CN213999522U - Square billet grabbing device based on robot - Google Patents
Square billet grabbing device based on robot Download PDFInfo
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- CN213999522U CN213999522U CN202023029691.8U CN202023029691U CN213999522U CN 213999522 U CN213999522 U CN 213999522U CN 202023029691 U CN202023029691 U CN 202023029691U CN 213999522 U CN213999522 U CN 213999522U
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Abstract
The utility model provides a square billet grabbing device based on robot, include: the device comprises a structural plate, two clamping assemblies and a driving assembly, wherein the two clamping assemblies and the driving assembly are symmetrically arranged; the clamping assembly comprises a clamping arm and a clamping part; two clamping arms of the two clamping assemblies are symmetrically fixed on the structural plate; the clamping assembly comprises an angle plate, a track assembly, a sliding block and a driving rod; the angle plate is obliquely fixed on the clamping arm; the track assembly is fixed on the angle plate; the sliding block is connected with the track component in a sliding manner; one end of the driving rod is fixedly connected with the sliding block and connected with the driving assembly. The automatic sampling device has the advantages that the safety, the accuracy and the stability of the robot for sampling and taking materials each time are ensured, the on-site automation level is improved, and the labor efficiency is improved; the gripping device has a compact structure, and is convenient for field operators to assemble, disassemble and replace.
Description
Technical Field
The utility model relates to a metal smelting field, in particular to snatch of square billet and wedge type auto-lock grabbing device.
Background
At present, in the rolling link in the domestic steel field, the sampling of on-site square billets is mainly completed manually, the on-site environment temperature is high, equipment is operated in a crossed mode, and the square billets are different in length. When needing to take a sample, the manual work utilizes lever principle to remove to snatch, transport, pile up neatly, and the operation is dangerous, and intensity of labour is great. At the same time, the clamping requires a large amount of power and installation space.
SUMMERY OF THE UTILITY MODEL
The utility model provides a square billet gripping device based on a robot, which realizes gripping and sampling of a steel billet particularly in the steel rolling process; the safety, the accuracy and the stability of the grabbing are improved, the on-site automatic production level is improved, and the labor intensity of workers is reduced; the technical problems of lower safety and stability of square billet sampling at present are solved, and the application range of the robot is expanded; to overcome the disadvantages of the prior art.
The utility model provides a square billet grabbing device based on robot, include: the structure comprises a structural plate 5, two clamping assemblies and a driving assembly which are symmetrically arranged; the clamping assembly comprises a clamping arm 8 and a clamping part; the two clamping arms 8 of the two clamping assemblies are symmetrically fixed on the structural plate 5; the clamping assembly comprises an angle plate 13, a track assembly, a slide block 15 and a driving rod 17; the angle plate 13 is fixed on the holding arm 8 in an inclined manner; the track assembly is fixed on the angle plate 13; the slide block 15 is connected with the track component in a sliding way; one end of the driving rod 17 is fixedly connected with the slide block 15, and the other end is connected with the driving component.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the driving assembly comprises a connecting partition plate 10, a driver 9 and a driving plate 11; the two ends of the connecting partition plate 10 are fixed on the two clamping arms 8 and are parallel to the structural plate 5; the fixed end of the driver 9 is fixed on the connecting partition plate 10; the driving plate 11 is fixed on the telescopic end of the driver 9; the two ends of the driving plate 11 are provided with U-shaped holes or oblong holes 11 a; the drive rod 17 has a circumferential groove 17a on its circumference; the size of the circumferential groove 17a is matched with that of the U-shaped hole or the oblong hole 11 a; the circumference of the circumferential groove 17a of the drive lever 17 is fitted into the U-shaped or oblong hole 11a of the drive plate 11.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: also comprises a heat insulation board 12; the heat insulation plate 12 is fixed on the driving plate 11.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the gripping arm 8 comprises two gripping plates 8 a; the two clamping plates 8a are symmetrically arranged and fixed on the structural plate 5; both sides of the angle plate 13 are fixed to the two holding plates 8a, respectively.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the track assembly comprises a track connecting plate 18 and two circular tracks 19; two circular rails 19 are symmetrically fixed on both sides of the rail connecting plate 18; the slide block 15 is a U-shaped slide block; the two inner side walls of the U-shaped slider are respectively attached to the outer circles of the two circular rails 19.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the two sliders 15 have anti-slip threads on opposite faces thereof.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the anti-slip patterns are fixed on the surface of the sliding block 15 by any one of a sawtooth plate, a right-angle corrugated plate, an obtuse-angle corrugated plate and a grid plate, or the anti-slip patterns are directly machined on the surface of the sliding block 15.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the angle plate 13 is inclined at an angle of 79-83 degrees to the horizontal plane.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the anti-collision device further comprises an anti-collision assembly; the anti-collision assembly comprises a connecting seat 1, two sliding assemblies and an elastic piece 4, wherein the two sliding assemblies are symmetrically arranged; the fixed ends of the two sliding components are fixedly connected with the connecting seat 1; the sliding ends of the two sliding components are fixedly connected with the structural plate 5; the elastic member 4 is disposed between the connecting socket 1 and the structural plate 5.
Further, the utility model provides a square billet grabbing device based on robot can also have such characteristic: the sliding assembly comprises a sliding shaft 2, a linear bearing 3, a supporting sleeve 6 and a shaft stop 7; one end of the sliding shaft 2 is fixed on the connecting seat 1; the other end of the sliding shaft 2 penetrates through the linear bearing 3 and the structural plate 5 in sequence, supports the sleeve 6 and is fixedly connected with the shaft bumper 7; the linear bearing 3 is fixedly connected with the structural plate 5.
The utility model provides a square billet gripping device based on a robot, which ensures the safety, accuracy and stability of the robot for sampling and taking materials each time, improves the field automation level and improves the labor efficiency; the gripping device has a compact structure, and is convenient for field operators to assemble, disassemble and replace.
Drawings
Fig. 1 is a front view of a robot-based billet gripping apparatus in an embodiment.
Figure 2 is a side semi-sectional view of a robot-based billet gripping device in an embodiment.
Fig. 3 is a perspective view of a robot-based billet gripping device in an embodiment.
Fig. 4 is a partially enlarged view of the connection position of the driving plate and the driving lever in the embodiment.
Detailed Description
The invention is further described with reference to the accompanying drawings and specific embodiments.
Examples
In this embodiment, a square billet grabbing device based on robot includes: anticollision subassembly, structural slab 5, two centre gripping subassemblies and the drive assembly that the symmetry set up.
The anticollision subassembly includes: connecting seat 1, two symmetrical sliding component and elastic component 4 that set up.
A square billet grabbing device based on robot has crashproof function in this embodiment, and whole dress grabbing device is installed on the six axles of robot, fixes connecting seat 1 on the six flanges of robot through the bolt.
Each slide assembly includes: a sliding shaft 2, a linear bearing 3, a support sleeve 6 and a shaft stop 7. The upper end of the sliding shaft 2, namely the fixed end of the sliding component, is fixed on the connecting seat 1 through a bolt. The lower end of the sliding shaft 2 penetrates through the linear bearing 3, the structural plate 5 and the supporting sleeve 6 in sequence and then is fixedly connected with the shaft bumper 7. The linear bearing 3 is used as the sliding end of the sliding component and can smoothly slide on the sliding shaft 2; and the linear bearing 3 is fixedly connected with the structural plate 5 through bolts. In this embodiment, the elastic member 4 is a compressed spring, and is disposed between the connecting seat 1 and the structural plate 5, and two ends of the elastic member are fixed to the connecting seat 1 and the structural plate 5, respectively. Of course, the compression spring may be replaced by other elastic bodies such as rubber.
Of course, the anti-collision assembly can adopt a connecting seat 1, a sliding assembly and two symmetrically arranged elastic pieces 4 to realize the same function.
Both clamping assemblies include: a clamp arm and a clamp portion. The clamping arm is fixed on the front side and the rear side of the structural plate 5 through bolts by two symmetrically arranged clamping plates 8 a.
The two clamping assemblies include: angle plate 13, track assembly, slider 15, drive rod 17 and track shield 14.
Two angle plates 13 are fixed to the two holding arms 8, respectively, obliquely, and both sides of each angle plate 13 are fixed to the two holding plates 8a of one holding arm 8, respectively. Preferably, the angle plate 13 is inclined at an angle of 79 ° to 83 ° to the horizontal.
The track assembly is fixed to the angle plate 13. In this embodiment, the rail assembly includes: a rail connecting plate 18 and two circular rails 19. Two circular rails 19 are symmetrically fixed on both sides of the rail connecting plate 18. The slide block 15 is a U-shaped slide block; two inner side walls of the U-shaped sliding block are respectively attached to the outer circles of the two circular tracks 19, so that the sliding connection between the sliding block 15 and the track assembly is realized. Of course the circular track 19 could be replaced by several balls. The rail baffles 14 are fixed on two sides of the U-shaped end surface of the U-shaped slide block 15. In this embodiment, the opposing faces of the slider 15 are provided with non-slip serrated plates 20. Of course, the serrated panels 20 may be replaced by other right-angled corrugated panels, obtuse-angled corrugated panels, grid panels, etc., or serrations or grids, etc., may be machined directly on the surface of the slider 15. The lower end of the driving rod 17 is fixedly connected with the slide block 15 and connected with the driving component.
In this embodiment, the driving assembly includes: connecting the spacer 10, the driver 9 and the drive plate 11.
Both sides of both ends of the connecting partition plate 10 are fixed to the four holding plates 8a of the two holding arms 8, respectively, and are parallel to the structural plate 5. In this embodiment, the driver 9 is a cylinder, and the fixed end of the cylinder is fixed to the connecting partition plate 10 by a bolt. The drive plate 11 is fixed to the telescopic end of the cylinder. Both ends of the driving plate 11 have U-shaped holes 11 a; the driving rod 17 has a circumferential groove 17a on the circumference of the upper end; the size of the circumferential groove 17a is matched with that of the U-shaped hole or the oblong hole 11 a; the circumference of the circumferential groove 17a of the drive lever 17 is fitted into the U-shaped hole or oblong hole 11a of the drive plate 11 so that the upper end of the drive lever 17 can move left and right in the U-shaped hole 11a of the drive plate 11. Of course, the air cylinder can be replaced by other power devices of the electric push rod.
In addition, the square billet gripping device based on the robot also comprises a heat insulation plate 12; the heat insulation plate 12 is fixed below the driving plate 11.
A square billet grabbing device's working process based on robot:
the elastic piece 4 can provide an elastic space to protect the whole gripping device and the robot; the grabbing space formed by combining the two clamping arms 8 utilizes the oblique angle of the head angle plate 13 to extrude surrounding interference objects, and the square billet smoothly enters the grabbing space.
When grabbing, the cylinder is ventilated and is stretched out as the gas pole of flexible end, promotes drive plate 11 and moves down, drives actuating lever 17 and moves down, and U type slider 15 and serration plate 20 atress slide down aslope, and when the downward movement, U type slider 15 is close to relatively, until serration plate 20 contact square billet.
The grabbing device is lifted, the square billet is driven by gravity to drive the serrated plate 20 and the U-shaped sliding block 15 to prevent the grabbing device from moving upwards, the serrated plate 20 and the U-shaped sliding block 15 tend to slide downwards on the angle plate 13, and the square billet is parallelly extruded and clamped, so that the function of clamping and grabbing is realized, and under the condition that the clamping distance is unchanged, the clamping force on the square billet is increased more and more until the friction force is larger than the gravity of the square billet to lift the square billet.
When unloading, the square billet contacts with the platform, inside the square billet still snatchs the space at two centre gripping arms 8 combination one-tenth, serration plate 20 was followed square billet upward movement this moment, breaks away from between serration plate 20 and the square billet, and the clamp force disappears, and cylinder 9 ventilates the air lever withdrawal, drives drive plate 11, actuating lever 17, U type slider 15, serration plate 20 and promotes and goes upward, and serration plate 20 keeps away from the square billet surface simultaneously under the effect of angle board 13 direction, and grabbing device lifts, and the square billet is motionless, realizes the function of unloading. Meanwhile, the self-locking grabbing by gravity is safe and reliable, and is suitable for sampling work of the same specification and different lengths.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A square billet grabbing device based on robot, its characterized in that: comprises a structural plate (5), two clamping assemblies and a driving assembly which are symmetrically arranged;
wherein the clamping assembly comprises a clamping arm (8) and a clamping part;
the two clamping arms (8) of the two clamping assemblies are symmetrically fixed on the structural plate (5);
the clamping assembly comprises an angle plate (13), a track assembly, a sliding block (15) and a driving rod (17);
the angle plate (13) is fixed on the clamping arm (8) in an inclined manner;
the track assembly is fixed on the angle plate (13);
the sliding block (15) is connected with the track assembly in a sliding mode;
one end of the driving rod (17) is fixedly connected with the sliding block (15), and the other end of the driving rod is connected with the driving component.
2. A robot-based billet gripping apparatus according to claim 1, wherein:
wherein the driving assembly comprises a connecting partition plate (10), a driver (9) and a driving plate (11);
the two ends of the connecting partition plate (10) are fixed on the two clamping arms (8) and are parallel to the structural plate (5);
the fixed end of the driver (9) is fixed on the connecting partition plate (10);
the driving plate (11) is fixed on the telescopic end of the driver (9);
the two ends of the driving plate (11) are provided with U-shaped holes or oblong holes (11 a);
the driving rod (17) is provided with a circumferential groove (17a) on the circumference;
the size of the circumferential groove (17a) is matched with that of the U-shaped hole or the oblong hole (11 a);
the circumference of the circumferential groove (17a) of the driving rod (17) is embedded into a U-shaped hole or an oblong hole (11a) of the driving plate (11).
3. A robot-based billet gripping apparatus according to claim 2, wherein: also comprises a heat insulation board (12);
wherein the heat insulation plate (12) is fixed on the driving plate (11).
4. A robot-based billet gripping apparatus according to claim 1, wherein:
wherein the gripping arm (8) comprises two gripping plates (8 a);
the two clamping plates (8a) are symmetrically arranged and fixed on the structural plate (5);
two sides of the angle plate (13) are respectively fixed on the two clamping plates (8 a).
5. A robot-based billet gripping apparatus according to claim 1, wherein:
wherein the rail assembly comprises a rail connection plate (18) and two circular rails (19); the two circular rails (19) are symmetrically fixed on two sides of the rail connecting plate (18);
the sliding block (15) is a U-shaped sliding block; two inner side walls of the U-shaped sliding block are respectively attached to the outer circles of the two circular tracks (19).
6. A robot-based billet gripping apparatus according to claim 1, wherein:
wherein, the opposite surfaces of the two sliding blocks (15) are provided with anti-skid lines.
7. A robot-based billet gripping apparatus as claimed in claim 6, wherein:
the anti-skid grains are fixed on the surface of the sliding block (15) by adopting any one of a sawtooth plate, a right-angle corrugated plate, an obtuse-angle corrugated plate and a grid plate, or the anti-skid grains are formed by directly machining the surface of the sliding block (15).
8. A robot-based billet gripping apparatus according to claim 1, wherein:
wherein the angle plate (13) has an inclination angle of 79-83 degrees with respect to the horizontal plane.
9. A robot-based billet gripping apparatus according to any one of claims 1 to 8, wherein: the anti-collision device further comprises an anti-collision assembly;
the anti-collision assembly comprises a connecting seat (1), two sliding assemblies and an elastic piece (4), wherein the two sliding assemblies are symmetrically arranged;
the fixed ends of the two sliding components are fixedly connected with the connecting seat (1);
the sliding ends of the two sliding assemblies are fixedly connected with the structural plate (5);
the elastic piece (4) is arranged between the connecting seat (1) and the structural plate (5).
10. A robot-based billet gripping apparatus according to claim 9, wherein:
the sliding assembly comprises a sliding shaft (2), a linear bearing (3), a supporting sleeve (6) and a shaft stop (7);
one end of the sliding shaft (2) is fixed on the connecting seat (1);
the other end of the sliding shaft (2) sequentially penetrates through the linear bearing (3) and the structural plate (5), and is fixedly connected with the shaft stop (7) after the supporting sleeve (6);
the linear bearing (3) is fixedly connected with the structural plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023029691.8U CN213999522U (en) | 2020-12-16 | 2020-12-16 | Square billet grabbing device based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023029691.8U CN213999522U (en) | 2020-12-16 | 2020-12-16 | Square billet grabbing device based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213999522U true CN213999522U (en) | 2021-08-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023029691.8U Active CN213999522U (en) | 2020-12-16 | 2020-12-16 | Square billet grabbing device based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213999522U (en) |
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2020
- 2020-12-16 CN CN202023029691.8U patent/CN213999522U/en active Active
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