CN213737491U

CN213737491U - Coil gripper

Info

Publication number: CN213737491U
Application number: CN202022456594.0U
Authority: CN
Inventors: 王召祥; 杜望
Original assignee: XUZHOU HUAHENG ROBOT SYSTEM CO Ltd; Kunshan Huaheng Robot Co Ltd
Current assignee: XUZHOU HUAHENG ROBOT SYSTEM CO Ltd; Kunshan Huaheng Robot Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-07-20
Anticipated expiration: 2030-10-30

Abstract

The utility model belongs to the technical field of engineering machine tool, concretely relates to coil tongs, including floating installation and tongs device, the floating installation includes robot flange, fixed connection board, unsteady connecting plate I, unsteady connecting plate II and cylinder I, and the robot flange links to each other with fixed connection board, fixed connection board with it is connected with linear rail sliding block set I to float between connecting plate I, unsteady connecting plate I with unsteady connecting plate II is connected with linear rail sliding block set II, and linear rail sliding block set I is the crisscross relation with linear rail sliding block set II on the space, the cylinder adapter sleeve that T type structure was equipped with is overlapped between fixed connection board and unsteady connecting plate I, be connected with the bolt on the telescopic link of cylinder I, the bolt is stretched out by the cylinder adapter sleeve unsteady connecting plate I. The floating device enables the gripping device to slide in the longitudinal direction and the transverse direction in the process of gripping the coil, and when the position of the coil slightly deviates, the gripping device can more effectively grip the coil.

Description

Coil gripper

Technical Field

The utility model belongs to the technical field of engineering machine tool, concretely relates to coil tongs.

Background

The coil is high in assembly precision requirement due to the fact that the coil is high in weight in the assembly process, and common hoisting is not applicable.

Disclosure of Invention

In order to overcome the shortcoming of the prior art, the utility model provides a coil tongs, including floating installation and tongs, wherein, floating installation makes tongs can slide at vertical and horizontal direction at the in-process of snatching the coil, and when the coil position has the deviation slightly, tongs can more effectually snatch the coil.

The utility model discloses a realize through following technical scheme: a coil gripper comprises a floating device and a gripper device, wherein the floating device comprises a robot connecting flange, a fixed connecting plate, a floating connecting plate I, a floating connecting plate II and a cylinder I, the robot connecting flange is connected with the fixed connecting plate, a linear rail slider assembly I is connected between the fixed connecting plate and the floating connecting plate I, a linear rail slider assembly II is connected between the floating connecting plate I and the floating connecting plate II, the linear rail slider assembly I and the linear rail slider assembly II are in a cross-shaped relation in space, a cylinder connecting sleeve with a T-shaped structure is sleeved between the fixed connecting plate and the floating connecting plate I, a telescopic rod of the cylinder I is connected with a bolt, and the bolt extends out of the floating connecting plate I from the cylinder connecting sleeve;

the gripper device comprises a gripper support, a cylinder II and a cylinder III, the gripper support is connected with a floating connecting plate II, the cylinder II and the cylinder III are uniformly arranged around a disc surface of the gripper support, a hanging rod is arranged on the disc surface of the gripper support and comprises a hanging rod fixing rod, a hanging rod telescopic rod and a hanging rod spring steel ball, the hanging rod telescopic rod is sleeved on the hanging rod fixing rod, the hanging rod fixing rod is far away from a steel ball hole penetrating through the end part of one side of the cylinder II, the hanging rod spring steel ball is arranged between the steel ball hole and the hanging rod telescopic rod, the hanging rod telescopic rod is far away from the end part of one side of the cylinder II, the hanging rod spring steel ball extends out or retracts into a groove of the steel ball hole, the telescopic rod of the cylinder II is matched with the hanging rod telescopic rod, and an ejector block II is arranged on the cylinder III.

Furthermore, a bolt positioning sleeve matched with a bolt is installed on the floating connecting plate II, and when the bolt extends into a pin shaft hole of the bolt positioning sleeve, the linear rail sliding block assembly I and the linear rail sliding block assembly II are fixed.

Further, the number of the cylinders II is the same as that of the cylinders III, and the cylinders II and the cylinders III are uniformly distributed on the disc surface of the gripper support in a staggered mode.

Furthermore, positioning pins are uniformly arranged on the disc surface of the gripper bracket.

Furthermore, the telescopic rod of the air cylinder II is connected with a jacking block I.

The utility model has the advantages that: the floating device is connected to the robot through a flange, the gripper device is arranged on the floating device, so that the gripper device has certain flexibility when gripping the coil, and when the position of the coil slightly deviates, the gripper can more effectively grip the coil; the gripping device adopts the matching of various cylinders, and the positioning pin is inserted into the positioning hole, so that the coil can be more accurately positioned and gripped; the coil gripper is high in assembly precision and strong in reliability, and labor force can be effectively reduced.

Drawings

Fig. 1 is a front view of the floating device of the present invention;

FIG. 2 is a cross-sectional view A-A of FIG. 1;

fig. 3 is a left side view of the floating device of the present invention;

fig. 4 is a front view of the gripper of the present invention;

FIG. 5 is a cross-sectional view A-A of FIG. 4;

fig. 6 is a top view of the gripper of the present invention;

fig. 7 is a schematic structural view of a boom of the present invention;

FIG. 8 is a schematic diagram of a coil structure;

FIG. 9 is a schematic structural view of a base;

fig. 10 is a schematic view of the present invention in an assembled state;

in the figure, 1, a floating device, 1-1, a robot connecting flange, 1-2, a fixed connecting plate, 1-3, a floating connecting plate I, 1-4, a floating connecting plate II, 1-5, a linear rail sliding block component I, 1-6, a linear rail sliding block component II, 1-7, a cylinder I, 1-8, a cylinder connecting sleeve, 1-9, a bolt, 1-10, a bolt positioning sleeve, 2, a gripper device, 2-1, 2-2 parts of a gripper support, 2-3 parts of a positioning pin, 2-4 parts of a cylinder II, 2-4 parts of a cylinder III, 2-5 parts of a jacking block I, 2-6 parts of a jacking block II, 2-7 parts of a suspender, 2-71 parts of a suspender fixing rod, 2-72 parts of a suspender telescopic rod, 2-73 parts of a suspender spring steel ball, 3 parts of a coil, 4 parts of a base.

Detailed Description

The invention will be further explained below with reference to the drawings and examples.

As shown in fig. 1 to 10, the coil gripper comprises a floating device 1 and a gripper device 2, wherein the floating device 1 comprises a robot connecting flange 1-1, a fixed connecting plate 1-2, a floating connecting plate I1-3, a floating connecting plate II 1-4 and a cylinder I1-7. The floating device 1 is connected to a robot through a robot connecting flange 1-1, one end of the robot connecting flange 1-1, which is far away from the robot, is fixed with a connecting plate 1-2, a linear rail slider assembly I1-5 is connected between the fixed connecting plate 1-2 and the floating connecting plate I1-3, a linear rail slider assembly II 1-6 is connected between the floating connecting plate I1-3 and the floating connecting plate II 1-4, the linear rail slider assembly I1-5 and the linear rail slider assembly II 1-6 are in a crisscross relation in space, the linear rail slider assembly I1-5 and the linear rail slider assembly II 1-6 realize flexible sliding between components and also realize connection relation between components (for example, the linear rail slider assembly I1-5 realizes the relative fixed relation between the fixed connecting plate 1-2 and the floating connecting plate I1-3, the slide rail of the linear rail slide block component I1-5 is fixed on the fixed connecting plate 1-2, the slide block of the linear rail slide block component I1-5 is fixed on the floating connecting plate I1-3, and the slide rail can adopt a T-shaped groove structure, so that the up-and-down limiting of the slide rail and the slide block can be realized, namely the fixing of the fixed connecting plate 1-2 and the floating connecting plate I1-3 is realized. The linear rail sliding block assembly II 1-6 realizes the relative fixed relation between the floating connecting plate I1-3 and the floating connecting plate II 1-4, the structural principle is the same as above), a cylinder connecting sleeve 1-8 with a T-shaped structure is sleeved between the fixed connecting plate 1-2 and the floating connecting plate I1-3, and the larger end of the cylinder connecting sleeve 1-8 is fixed with the fixed connecting plate 1-2 through a bolt. The telescopic rods of the air cylinders I1-7 are connected with bolts 1-9, and the bolts 1-9 extend out of the floating connecting plates I1-3 through the air cylinder connecting sleeves 1-8; the integral connection relation of the floating device 1 is changed by the telescopic action of the cylinder I1-7 driving the bolt 1-9, and further the sliding of the linear rail sliding block component I1-5 and the linear rail sliding block component II 1-6 in front, back, left and right directions is realized. Preferably, the floating connecting plate II 1-4 is provided with a bolt positioning sleeve 1-10 matched with a bolt 1-9, when the bolt 1-9 extends into a pin hole of the bolt positioning sleeve 1-10, the linear rail slider component I1-5 and the linear rail slider component II 1-6 are fixed, namely, the connecting plate 1-2, the floating connecting plate I1-3 and the floating connecting plate II 1-4 are rigidly limited by the bolt 1-9, so that the linear rail slider component I1-5 and the linear rail slider component II 1-6 cannot realize the relative sliding of the slider along the slide rail.

The gripper device 2 comprises gripper supports 2-1, air cylinders II 2-3 and air cylinders III 2-4, the gripper supports 2-1 are connected with the floating connecting plates II 1-4, the number of the air cylinders II 2-3 is the same as that of the air cylinders III 2-4, and the air cylinders II 2-3 and the air cylinders III 2-4 are uniformly distributed on the disc surface of the gripper supports 2-1 in a staggered mode. The disc surface of the gripper support 2-1 is provided with a suspender 2-7, the suspender 2-7 comprises a suspender fixed rod 2-71, a suspender telescopic rod 2-72 and a suspender spring steel ball 2-73, the suspender telescopic rod 2-72 is sleeved on the suspender fixed rod 2-71, the end part of one side of the suspender fixed rod 2-71, which is far away from the air cylinder II 2-3, is provided with a through steel ball hole, the suspender spring steel ball 2-73 is arranged between the steel ball hole and the suspender telescopic rod 2-72, and the end part of one side of the suspender telescopic rod 2-72, which is far away from the air cylinder II 2-3, is provided with a groove which is matched with the suspender spring steel ball 2-73 to extend out or retract into the steel ball hole. The telescopic rod of the air cylinder II 2-3 is connected with a jacking block I2-5, and the telescopic rod of the air cylinder II 2-3 drives the jacking block I2-5 to do telescopic motion so as to push the telescopic rod 2-72 of the suspension rod. Before the coil 3 is grabbed, the telescopic rods of the air cylinders II 2-3 extend out, the lifting rod telescopic rods 2-72 are pushed by the jacking blocks I2-5 to move downwards, at the moment, the lifting rod spring steel balls retract into the grooves of the lifting rod telescopic rods 2-72, and the lifting rods 2-7 can easily penetrate through holes of the coil 3. When the coil 3 reaches a proper position, the telescopic rod of the air cylinder II 2-3 retracts, the suspension rod spring steel balls 2-73 are ejected again under the elastic force of the internal spring, and the suspension rod spring steel balls 2-73 play a role in fixedly supporting the coil 3. And the cylinder III 2-4 is provided with a jacking block II 2-6, and the jacking block II 2-6 is used for pushing the coil away from the gripper device. Furthermore, positioning pins 2-2 are uniformly arranged on the disc surface of the gripper bracket 2-1.

1. Before the coil 3 is grabbed, the air cylinders I1-7 in the floating device 1 are in a retraction state, and at the moment, the hand grab 2 can slide back and forth, left and right through the linear rail sliding block assemblies I1-5 and the linear rail sliding block assemblies II 1-6 in the floating device 1, so that certain flexibility is achieved. The cylinders iii 2-4 in the gripper 2 are in a retracted state before gripping the coil 3. The cylinder II 2-3 is in an extending state, and the jacking block I2-5 on the cylinder II 2-3 pushes the boom telescopic rod 2-72 in the boom 2-7, so that the boom spring steel ball 2-73 in the boom 2-7 is in a retracting state.

2. The robot inserts a positioning pin 2-2 and a suspender 2-7 on the gripper device 2 into a hole on the coil 3 (the positioning pin 2-2 is used for assisting the suspender 2-7 to be inserted into the hole of the coil 3), then an air cylinder II 2-3 in the gripper device 2 retracts to drive an ejector block I2-5 to retract, a suspender spring steel ball 2-73 in the suspender 2-7 ejects a steel ball hole to clamp the lower bottom surface of the coil 3 to prevent the coil 3 from falling, then an air cylinder I1-7 in the floating device 1 extends to drive a bolt 1-9 to be inserted into a bolt positioning sleeve 1-10, and the coil 3 is completely grabbed.

3. The robot grabs the coil 3 through the gripper device 2 and assembles with the base 4, before assembly, an air cylinder I1-7 in the floating device 1 retracts, at the moment, the gripper device 2 can slide back and forth and left and right and has certain flexibility, then the robot inserts the coil 3 into the base 4, then an ejector block I2-5 arranged on the air cylinder II 2-3 pushes a suspender telescopic rod 2-72 in a suspender 2-7, so that a suspender spring steel ball 2-73 in the suspender 2-7 is in a retracting state, then an ejector block II 2-6 arranged on the air cylinder III 2-4 pushes the coil 3 tightly to the mounting surface of the base 4, the coil 3 is completely attached to the base 4, then the robot takes out the gripper device 2, and the coil 3 and the base 4 are assembled.

Claims

1. The utility model provides a coil tongs which characterized in that: the robot comprises a floating device (1) and a gripper device (2), wherein the floating device (1) comprises a robot connecting flange (1-1), a fixed connecting plate (1-2), a floating connecting plate I (1-3), a floating connecting plate II (1-4) and a cylinder I (1-7), the robot connecting flange (1-1) is connected with the fixed connecting plate (1-2), a linear rail slider assembly I (1-5) is connected between the fixed connecting plate (1-2) and the floating connecting plate I (1-3), a linear rail slider assembly II (1-6) is connected between the floating connecting plate I (1-3) and the floating connecting plate II (1-4), and the linear rail slider assembly I (1-5) and the linear rail slider assembly II (1-6) are in a cross relation in space, a cylinder connecting sleeve (1-8) with a T-shaped structure is sleeved between the fixed connecting plate (1-2) and the floating connecting plate I (1-3), a telescopic rod of the cylinder I (1-7) is connected with a bolt (1-9), and the bolt (1-9) extends out of the floating connecting plate I (1-3) from the cylinder connecting sleeve (1-8);

the gripper device (2) comprises a gripper support (2-1), an air cylinder II (2-3) and an air cylinder III (2-4), the gripper support (2-1) is connected with the floating connecting plate II (1-4), the air cylinder II (2-3) and the air cylinder III (2-4) are uniformly arranged around the disc surface of the gripper support (2-1), a hanging rod (2-7) is arranged on the disc surface of the gripper support (2-1), the hanging rod (2-7) comprises a hanging rod fixing rod (2-71), a hanging rod telescopic rod (2-72) and a hanging rod spring steel ball (2-73), the hanging rod telescopic rod (2-72) is sleeved on the hanging rod fixing rod (2-71), and a through steel ball hole is formed in the end part of one side, far away from the air cylinder II (2-3), of the hanging rod fixing rod (2-71), the suspension rod spring steel balls (2-73) are placed between the steel ball holes and the suspension rod telescopic rods (2-72), grooves matched with the suspension rod spring steel balls (2-73) to extend out of or retract into the steel ball holes are formed in the end portions of one sides, far away from the air cylinders II (2-3), of the suspension rod telescopic rods (2-72), the telescopic rods of the air cylinders II (2-3) are matched with the suspension rod telescopic rods (2-72), and ejector blocks II (2-6) are arranged on the air cylinders III (2-4).

2. A coil grip as claimed in claim 1, wherein: and a bolt positioning sleeve (1-10) matched with a bolt (1-9) is arranged on the floating connecting plate II (1-4), and when the bolt (1-9) extends into a pin shaft hole of the bolt positioning sleeve (1-10), the linear rail sliding block component I (1-5) and the linear rail sliding block component II (1-6) are fixed.

3. A coil grip as claimed in claim 1, wherein: the setting number of the cylinders II (2-3) is the same as that of the cylinders III (2-4), and the cylinders II (2-3) and the cylinders III (2-4) are uniformly distributed on the disc surface of the gripper support (2-1) in a staggered mode.

4. A coil grip as claimed in claim 1, wherein: and positioning pins (2-2) are uniformly arranged on the disc surface of the gripper bracket (2-1).

5. A coil grip as claimed in claim 1, wherein: and the telescopic rod of the air cylinder II (2-3) is connected with a jacking block I (2-5).