CN214166544U - Double-claw carrying mechanism for carrying steel cylinders - Google Patents
Double-claw carrying mechanism for carrying steel cylinders Download PDFInfo
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- CN214166544U CN214166544U CN202022337236.8U CN202022337236U CN214166544U CN 214166544 U CN214166544 U CN 214166544U CN 202022337236 U CN202022337236 U CN 202022337236U CN 214166544 U CN214166544 U CN 214166544U
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- plate
- gripper
- cylinder
- connecting plate
- carrying
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 23
- 239000010959 steel Substances 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 title claims abstract description 14
- 244000023431 Proboscidea parviflora Species 0.000 title description 2
- 235000019096 Proboscidea parviflora Nutrition 0.000 title description 2
- 238000003825 pressing Methods 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 13
- 238000001125 extrusion Methods 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 230000006641 stabilisation Effects 0.000 claims 2
- 238000011105 stabilization Methods 0.000 claims 2
- 230000008602 contraction Effects 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 29
- 238000007599 discharging Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007480 spreading Effects 0.000 description 3
- 238000003892 spreading Methods 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000003507 refrigerant Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
本实用新型涉及一种用于搬运钢瓶的双手爪搬运机构，包括机械臂和手爪连接板，该手爪连接板通过法兰安装在机械臂上，其特征在于：所述手爪连接板上设置有用于同时、同步进行取料和卸料的双工位手爪组件；该双工位手爪组件包括两个独立工作的取料单元和固定压紧单元；取料单元包括撑板、驱动撑板伸缩的驱动部以及为驱动部提供动力的撑开气缸；所述撑开气缸具有两个输出端，撑开气缸固定安装在手爪连接板上，输出端通过所述驱动部连接有撑板，且控制所述撑板进行水平移动。本实用新型实用性强，易于推广。
The utility model relates to a two-hand gripper handling mechanism for carrying steel cylinders, which comprises a mechanical arm and a gripper connecting plate, the gripper connecting plate is mounted on the mechanical arm through a flange, and is characterized in that: the gripper connecting plate is characterized in that: A double-station gripper assembly for simultaneous and synchronous reclaiming and unloading is provided; the double-station gripper assembly includes two independently working reclaiming units and a fixed pressing unit; the reclaiming unit includes a support plate, a drive A drive part for extending and retracting the stretcher plate and a stretcher cylinder for providing power to the drive part; the stretcher cylinder has two output ends, the stretcher cylinder is fixedly installed on the gripper connecting plate, and the output end is connected with a supporter through the drive part plate, and control the support plate to move horizontally. The utility model has strong practicability and is easy to popularize.
Description
Technical Field
The utility model belongs to the technical field of automation equipment technique and specifically relates to a both hands claw transport mechanism for carrying steel bottle is related to.
Background
Along with the popularization of the automation of the manufacturing industry and the continuous improvement of the intelligent degree, each enterprise company improves the productivity, reduces the labor cost, lightens the labor intensity of operators, improves the labor environment and the like for improving the market competitiveness, and carries out large-scale automatic intelligent transformation and promotion so as to realize automatic intelligent production.
At present, a large amount of manual work is used for filling steel cylinders in the refrigerant filling industry, and the labor intensity and the repeatability are high in a production field. In order to reduce manpower, it is imperative to increase automatic production. Therefore, the carrying by the mechanical claw is already appeared on the market; the mechanical paw at the present stage usually adopts a steel cylinder supported by a supporting plate, so that the steel cylinder can only take or discharge materials once, and the working efficiency is low; in addition, the stability is not high by the mode of supporting and fixing the supporting plate; therefore, the company aims to develop a double-paw carrying mechanism to shorten the moving path of the robot, realize quick material change and improve the stability of steel bottle carrying in the transportation process.
SUMMERY OF THE UTILITY MODEL
To the deficiency that prior art exists, the utility model aims to provide a both hands claw transport mechanism for carrying the steel bottle.
The technical scheme of the utility model is realized like this: the utility model provides a both hands claw transport mechanism for carrying steel bottle, includes arm and hand claw connecting plate, and this hand claw connecting plate passes through the flange mounting on the arm, its characterized in that: the gripper connecting plate is provided with a double-station gripper assembly for simultaneously and synchronously taking and discharging materials; the double-station gripper assembly comprises two material taking units and a fixed pressing unit which work independently;
the material taking unit comprises a supporting plate, a driving part for driving the supporting plate to stretch and a stretching cylinder for providing power for the driving part; the strutting cylinder is provided with two output ends, the strutting cylinder is fixedly arranged on the paw connecting plate, the output ends are connected with a supporting plate through the driving part, and the supporting plate is controlled to horizontally move.
Preferably: the fixed pressing unit comprises pushing cylinders arranged on two sides of the spreading cylinder and extrusion plates arranged between the paw connecting plates and the supporting plates; and the pushing cylinder is fixedly arranged on the paw connecting plate, and the output end of the pushing cylinder is vertically and downwards fixedly connected with the extrusion plate.
Preferably: the fixed pressing unit also comprises a plurality of groups of stabilizing units which are used for stabilizing the running of the extrusion plate and are uniformly distributed around the pushing cylinder; the stabilizing unit comprises a plurality of groups of guide rods and guide sleeves; the gripper connecting plate is provided with a longitudinal through hole, the guide sleeve is arranged in the longitudinal through hole, the guide rod is longitudinally arranged in the guide sleeve in a sliding mode, and the lower end of the guide rod is fixedly connected with the extrusion plate.
Preferably: the driving part comprises a slide rail and a slide block; the slide rail is fixedly installed on the paw installation plate, the supporting plate is installed on the output end of the expanding cylinder through the slide block, and the slide block is arranged on the slide rail in a sliding mode.
Preferably: one end of the guide rod, which is far away from the extrusion plate, is provided with a limiting assembly; the limiting assembly comprises a bottom plate, a lantern ring and a spring; the lantern ring and the bottom plate are sequentially sleeved on the guide rod, the bottom plate is fixedly installed at the end part of the guide rod, and the lantern ring is fixedly connected with the bottom plate through the spring.
Compared with the prior art, the utility model discloses the beneficial effect who brings does:
1. the double-station gripper assembly is arranged on the existing gripper connecting plate and comprises two material taking units which work independently; the two independent material taking units can realize simultaneous and synchronous material taking and discharging, so that a material changing cycle is completed, the robot moves once to complete the material changing cycle, the movement time is greatly shortened, and the working efficiency is improved;
2. through add fixed the unit that compresses tightly on double-paw mechanism, this fixed unit accessible that compresses tightly bulldozes cylinder drive stripper plate and pressurizes the steel bottle, and the steel bottle receives the power that struts to both sides of fagging promptly this moment, also receives the extrusion force that fagging and stripper plate's relative motion trend brought, realizes one and props one and presses the steel bottle fixed, and such mode is compared in traditional mode that props and hold in the palm fixedly, and stability is better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 inventive exercise.
FIG. 1 is a schematic structural view of an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic structural view of the limiting assembly.
Detailed Description
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 efforts belong to the protection scope of the present invention.
Example 1
As shown in fig. 1-3, the utility model discloses a double-paw carrying mechanism for carrying steel cylinders, which comprises a mechanical arm and a paw connecting plate 12, wherein the paw connecting plate 12 is mounted on the mechanical arm through a flange 11, in the embodiment of the utility model, a double-station paw component for simultaneously and synchronously taking and discharging materials is arranged on the paw connecting plate 12; the double-station gripper assembly comprises two material taking units and a fixed pressing unit which work independently;
the material taking unit comprises a supporting plate 4, a driving part for driving the supporting plate 4 to stretch and a spreading cylinder 3 for providing power for the driving part 6; the opening cylinder 3 is provided with two output ends, the opening cylinder 3 is fixedly installed on the paw connecting plate, the output ends are connected with a supporting plate 4 through the driving part 6, and the supporting plate 4 is controlled to move horizontally.
In the embodiment of the present invention, the driving portion 6 includes a slide rail 61 and a slider 62; the slide rail 61 is fixedly installed on the paw installation plate 12, the supporting plate 4 is installed on the output end of the expanding cylinder 2 by the slide block 62, and the slide block 62 is arranged on the slide rail 61 in a sliding mode.
Through such setting, the structure of slide rail and slider can ensure the stability of fagging operation, avoids the fagging because of accept the phenomenon that leads to the slope, improves and snatchs the effect.
Compared with the prior art, the utility model discloses the beneficial effect who brings does:
1. the double-station gripper assembly is arranged on the existing gripper connecting plate and comprises two material taking units which work independently; the two independent material taking units can realize simultaneous and synchronous material taking and discharging, so that a material changing cycle is completed, the robot moves once to complete the material changing cycle, the movement time is greatly shortened, and the working efficiency is improved;
example 2 differs from example 1 in that
As shown in fig. 2 to 3, in the embodiment of the present invention, the fixed pressing unit includes a pressing cylinder 5 installed at both sides of the spreading cylinder 2 and a pressing plate 2 disposed between the gripper connecting plate 12 and the supporting plate 4; the pushing cylinder 6 is fixedly arranged on the paw connecting plate 12, and the output end of the pushing cylinder is vertically and downwards fixedly connected with the extrusion plate 2.
In the specific embodiment of the present invention, the fixed pressing unit further includes a plurality of groups of stabilizing units for stabilizing the operation of the pressing plate 2, which are uniformly distributed around the pressing cylinder 5; the stabilizing unit comprises a plurality of groups of guide rods 9 and guide sleeves 10; the gripper connecting plate 12 is provided with a longitudinal through hole, the guide sleeve 10 is arranged in the longitudinal through hole, the guide rod 9 is longitudinally arranged in the guide sleeve 10 in a sliding manner, and the lower end of the guide rod is fixedly connected with the extrusion plate 2.
In the specific embodiment of the present invention, a limiting component 20 is installed at one end of the guide rod 9 away from the extrusion plate 2; the spacing assembly 20 comprises a base plate 21, a collar 22 and a spring 23; the lantern ring 22 and the bottom plate 21 are sequentially sleeved on the guide rod 9, the bottom plate 21 is fixedly installed at the end part of the guide rod 9, and the lantern ring 22 is fixedly connected with the bottom plate 21 through the spring 23.
Compared with the prior art, the beneficial effects of the utility model are that:
1. through add fixed the unit that compresses tightly on double-paw mechanism, this fixed unit accessible that compresses tightly bulldozes cylinder drive stripper plate and pressurizes the steel bottle, and the steel bottle receives the power that struts to both sides of fagging promptly this moment, also receives the extrusion force that fagging and stripper plate's relative motion trend brought, realizes one and props one and presses the steel bottle fixed, and such mode is compared in traditional mode that props and hold in the palm fixedly, and stability is better.
2. Be provided with spacing subassembly through the one end of keeping away from the stripper plate at the guide arm, the effect of spacing subassembly prevents that the guide arm from surpassing to spacing subassembly adopts elastic buffer structure, can prevent the phenomenon of the damage of bottom plate when spacing, because of the long-term striking causes.
It should be noted that the specific working principle of the double-paw carrying mechanism is as follows:
the double-paw carrying mechanism is generally used for carrying articles by robots, and the most suitable mode is to change materials at a plurality of working positions. Mounting the paw on the mechanical arm through robot flange connection; before material taking, the claws need to be reset, one claw opening cylinder clamps the material and the positioning push plate retracts, the other claw opening cylinder clamps the material and the positioning push plate retracts; the first hand claw of arm control moves to getting the material position, struts the cylinder action, and the slider drives the clamping jaw and struts the steel bottle fixed, and the push plate stretches out, props one through one and presses the material location, and another hand claw moves to the position of reloading this moment, snatchs the action with first hand claw and the same takes out the finished product motion to the safe position. The mechanical arm shaft rotates 180 degrees to place the first paw into the material changing machine and then leave the material changing machine, the material changing machine completes material changing, the mechanical arm only moves once to complete material and finished product exchanging, time is saved, and productivity is increased.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022337236.8U CN214166544U (en) | 2020-10-20 | 2020-10-20 | Double-claw carrying mechanism for carrying steel cylinders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022337236.8U CN214166544U (en) | 2020-10-20 | 2020-10-20 | Double-claw carrying mechanism for carrying steel cylinders |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214166544U true CN214166544U (en) | 2021-09-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022337236.8U Active CN214166544U (en) | 2020-10-20 | 2020-10-20 | Double-claw carrying mechanism for carrying steel cylinders |
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| Country | Link |
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| CN (1) | CN214166544U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114101517A (en) * | 2021-11-22 | 2022-03-01 | 广州城市理工学院 | Working method of miniature motor casing stamping part carrying device |
| CN115366141A (en) * | 2022-10-26 | 2022-11-22 | 湖南第一师范学院 | A clamping manipulator for gas cylinders |
-
2020
- 2020-10-20 CN CN202022337236.8U patent/CN214166544U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114101517A (en) * | 2021-11-22 | 2022-03-01 | 广州城市理工学院 | Working method of miniature motor casing stamping part carrying device |
| CN114101517B (en) * | 2021-11-22 | 2024-03-05 | 广州城市理工学院 | Working method of miniature motor shell stamping part carrying device |
| CN115366141A (en) * | 2022-10-26 | 2022-11-22 | 湖南第一师范学院 | A clamping manipulator for gas cylinders |
| CN115366141B (en) * | 2022-10-26 | 2022-12-23 | 湖南第一师范学院 | A clamping manipulator for gas cylinders |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A dual claw handling mechanism for transporting steel cylinders Granted publication date: 20210910 Pledgee: Juhua Group Finance Co.,Ltd. Pledgor: Zhejiang Juhua Equipment Engineering Group Co.,Ltd. Registration number: Y2024980046916 |