaging of tilting mechanism that is used in the pile up neatly anchor clamps of the centre gripping upset ingot metal on industrial robot effectively.

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, fig. 1 is a schematic structural view of a clip seat according to an embodiment of the present invention; fig. 2 is a schematic end face structure view of a holder according to an embodiment of the present invention; fig. 3 is a schematic structural view of the stacking clamp provided by the embodiment of the present invention.

In one embodiment, the present embodiment provides a stacking fixture for an industrial robot capable of clamping and turning ingots, which is mainly applied to an industrial robot for clamping and turning ingots 16 to stack the ingots 16, and mainly uses a robot program to orderly control a driver therein to orderly complete the arrangement and stacking of the ingots 16. Mainly, this be used in industrial robot on can centre gripping pile up neatly anchor clamps of upset ingot include base 11, holder 3, actuating mechanism 12, clamping head 4 and tilting mechanism 1.

The base 11 is used for being installed on a driving end of the robot, and other components are directly or indirectly installed on the base 11, so that the driving end drives the base 11 to move, and other components are driven to move correspondingly. The robot driving end is mainly used for driving a stacking clamp which is used on an industrial robot and can clamp and turn metal ingots to move to a corresponding stacking position.

Wherein the clamping seat 3 is movably arranged on the base 11 along the clamping direction, and the driving mechanism 12 is used for driving the clamping seat 3 to move along the clamping direction relative to the base 11 so as to clamp the object. The driving mechanism 12 may be a rotation driving mechanism or a linear driving mechanism, and if the driving mechanism is a rotation driving mechanism, a transmission mechanism for converting a rotation driving input into a linear driving output is arranged between the rotation driving mechanism and the holder 3, such as a crank-slider transmission mechanism, a lead screw nut transmission mechanism, a rack-and-pinion transmission mechanism, and the like. For better driving, it is preferred here that the clamping holder 3 is connected to the base 11 in a sliding manner in the clamping direction by means of a slotted link slide.

Wherein the clamping head 4 is used for directly contacting with the metal ingot 16, the clamping head 4 is rotatably connected on the clamping seat 3 to be driven by the clamping seat 3 to move along the clamping direction, and the clamping head 4 is driven by the turnover mechanism 1 to rotate relative to the clamping seat 3, so that the clamping head 4 can drive the metal ingot 16 to rotate to turn over. It should be noted that two opposite clamping heads 4 may be provided to respectively abut against two ends of the ingot 16 to perform a clamping function, and the two corresponding clamping heads 4 are respectively provided with the clamping seat 3 and the turnover mechanism 1, and generally are further provided with the driving mechanism 12. Of course, a clamping head 4 may be provided, and the corresponding chuck to the clamping head 4 is fixed on the base 11 to move toward the chuck through the clamping head 4, so as to cooperate with the chuck to clamp the two ends of the metal ingot 16, thereby realizing clamping. The turnover mechanism 1 drives the clamping head 4 to turn over, mainly adopts a swing cylinder, and can realize rotation driving by adopting a motor and other structures.

Carry out the transmission through the gear train between tilting mechanism 1's drive shaft 2 and clamping head 4, it is concrete, the cover is equipped with first gear 6 on tilting mechanism 1's drive shaft 2, the key-type connection is in order to transmit the moment of torsion between first gear 6 and tilting mechanism 1's drive shaft 2, and the cover is established on the installation axle 5 of clamping head 4 rear side to second gear 7, and second gear 7 is in order to transmit the moment of torsion with the installation axle 5 key-type connection of clamping head 4, and then make, tilting mechanism 1's drive shaft 2 rotates through the first gear 6 of key-type connection drive, and first gear 6 drive second gear 7 rotates, second gear 7 rotates through the 4 installation axles 5 of key-type connection drive clamping head, and then realize the 4 upsets of drive. Wherein the first gear 6 and the second gear 7 are both cylindrical gears, in order to avoid directly transmitting non-rotation torque acting force, the first gear 6 and the second gear 7 are both preferably straight cylindrical gears. It should be noted that the purpose of meshing the first gear 6 and the second gear 7 is not to adjust the rotation ratio, and therefore the first gear 6 and the second gear 7 may have the same diameter, i.e. the rotation ratio is 1.

The clamping head 4 is rotatably connected to the clamping seat 3 through a bearing, so that axial and radial acting forces of the clamping head 4 are directly borne by the clamping seat 3, and the bearing pushes the bearing 9 to enable the clamping head 4 to bear the axial acting force well. The bearing is sleeved on the mounting shaft 5 of the clamping head 4, and the outer ring of the bearing is carried by the clamping seat 3. It should be noted that, the driving shaft 2 of the turnover mechanism 1 may also be rotatably connected to the holder 3 through a bearing, or a bearing may not be provided, and generally, the driving shaft is not connected to the holder 3 through a bearing.

Wherein first gear 6 and the equal both ends of second gear 7 are overlapped respectively and are equipped with the bearing and connect on holder 3 with rotating, overlap respectively at the axial both ends of first gear 6 promptly and be equipped with the bearing, rotate to connect at holder 3 through the bearing, in order to make holder 3 bear the radial force to first gear 6 through the bearing, and the axial both ends of the second gear 7 that correspond are overlapped respectively and are equipped with the bearing, rotate to connect on holder 3 through the bearing, in order to make holder 3 bear the radial force to the gear of second time through the bearing. Namely, the bearings are arranged at the two ends of the first gear 6 and the second gear 7, and the clamping seat 3 directly bears acting force, so that the first gear 6 and the second gear 7 are favorable for improving the anti-impact capacity.

In the palletizing fixture capable of clamping and overturning the metal ingots on an industrial robot, when in use, when the

metal ingots

16 and 16 are clamped and the clamping head 4 is impacted, the main clamping seat 3 directly supports the clamping head 4, the impact force is increased along with the increase of the impact force of the clamping head 4, the impact force is transmitted to the second gear 7 because of the deformation and the precise matching between the mounting shaft 5 of the clamping head 4 and the second gear 7, and the second gear 7 is strictly supported by the clamping seats 3 through bearings at two ends, so the action force impacting the second gear 7 is mainly transmitted to the clamping seat 3, even if a small amount of action force is transmitted to the first gear 6, the first gear 6 is also transmitted to the clamping seat 3 through the bearings at two ends, and the action force is rarely or hardly deformed and is further transmitted to the driving shaft 2, thereby effectively preventing the drive shaft 2 from bending and deforming. In this but pile up neatly anchor clamps of centre gripping upset ingot metal on industrial robot, set up gear drive between the installation axle 5 of the drive shaft 2 of tilting mechanism 1 and holding head 4, and two gears rotate through the bearing of shoulder respectively and connect and support at holder 3, with between installation axle 5 and drive shaft 2, transmit impact to holder 3 by the bearing at second gear 7 and first gear 6 both ends gradually, and avoid the crooked damage of drive shaft 2, damage through the lower gear of cost, tilting mechanism 1 drive shaft 2 that has avoided the cost to be higher effectively damages, and the anti-hitting ability of gear can be stronger than the anti-hitting ability of drive shaft 2, and then improve life effectively, and reduce cost. To sum up, the stacking clamp capable of clamping and overturning the metal ingot on the industrial robot can effectively solve the problem that the overturning mechanism 1 of the stacking clamp capable of clamping and overturning the metal ingot on the industrial robot is easy to damage.

Furthermore, turnover mechanism 1 is convenient to protect turnover mechanism 1 better. It is preferred here that the tilting mechanism 1 and the gripping head 4 are mounted on the respective sides of the gripping holder 3 in the gripping direction, i.e. such that the tilting mechanism 1 is kept away from the ingot 16, avoiding impact damage. And tilting mechanism 1 and holding head 4 set up the both sides at holder 3, and are favorable to the balanced holder 3 atress condition. Wherein the installation axle 5 of clamping head 4 penetrates in holder 3 and be provided with footstep bearing 9 between clamping head 4 and holder 3, specifically, the preferred installation axle 5 herein penetrates footstep bearing 9, in the second gear 7 in proper order along the reverse of centre gripping direction, and wherein footstep bearing 9 inner and outer lane is fixed with installation axle 5 and holder 3 respectively to guarantee effectively that the impact that clamping head 4 bore transmits to footstep bearing 9 earlier, in order to be born by holder 3 earlier, with the one-step protection second gear 7 earlier.

Wherein first gear 6 and second gear 7, for installing on holder 3 conveniently, first gear 6 and second gear 7 are the cylindrical gear of both ends shoulder shrink preferentially here, in order to form the bearing erection column through the shoulder shrink, be equipped with deep groove ball bearing 8 at cylindrical gear both ends shoulder cover promptly, in order to shrink through the shoulder, in order to guarantee the middle part protrusion of two gears, so that can mesh between two gears, and in order to guarantee the meshing effect, should make deep groove ball bearing 8's radial lateral surface be shorter than cylindrical gear middle part gear face sets up, cylindrical gear's gear face diameter is greater than deep groove ball bearing 8 external diameter promptly, adopt deep groove ball bearing 8, in order better first gear 6 and second gear 7 of bearing. In order to ensure the bearing strength, the axial width of the deep groove ball bearing 8 is preferably equal to the width of the meshing surface between the first gear 6 and the second gear 7, that is, equal to the width of the gear surface of the first gear 6 and the width of the gear surface of the second gear 7.

For better fixing the clamping head 4 in the clamping direction, it is preferred that one end of the mounting shaft 5 of the clamping head 4 is provided with a limiting shoulder for preventing the second gear 7 from moving axially, and the other end is fixedly provided with an end cover for preventing the other end of the second gear 7 from moving axially. For ease of installation, the end cap is preferably mounted on the end of the mounting shaft 5 by screw fixation.

For better lubrication of the first gear 6 and the second gear 7, it is preferred here to provide a gear chamber for mounting the first gear 6 and the second gear 7 in the cartridge 3, the gear chamber being provided with an opening for the first gear 6 and the second gear 7 to be fitted in at a side close to the turnover mechanism 1, and an opening cover 10 at the opening for closing the gear chamber, wherein the opening cover 10 is provided with an opening at a position corresponding to the axial hole of the first gear 6 for the drive shaft 2 to extend into for key connection with the first gear 6. And the gear chamber is close to one side of the clamping head 4, and is provided with an opening at a position corresponding to the shaft hole of the second gear 7, so that the mounting shaft 5 can be inserted until the shoulder of the mounting shaft 5 is abutted against one end of the second gear 7, and the end part of the mounting shaft 5 is provided with the end cover to be clamped at the other end of the second gear 7, thereby axially fixing the mounting shaft 5. And the cavity walls of the opening cover 10 and the gear cavity are clamped at two ends of the first gear 6 and the second gear 7 so as to limit the axial movement of the first gear 6 and the second gear 7.

Further, considering the driving of the driving mechanism 12 with respect to the gripping seats 3, the driving stroke is generally fixed, since the dimensions of the respective ingots 16 are substantially uniform, which advantageously avoids the use of sensors. However, in actual production practice, the pallet clamps used on industrial robots to hold the flipped ingot need to hold ingots 16 of different sizes. In order to facilitate handling of ingots 16 of different sizes and avoid cost increase, it is preferable that the driving mechanism 12 is in transmission connection with the holder 3 through the adjustable connecting block 13, so as to change the position of the holder 3 in the clamping direction through adjustment of the adjustable connecting block 13, and further to adjust the position of the clamping head 4, so as to clamp ingots 16 of different sizes.

The adjustable connecting block 13 may be a telescopic adjusting rod, and its specific structure should be correspondingly arranged according to the driving mechanism 12, for example, the driving mechanism 12 is a rotating mechanism, and when the driving mechanism 12 is in transmission connection with the holder 3 through the slider-crank mechanism, the length of the connecting rod in the slider-crank mechanism can be adjusted, or the connecting position on the crank connected with the connecting rod can be adjusted.

If a telescopic adjusting rod is adopted, the telescopic adjusting rod can comprise an inner loop bar and an outer loop bar, and the inner loop bar and the outer loop bar are locked and fixed by screws. But this kind of telescopic adjusting lever is adjusted accurately inadequately, adjusts inconveniently. Based on this, it is preferable that the adjustable connecting block 13 includes a first connecting member 14 and a second connecting member 15 in threaded connection with the first connecting member 14, one of the first connecting member 14 and the second connecting member 15 is connected with the holder 3, and the other is connected with the driving end of the driving mechanism 12, and at least one of the first connecting member 14 and the second connecting member 15 is rotatably connected, for example, the first connecting member 14 is connected with the holder 3, and the second connecting member 15 is connected with the driving mechanism 12, at this time, the first connecting member 14 is rotatably connected with the holder 3 and/or the second connecting member 15 is rotatably connected with the driving mechanism 12, so that the driving mechanism 12 is not required to rotate corresponding to the holder 3 when the first connecting member 14 and the second connecting member 15 rotate relatively. For convenience of arrangement, the driving mechanism 12 is preferably a linear driving mechanism, such as a hydraulic telescopic cylinder or a pneumatic telescopic cylinder.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a but pile up neatly anchor clamps of centre gripping upset ingot metal for on industrial robot, includes base, holder, is used for the drive the holder is relative actuating mechanism, rotation that the base removed along the centre gripping direction are connected clamping head on the holder with be used for driving the tilting mechanism of clamping head upset, its characterized in that still establishes including the cover the tilting mechanism drive epaxial and key-type connection's of axle first gear and cover establish the second gear of clamping head installation axle and key-type connection, first gear with the meshing transmission of second gear, the clamping head passes through the bearing and rotates to be connected on the holder, first gear and the equal both ends of second gear are overlapped respectively and are equipped with the bearing and connect with rotating on the holder.

2. The pallet clamp according to claim 1, wherein said tilting mechanism and said gripping head are mounted on both sides of said gripping base in a gripping direction, respectively, said mounting shaft is inserted into said thrust bearing and said second gear in sequence in a direction opposite to said gripping direction, and said inner and outer races of said thrust bearing are fixed to said mounting shaft and said gripping base, respectively.

3. The stacking clamp capable of clamping and overturning metal ingots for an industrial robot as claimed in claim 2, wherein the first gear and the second gear are both cylindrical gears with two contracted end shoulders, deep groove ball bearings are sleeved on the two end shoulders of each cylindrical gear, and the radial outer side surfaces of the deep groove ball bearings are arranged lower than the middle gear surface of each cylindrical gear.

4. The pallet clamp for an industrial robot capable of clamping and overturning a metal ingot according to claim 3, wherein one end of the mounting shaft is provided with a limiting shoulder for preventing one end of the second gear from axially moving, and the other end of the mounting shaft is fixedly provided with an end cover for preventing the other end of the second gear from axially moving.

5. A pallet clamp according to any of the claims 1-4 for an industrial robot for grippable turning metal ingots, characterized in that the drive mechanism is drivingly connected to the gripping saddle via an adjustable connecting block for changing the position of the gripping saddle in the gripping direction by adjustment of the adjustable connecting block.

6. A pallet clamp according to claim 5 for use on an industrial robot for gripping overturned metal ingots therein, wherein said adjustable connecting blocks comprise a first connecting member and a second connecting member threadedly connected to said first connecting member, one of said first and second connecting members being connected to said jaw mount and the other being connected to said drive end of said drive mechanism and being at least one rotatably connected thereto.

7. A pallet clamp for use on an industrial robot for gripping overturnable metal ingots according to claim 6, characterized in that said gripping seat is slidably connected with said base in a gripping direction by means of a sliding chute slide.