CN214988617U - Manipulator for grabbing angle iron flange of ventilation pipe - Google Patents
Manipulator for grabbing angle iron flange of ventilation pipe Download PDFInfo
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- CN214988617U CN214988617U CN202121551643.7U CN202121551643U CN214988617U CN 214988617 U CN214988617 U CN 214988617U CN 202121551643 U CN202121551643 U CN 202121551643U CN 214988617 U CN214988617 U CN 214988617U
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Abstract
The utility model relates to the field of mechanical hands, in particular to a mechanical hand for grabbing a vent pipe angle iron flange, which comprises a bracket, a bracket mounting seat, a movable long arm, a swing driving mechanism, a grabbing clamp lifting mechanism, a clamp directional movable structure and a clamp distance self-adjusting mechanism; the support is used for highly supporting the movable long arm, the support mounting seat and the swing driving mechanism are arranged on the support, one end of the movable long arm is hinged to the support mounting seat, the other end of the movable long arm is hinged to the grasping and clamping lifting mechanism, the swing driving mechanism is arranged on the support and connected with the movable long arm, the two grasping and clamping hands are arranged on the grasping and clamping distance self-adjusting mechanism, the grasping and clamping distance self-adjusting mechanism is arranged on the grasping and clamping lifting mechanism, and the clamp directional moving mechanism is connected between the support mounting seat and the grasping and clamping lifting mechanism and used for keeping the two grasping and clamping hands in the same orientation when the movable long arm swings. This manipulator can snatch the transportation and use to square angle bar flange, and snatch steadily.
Description
Technical Field
The utility model relates to a manipulator field especially is used for snatching manipulator of ventilation pipe angle bar flange.
Background
The port of ventilation pipe connects through flange part needs to be connected, its cross sectional shape of common ventilation pipe is square form usually, therefore its flange part of end connection also is square angle bar flange, has the long wide size of cross-section of multiple different specifications according to its place of use environment, and this kind of square angle bar flange adopts angle bar usually, cuts out the length according to its square length and width and encloses into squarely and fix each angle junction and still connect and form, as shown in fig. 3.
At present, blanking after the square angle iron flange is produced and welded is carried and taken away by manpower, the manual carrying is troublesome, the efficiency is low, a plurality of workers are required to carry the square angle iron flange with larger size in a matching way, the problems of the transfer and the carrying in the processes of finished product output, other working procedure processing and the like also exist, the problems are relatively lagged behind the intelligent and automatic effects of the obvious machinery in the era of rapid development of the existing industrial intelligence and high technology, the defects finally influence the production benefits, and the production benefits can become burdens of production enterprises. In view of the above, the present inventors have conducted extensive research on a robot for gripping an angle iron flange, which is adapted to an automated machine, and have developed the present invention.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can snatch to square angle iron flange and transport the use, and snatch a steady manipulator for snatching ventilation pipe angle iron flange.
In order to achieve the above purpose, the technical scheme of the utility model is that: a manipulator for grabbing a vent pipe angle iron flange comprises a support, a support mounting seat, a movable long arm, a swing driving mechanism, a grabbing and clamping hand, a grabbing and clamping lifting mechanism, a clamping hand directional movable structure and a clamping hand distance self-adjusting mechanism; the support is used for the high support of activity long arm support mount pad and swing actuating mechanism set up on the support, the one end of activity long arm is for articulating the first hinged end on the support mount pad, and the other end is for supplying the articulated second hinged end of grapple elevating system, swing actuating mechanism sets up and connects the activity long arm on the support and drive its reciprocal swing, the grapple is two settings on the self-modulation mechanism of tong interval, installation of the self-modulation mechanism of tong interval is used for adjusting the distance between two grapple tongs on the grapple elevating system, directional slewing mechanism of tong connects and is used for realizing that two grapple tongs keep being in same orientation when the activity long arm swings between support mount pad and grapple elevating system.
The swing driving mechanism comprises a driving arm and a swing driving cylinder, the driving arm is connected to the first hinged end of the movable long arm, the swing driving cylinder is hinged to the support mounting seat, and the tail end of a piston rod of the swing driving cylinder is hinged to the driving arm.
The gripping and clamping lifting mechanism comprises a hinged plate for hinging the second hinged end of the movable long arm, a lifting mounting plate corresponding to the lower part of the hinged plate, a lifting driving cylinder arranged on the hinged plate and with a piston rod downwards connected with the lifting mounting plate, and a lifting guide structure between the hinged plate and the lifting mounting plate.
The directional movable structure of the clamping hand comprises a long connecting rod, one end of the long connecting rod is hinged on the support or the support mounting seat, and the other end of the long connecting rod is hinged on the hinged plate.
The automatic tong spacing adjusting mechanism comprises a fixed mounting plate, a horizontal cross rod, sliding wheels, tensioning wheels, a transmission structure and a transmission belt, wherein the fixed mounting plate is connected to a lifting mounting plate, the middle position of the horizontal cross rod is fixedly connected to the fixed mounting plate, the sliding wheels are respectively arranged at four angular positions of the horizontal cross rod, the transmission structure and the tensioning wheels are arranged on the fixed mounting plate, and the transmission belt is driven by the transmission structure around each sliding wheel and the tensioning wheel.
The gripper comprises a driving connecting block, a gripper supporting plate, a telescopic driving cylinder, a fixed rod, a directional movable rod, a free shaft lever, a hinged strip and a clamping jaw, wherein a vertical guide groove is formed in the gripper supporting plate, the end part of the directional movable rod is embedded in the vertical guide groove to slide, the end part of the fixed rod is fixedly connected below the lower end of the vertical guide groove, two groups of the clamping jaws are movably sleeved on the fixed rod in a group, a driving strip is arranged on the clamping jaw in an extending manner, one end of each group of the hinged strips in the same direction is movably sleeved on the directional movable rod, the other ends of the two hinged strips are respectively hinged with the driving strip on the clamping jaw on the corresponding side through the free shaft lever, the telescopic driving cylinder is arranged on the gripper supporting plate, the tail end of a piston rod of the telescopic driving cylinder is downwards hinged on the directional movable rod, the two grippers are respectively sleeved on the two ends of the horizontal cross rod through the driving connecting block guide, one of the gripping and clamping hands is connected with the transmission belt which is correspondingly arranged above the horizontal cross rod, and the other gripping and clamping hand is connected with the transmission belt which is correspondingly arranged below the horizontal cross rod.
The clamping jaws are sheet-shaped blocks, and a plurality of groups of clamping jaws and hinge strips are arranged on one clamping hand at intervals.
By adopting the technical scheme, the beneficial effects of the utility model are that: the manipulator structure of above-mentioned structure it is the double-grab tong's that imitates people's last hand snatchs grabbing clamp mode, can adjust the interval distance of two grab tongs and adapt to the size of the angle bar flange that will grab the clamp, the grab clamp unloading that realizes rising through grabbing clamp elevating system, the square angle bar flange that will snatch through the swing of activity long arm removes to the position that the unloading was placed, when the manipulator of this kind of structure was in the application of angle bar welding machine, can use angle bar welding machine top space to move, do benefit to the realization of simplifying angle bar welding machine structure and angle bar welding machine structure. The structure of manipulator can reach and snatch and place the action steady, and reasonable utilization space unloading avoids acting with other mechanical structure's interact, and the automated performance is high, and whole in-process can need not artifical the participation and go on, thereby reaches the utility model discloses an above-mentioned beneficial effect.
Drawings
Fig. 1 is a schematic perspective view of a manipulator for gripping a vent pipe angle iron flange according to the present invention;
fig. 2 is a schematic structural view of a manipulator for grabbing an angle iron flange of a vent pipe according to the present invention;
fig. 3 is a schematic structural view of an angle iron flange according to the present invention.
In the figure:
a bracket 51; a bracket mount 52;
a movable long arm 53; a first hinged end 531; a second hinged end 532;
a swing drive mechanism 54; a driving arm 541; swing drive cylinder 542;
a gripper hand 55; driving the connecting block 551; the gripper supporting plate 552; the vertical guide groove 5521;
a telescopic driving cylinder 553; a fixing rod 554; a directional movable bar 555; a free shaft 556; a hinge bar 557;
a clamping jaw 558; the driving bar 5581; a gripper lifting mechanism 56; a hinge plate 561; a lift mounting plate 562;
the lifting drive cylinder 563; a lift guide 564; a gripper orientation moving structure 57; a long link 571;
a gripper spacing self-adjusting mechanism 58; a fixed mounting plate 581; a horizontal cross bar 582; a pulley 583;
a tension pulley 584; a drive structure 585; drive belt 586.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following embodiments.
As shown in fig. 1 and 2, the manipulator for grabbing the angle iron flange of the vent pipe disclosed in this embodiment structurally comprises a bracket 51, a bracket mounting seat 52, a movable long arm 53, a swing driving mechanism 54, a grabbing and clamping hand 55, a grabbing and clamping lifting mechanism 56, a grabbing and clamping hand orientation movable structure 57 and a grabbing and clamping hand distance self-adjusting mechanism 58; the support 51 is used for supporting the height of the movable long arm 53, the support can be positioned above a square angle iron flange to be grabbed, the support 51 is of a square frame structure shown in the figure, an interlayer is arranged in the frame structure and is used for placing, the support mounting seat 52 and the swing driving mechanism 54 are arranged on the support 51, one end of the movable long arm 53 is a first hinged end 531 hinged to the support mounting seat 52, the other end of the movable long arm is a second hinged end 532 hinged to the grabbing clamp lifting mechanism 56, the swing driving mechanism 54 is arranged on the support 51 and is connected with the movable long arm 53 to drive the movable long arm 53 to swing back and forth on a horizontal plane at the same height, the grabbing clamp 55 are arranged on the clamp distance self-adjusting mechanism 58, the grabbing clamp distance self-adjusting mechanism 58 is arranged on the grabbing clamp lifting mechanism 56 and is used for adjusting the distance between the two grabbing clamp 55, and the clamping orientation movable mechanism 57 is connected between the support mounting seat 52 and the grabbing clamp lifting mechanism 56 and is used for realizing the two grabbing clamp 55 The movable long arm 53 is kept in the same orientation while swinging, so that the two gripper hands 55 can correspond to the gripper positions. The details are described below in conjunction with the accompanying drawings.
The swing driving mechanism 54 comprises a driving arm 541 and a swing driving cylinder 542, the driving arm 541 is connected to the first hinged end 531 of the movable long arm 53, the swing driving cylinder 54 is hinged to the bracket mounting seat 52, and the end of the piston rod thereof is hinged to the driving arm 541.
The gripping and clamping lifting mechanism 56 comprises a hinged plate 561 for hinging the second hinged end 532 of the movable long arm 53, a lifting and mounting plate 562 corresponding to the lower part of the hinged plate 561, a lifting and driving cylinder 563 arranged on the hinged plate 561 and having a piston rod connected with the lifting and mounting plate 562 downwards, and a lifting and guiding structure 564 between the hinged plate 561 and the lifting and mounting plate 562.
The gripper orientation moving structure 57 includes a long connecting rod 571, one end of the long connecting rod 571 is hinged to the bracket 51 or the bracket mounting seat 52 (in the figure, hinged to the bracket mounting seat 52), and the other end thereof is hinged to the hinge plate 561.
Hand grip interval self-regulating mechanism 58 includes fixed mounting panel 581, horizontal pole 582, movable pulley 583, take-up pulley 584, drive structure 585 and drive belt 586, fixed mounting panel 581 is connected on lift mounting panel 562, the length intermediate position fixed connection of horizontal pole 582 is on fixed mounting panel 581, movable pulley 583 sets up respectively on four angular position (for two upper and lower angular position at both ends about) of horizontal pole 582, drive structure 585 and take-up pulley 584 set up on fixed mounting panel 581, drive belt 586 is walked around each movable pulley 583, take-up pulley 584 and is driven through drive structure 585.
The gripper 55 comprises a driving connecting block 551, a gripper supporting plate 552, a telescopic driving cylinder 553, a fixed rod 554, a directional movable rod 555, a free shaft lever 556, a hinge bar 557 and a clamping jaw 558, wherein the gripper supporting plate 552 is provided with a vertical guide groove 5521, the end part of the directional movable rod 555 is embedded in the vertical guide groove 5521 to slide, the end part of the fixed rod 554 is fixedly connected below the lower end of the vertical guide groove 5521, two groups of the clamping jaws 558 are movably sleeved on the fixed rod 554, a driving bar 5581 is arranged on the clamping jaw 558 in an extending manner, one group of the two hinge bars 557 is movably sleeved on the directional movable rod 555, the other ends of the two hinge bars 557 are respectively hinged with the driving bar 5581 on the clamping jaw 558 at the corresponding side through the free shaft lever 556, the telescopic driving cylinder is arranged on the gripper supporting plate 552, and the tail end of the piston rod of the telescopic driving cylinder is hinged on the directional movable rod 555 downwards, when the telescopic driving cylinder 553 moves, the free shaft lever 556 is driven to move up and down in the vertical guide groove 5521, and when the telescopic driving cylinder 553 moves, the hinged bar 557 and the driving bar 5581 are driven to move, so that the two clamping jaws 558 are opened and closed; two grab tong 55 is established at the both ends of horizontal pole 582 through driving connecting block 551 direction cover respectively to a grab tong 55 is connected with the drive belt 586 that corresponds in horizontal pole 582 top, and another grab tong 55 is connected with the drive belt 568 that corresponds in horizontal pole 582 below, can realize like this that two grab tong 55 are close to smoothly steady movement smoothly and carry on the back mutually and keep away from smooth and steady movement smoothly. The clamping jaws 558 are sheet-shaped blocks, and a plurality of groups of clamping jaws 558 and hinge bars 557 are arranged on one clamping hand 55 at intervals, so that better balanced and stable grabbing can be achieved.
Through the structural arrangement, when the gripper is used for blanking, the movable long arm 53 is swung to the position above the angle iron flange through the action of the swing driving mechanism 54, the arrangement of the gripper directional movable structure 57 reaches the direction limitation of the gripper lifting mechanism 56, so that the movement of the two gripper lifting arms 55 can be parallel movement, when the angle iron flange is gripped, the two gripper lifting mechanisms 56 are correspondingly clamped at the corresponding positions of the two opposite angle irons, the balance stability in the gripper blanking process is favorably kept, after the gripper lifting mechanism 56 is correspondingly arranged above the angle iron flange, the two gripper lifting arms 55 are automatically adjusted to the corresponding spacing distance through the gripper spacing self-adjusting mechanism 58 according to the size of the angle iron flange to be gripped, then the gripper lifting mechanism 56 acts, the lifting mounting plate 553 descends to drive the gripper lifting arms 55 to descend to the clamping jaws 558 to be sleeved on the corresponding angle irons, the telescopic driving cylinders 553 of the two gripper lifting arms 55 act to drive the corresponding sets of clamping jaws 558 to fold and grip the angle irons, then the gripping and clamping lifting mechanism 56 moves to ascend, and the swing driving mechanism 54 moves to drive the movable long arm 53 to swing to a blanking station for placing the angle iron to dismount the angle iron flange, so that blanking of the angle iron flange is completed.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.
Claims (7)
1. The utility model provides a manipulator for snatching draft tube angle iron flange which characterized in that: the automatic clamp device comprises a bracket, a bracket mounting seat, a movable long arm, a swing driving mechanism, a clamp grabbing hand, a clamp grabbing lifting mechanism, a clamp grabbing directional movable structure and a clamp grabbing distance self-adjusting mechanism; the support is used for the high support of activity long arm support mount pad and swing actuating mechanism set up on the support, the one end of activity long arm is for articulating the first hinged end on the support mount pad, and the other end is for supplying the articulated second hinged end of grapple elevating system, swing actuating mechanism sets up and connects the activity long arm on the support and drive its reciprocal swing, the grapple is two settings on the self-modulation mechanism of tong interval, installation of the self-modulation mechanism of tong interval is used for adjusting the distance between two grapple tongs on the grapple elevating system, directional slewing mechanism of tong connects and is used for realizing that two grapple tongs keep being in same orientation when the activity long arm swings between support mount pad and grapple elevating system.
2. A robot for gripping a corner iron flange of a vent pipe according to claim 1, wherein: the swing driving mechanism comprises a driving arm and a swing driving cylinder, the driving arm is connected to the first hinged end of the movable long arm, the swing driving cylinder is hinged to the support mounting seat, and the tail end of a piston rod of the swing driving cylinder is hinged to the driving arm.
3. A robot for gripping a corner iron flange of a vent pipe according to claim 1 or 2, wherein: the gripping and clamping lifting mechanism comprises a hinged plate for hinging the second hinged end of the movable long arm, a lifting mounting plate corresponding to the lower part of the hinged plate, a lifting driving cylinder arranged on the hinged plate and with a piston rod downwards connected with the lifting mounting plate, and a lifting guide structure between the hinged plate and the lifting mounting plate.
4. A robot for gripping a corner iron flange of a vent pipe according to claim 3, wherein: the directional movable structure of the clamping hand comprises a long connecting rod, one end of the long connecting rod is hinged on the support or the support mounting seat, and the other end of the long connecting rod is hinged on the hinged plate.
5. The manipulator of claim 4 for grasping a corner iron flange of a vent pipe, wherein: the automatic tong spacing adjusting mechanism comprises a fixed mounting plate, a horizontal cross rod, sliding wheels, tensioning wheels, a transmission structure and a transmission belt, wherein the fixed mounting plate is connected to a lifting mounting plate, the middle position of the horizontal cross rod is fixedly connected to the fixed mounting plate, the sliding wheels are respectively arranged at four angular positions of the horizontal cross rod, the transmission structure and the tensioning wheels are arranged on the fixed mounting plate, and the transmission belt is driven by the transmission structure around each sliding wheel and the tensioning wheel.
6. A manipulator for grabbing a corner iron flange of a vent pipe according to claim 5, wherein: the gripper comprises a driving connecting block, a gripper supporting plate, a telescopic driving cylinder, a fixed rod, a directional movable rod, a free shaft lever, a hinged strip and a clamping jaw, wherein a vertical guide groove is formed in the gripper supporting plate, the end part of the directional movable rod is embedded in the vertical guide groove to slide, the end part of the fixed rod is fixedly connected below the lower end of the vertical guide groove, two groups of the clamping jaws are movably sleeved on the fixed rod in a group, a driving strip is arranged on the clamping jaw in an extending manner, one end of each group of the hinged strips in the same direction is movably sleeved on the directional movable rod, the other ends of the two hinged strips are respectively hinged with the driving strip on the clamping jaw on the corresponding side through the free shaft lever, the telescopic driving cylinder is arranged on the gripper supporting plate, the tail end of a piston rod of the telescopic driving cylinder is downwards hinged on the directional movable rod, the two grippers are respectively sleeved on the two ends of the horizontal cross rod through the driving connecting block guide, one of the gripping and clamping hands is connected with the transmission belt which is correspondingly arranged above the horizontal cross rod, and the other gripping and clamping hand is connected with the transmission belt which is correspondingly arranged below the horizontal cross rod.
7. A robot for gripping a corner iron flange of a vent pipe according to claim 6, wherein: the clamping jaws are sheet-shaped blocks, and a plurality of groups of clamping jaws and hinge strips are arranged on one clamping hand at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121551643.7U CN214988617U (en) | 2021-07-08 | 2021-07-08 | Manipulator for grabbing angle iron flange of ventilation pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121551643.7U CN214988617U (en) | 2021-07-08 | 2021-07-08 | Manipulator for grabbing angle iron flange of ventilation pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214988617U true CN214988617U (en) | 2021-12-03 |
Family
ID=79102312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121551643.7U Active CN214988617U (en) | 2021-07-08 | 2021-07-08 | Manipulator for grabbing angle iron flange of ventilation pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214988617U (en) |
-
2021
- 2021-07-08 CN CN202121551643.7U patent/CN214988617U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230923 Address after: 362000 No. 10, Xinnan Road, Tangxi community, Wan'an street, Luojiang District, Quanzhou City, Fujian Province Patentee after: Quanzhou Tianyi Construction Co.,Ltd. Address before: 362012 No. 10, Xinnan Road, Tangxi community, Wan'an street, Luojiang District, Quanzhou City, Fujian Province Patentee before: Quanzhou Litong Machinery Co.,Ltd. |