CN217807404U - Automatic mechanical claw for grabbing small-sized plates and double-sided polishing production line for small-sized plates - Google Patents
Automatic mechanical claw for grabbing small-sized plates and double-sided polishing production line for small-sized plates Download PDFInfo
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- CN217807404U CN217807404U CN202221841702.9U CN202221841702U CN217807404U CN 217807404 U CN217807404 U CN 217807404U CN 202221841702 U CN202221841702 U CN 202221841702U CN 217807404 U CN217807404 U CN 217807404U
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Abstract
The utility model relates to a machining equipment field provides an automatic mechanical claw and small-size panel two-sided production line of polishing that small-size panel was grabbed and is taken, automatic mechanical claw includes: the device comprises a main flange, a rotating frame, a rotating motor, a lifting frame, a lifting cylinder, a swinging frame, a swinging electric cylinder and a lifting rod cylinder; a rotating frame is rotatably connected below the main flange, a rotating motor is arranged on the main flange, and the rotating motor is connected with the rotating frame through a belt mechanism; a lifting frame is slidably connected below the rotating frame, a lifting cylinder is installed on the rotating frame, and a plunger of the lifting cylinder is connected with the lifting frame; the lower part of the lifting frame is movably connected with a swinging frame, and the lifting frame is hinged with the swinging frame through a swinging electric cylinder. The utility model discloses can carry out the automation to small-size panel work piece, special-shaped panel work piece and snatch and two-sided chamfer processing of polishing, improve work efficiency.
Description
Technical Field
The utility model relates to a machining equipment field especially relates to an automatic mechanical claw and the two-sided production line of polishing of small-size panel of taking are grabbed to small-size panel.
Background
The steel plate has wide application, is very common in industry, agriculture and the like, and is also visible everywhere in nuclear power and ship manufacturing. Along with the development of the industry, the requirement on the machining precision of a steel plate is higher and higher, a large number of plates need to be machined in ship manufacturing, the edges of the plates need to be chamfered, the plates need to be grabbed and transferred in the machining process, and due to the fact that the plates are different in specification and shape and irregular, a common mechanical gripper with a clamp cannot grab the plates well, cannot adapt to grabbing of special-shaped plates, and is low in production efficiency.
In addition, because the specification and the shape of the plate are different and irregular, the existing chamfering operation of the small plate is generally carried out by manually utilizing a handheld chamfering machine, the working efficiency is low, the processing precision is uneven, the production work of an enterprise is directly influenced, the limitation is great, and the plate polishing production line with high automation efficiency is lacked.
SUMMERY OF THE UTILITY MODEL
The utility model discloses mainly solve prior art's mechanical tongs can not be fine snatch panel, can not adapt to snatching of special-shaped panel, the lower and small-size panel's of production efficiency chamfer operation utilizes hand-held type beveler to process the operation by the manual work, work efficiency low grade technical problem provides an automatic machine claw and the two-sided production line of polishing of small-size panel that small-size panel grabbed and taken to carry out the automation to small-size panel work piece, special-shaped panel work piece and snatch and two-sided chamfer processing of polishing, improve work efficiency.
The utility model provides an automatic gripper that small-size panel was grabbed and was used, include: the device comprises a main flange, a rotating frame, a rotating motor, a lifting frame, a lifting cylinder, a swinging frame, a swinging electric cylinder and a lifting rod cylinder;
a rotating frame is rotatably connected below the main flange, a rotating motor is arranged on the main flange, and the rotating motor is connected with the rotating frame through a belt mechanism;
a lifting frame is slidably connected below the rotating frame, a lifting cylinder is arranged on the rotating frame, and a plunger of the lifting cylinder is connected with the lifting frame;
the lower part of the lifting frame is movably connected with a swing frame, and the lifting frame is hinged with the swing frame through a swing electric cylinder;
the swing frame is provided with a plurality of radially arranged branch arms which are uniformly distributed; and each branch arm is provided with a lifting rod cylinder in a sliding manner, an electromagnet is arranged below a plunger of the lifting rod cylinder, and the plunger of the lifting rod cylinder penetrates through the swing frame to extend downwards.
Preferably, each branch arm is provided with a sliding motor, a sliding track and a rack;
the sliding rail is connected with a sliding block in a sliding mode, a sliding motor is installed on the sliding block, and a driving gear of the sliding motor is meshed with the rack;
and a lifting rod cylinder is arranged on the sliding block.
Preferably, the belt mechanism includes: a driving pulley, a driven pulley and a belt;
the driving belt pulley and the driven belt pulley are respectively arranged at two ends of the bottom surface of the main flange;
the driving belt pulley is connected with an output shaft of the rotating motor, and the driving belt pulley is connected with the driven belt pulley through a belt;
the driven belt pulley is connected with the rotating frame.
Preferably, a hinge shaft is arranged below the lifting frame, a hinge seat is arranged in the middle of the swing frame, and the hinge shaft is matched with the hinge seat;
the cylinder body of the swing electric cylinder is hinged to the top end of the lifting frame, and the lower portion of the plunger of the swing electric cylinder is hinged to the swing frame.
Correspondingly, the utility model also provides a two-sided production line of polishing of small-size panel, include: the device comprises a rack, double-sided polishing equipment, a roller conveying line, a three-axis truss robot and an automatic mechanical claw provided by any embodiment of the utility model;
the double-side polishing equipment is arranged in the rack;
the roller conveying line penetrates through the rack and is arranged in parallel with the double-side polishing equipment; the roller conveying line is used for conveying a bin of the small plates;
the rack is provided with a three-axis truss robot, and the three-axis truss robot is provided with an automatic mechanical claw at a terminal.
Preferably, the three-axis truss robot terminal is connected with a main flange of the robot gripper.
Preferably, a visual camera is mounted on a cross beam of the three-axis truss robot.
Preferably, a mesh plate is arranged below the periphery of the double-side polishing equipment, and a protection plate is arranged around the mesh plate;
and a plurality of scrap receiving vehicles are arranged on one side below the mesh plate.
Preferably, one side of the roller conveying line is provided with a plurality of groups of reference idler wheels, and the other side of the roller conveying line is provided with a plurality of groups of pushing cylinders.
Preferably, a conveying roller is arranged on the roller conveying line and is driven by a roller driving motor and a chain in a transmission way;
and a plurality of groups of intercepting cylinders are arranged in the gaps of the conveying rollers, and the intercepting cylinders are provided with buffer cylinders.
The utility model provides an automatic gripper for grabbing small-sized plates and a double-side polishing production line for small-sized plates, which can automatically grab small-sized plate workpieces and special-shaped plate workpieces, can be suitable for grabbing plates of different types and sizes, and improve the working efficiency; the utility model discloses can be to small-size panel work piece, special-shaped panel work piece carries out two-sided chamfer processing of polishing, its structure is ingenious, reasonable in layout, full-automatic production line work efficiency is high, therefore, the clothes hanger is strong in practicability, can satisfy the demand of the deformed steel plate chamfer of different specification shapes, when liberating a large amount of labours, the work efficiency is improved, the cost is saved, the current situation has all been improved greatly to above-mentioned effect, greatly satisfy customer's demand, be one kind and be applicable to boats and ships, aerospace, petrochemical, metallurgy, nuclear power, the chamfer processing equipment of various trades such as steel construction, its market prospect is very wide.
Drawings
Fig. 1 is a schematic structural view of an automatic gripper for gripping a small-sized plate provided by the present invention;
fig. 2 is a front view of the robot gripper for gripping small boards according to the present invention;
FIG. 3 is a schematic structural view of a double-sided polishing production line for small-sized plates provided by the present invention;
FIG. 4 is a top view of a double-side polishing production line for small plates provided by the present invention;
fig. 5 is a schematic structural diagram of the roller conveying line provided by the present invention.
Reference numerals: 1. a frame; 2. double-side polishing equipment; 3. a roller conveying line; 4. a truss robot; 5. an automatic gripper; 6. a storage bin; 7. a main flange; 8. a rotating frame; 9. a rotating electric machine; 10. a lifting frame; 11. a lifting cylinder; 12. a swing frame; 13. swinging the electric cylinder; 14. an electromagnet; 15. a slider; 16. a slide motor; 17. a mesh plate; 18. chip receiving vehicle; 19. a vision camera; 20. a conveying roller; 21. a reference idler wheel; 22. pushing against the cylinder; 23. intercepting a cylinder; 24. a cushion cylinder; 25. a lifting rod cylinder.
Detailed Description
In order to make the technical problems, the technical solutions adopted and the technical effects achieved by the present invention clearer, the following description is made in conjunction with the accompanying drawings and embodiments for further details of the present invention. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present invention are shown in the drawings.
Example one
As shown in fig. 1-2, the embodiment of the present invention provides an automatic gripper for gripping small-sized plates, including: the device comprises a main flange 7, a rotating frame 8, a rotating motor 9, a lifting frame 10, a lifting cylinder 11, a swinging frame 12, a swinging electric cylinder 13 and a lifting rod cylinder 25.
A rotating frame 8 is rotatably connected below the main flange 7, a rotating motor 9 is mounted on the main flange 7, and the rotating motor 9 and the rotating frame 8 are connected through a belt mechanism; specifically, the belt mechanism includes: a drive pulley, a driven pulley, and a belt; the driving belt pulley and the driven belt pulley are respectively arranged at two ends of the bottom surface of the main flange 7; the driving belt pulley is connected with an output shaft of the rotating motor 9, and the driving belt pulley is connected with the driven belt pulley through a belt; the driven pulley is connected with the rotating frame 8. In this embodiment, the output shaft of the rotating motor 9 rotates, and the rotating frame 8 and the components thereon can be driven to rotate by the belt mechanism.
A lifting frame 10 is slidably connected below the rotating frame 8, a lifting cylinder 11 is installed on the rotating frame 8, and a plunger of the lifting cylinder 11 is connected with the lifting frame 10; the lower part of the lifting frame 10 is movably connected with a swing frame 12, and the lifting frame 10 is hinged with the swing frame 12 through a swing electric cylinder 13. Specifically, a hinge shaft is arranged below the lifting frame 10, a hinge seat is arranged in the middle of the swing frame 12, and the hinge shaft is matched with the hinge seat; the cylinder body of the swing electric cylinder 13 is hinged at the top end of the lifting frame 10, and the lower part of the plunger of the swing electric cylinder 13 is hinged with the swing frame 12. In this embodiment, the plunger of the lifting cylinder 11 extends and retracts to drive the lifting frame 10 and the swing frame 12 thereon to lift. The stretching of the swing electric cylinder 13 can drive the swing frame 12 and the upper component to swing, so as to realize the adjustment of the grabbing angle.
The swing frame 12 has a plurality of radially disposed branch arms uniformly distributed; a lifting rod cylinder 25 is arranged on each branch arm in a sliding mode, an electromagnet 14 is installed below a plunger of the lifting rod cylinder 25, and the plunger of the lifting rod cylinder 25 penetrates through the swinging frame 12 to extend downwards. Specifically, each branch arm is provided with a sliding motor 16, a sliding track and a rack; a sliding block 15 is connected to the sliding track in a sliding mode, a sliding motor 16 is installed on the sliding block 15, and a driving gear of the sliding motor 16 is meshed with the rack; and a lifting rod cylinder 25 is arranged on the sliding block 15. In this embodiment, the electromagnet 14 is electrified to adsorb the sheet material, so as to realize sheet material grabbing. Each branch arm is correspondingly provided with a long-strip-shaped opening, so that a plunger of the lifting rod cylinder 25 can extend out, and a moving space for the lifting rod cylinder 25 to slide can be reserved. The sliding motor 16 works, can realize the sliding of the lifting rod cylinder 25, realize the position movement of the lifting rod cylinder 25 and the electromagnet 14, and can adapt to the grabbing of small plates with different models and sizes.
Further, the utility model discloses the air supply is connected to each pneumatic assembly, and each electrical component accessible control box is controlled.
The utility model provides a small-size panel snatchs automatic mechanical claw's of taking working process: the rotary motor 9 can drive the rotary frame 8 and the components thereon to rotate, and the lifting cylinder 11 can drive the lifting frame 10 and the components thereon to lift; the work of swing electric cylinder 13 can drive swing span 12 and the subassembly swing on it, and the work of sliding motor 16 can drive slider 15 and the lifter cylinder 25 position removal on it, and the lifter cylinder 25 position removal can change and snatch the position, and the electro-magnet 14 has got the electricity and can adsorb panel, realizes that panel snatchs. The utility model discloses an automatic mechanical claw can each direction and the adjustment of angle, can adapt to the panel of different shapes and specification, improves work efficiency, promotes automatic mechanical claw's accommodation.
Example two
As shown in fig. 3-4, the embodiment of the utility model provides a two-sided production line of polishing of small-size panel includes: frame 1, two-sided equipment 2, the roller transfer chain 3 of polishing, triaxial truss robot 4 and the utility model discloses arbitrary embodiment provides an automatic gripper 5.
The double-side grinding equipment 2 is arranged in the machine frame 1.
The roller conveying line 3 penetrates through the rack 1 and is arranged in parallel with the double-side polishing equipment 2; and the roller conveying line 3 is used for conveying a storage bin 6 of small plates.
The three-shaft truss type robot manipulator is characterized in that a three-shaft truss robot 4 is arranged on the rack 1, and an automatic mechanical claw 5 is installed at the terminal of the three-shaft truss robot 4 and is specifically connected with a main flange 7 of the automatic mechanical claw 5.
Further, a visual camera 19 is mounted on a cross beam of the three-axis truss robot 4, and can scan the shape of the plate.
Further, a mesh plate 17 is arranged below the periphery of the double-side polishing device 2, and a protection plate is arranged around the mesh plate 17; mesh board 17 below one side sets up a plurality ofly and connects bits car 18, can connect the piece after the processing, and the piece of being convenient for is transported.
As shown in fig. 5, a plurality of sets of reference idler wheels 21 are installed on one side of the roller conveyor line 3, and a plurality of sets of pushing cylinders 22 are installed on the other side. The roller conveying line 3 is provided with a conveying roller 20, and the conveying roller 20 is driven by a roller driving motor and a chain in a transmission way; a plurality of groups of intercepting air cylinders 23 are arranged in the gaps of the conveying rollers 20, and the intercepting air cylinders 23 are provided with buffer cylinders 24.
Further, the utility model discloses each pneumatic assembly connects the air supply, and each electrical component accessible control box is controlled.
The utility model provides a two-sided production line of polishing of small-size panel, roller transfer chain 3 falls into four stations according to work piece direction of transportation: the device comprises a loading position, a scanning position, a placing position and a discharging position; the grinding position is a double-side grinding device 2.
The utility model provides a two-sided production line's of polishing of small-size panel working process: the bin 6 filled with small plate workpieces is placed at the feeding position of the roller conveying line 3 through a forklift, the bin 6 is conveyed forwards to the position below the vision camera 19 by the roller conveying line 3, an intercepting cylinder 23 and a buffer cylinder 24 are matched on the roller conveying line 3, the bin 6 is stopped at a scanning position, then the bin 6 is close to a reference idler wheel 21 by pushing against a cylinder 22, the bin 6 is completely fixed at the scanning position, the workpieces in the bin 6 are scanned through the vision camera 19, and the gravity center, the workpiece shape and the like are automatically identified; then the three-axis truss robot 4 is matched with the automatic mechanical claw 5 to grab the workpiece, the workpiece is moved to the double-side polishing equipment 2 in a grabbing state, and the double-side polishing equipment 2 automatically polishes the edge of the workpiece on two sides; finish polishing in automatic mechanical claw 5 moves the work piece to the feed bin 6 of placing the position, 6 rethread conveying roller line 3 of feed bin 6 rethread conveying roller line of placing the position move to the unloading position, and 6 rethread fork truck of feed bin that are equipped with the work piece after the processing move away.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, without substantially departing from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an automatic gripper that small-size panel was grabbed and was used which characterized in that includes: a main flange (7), a rotating frame (8), a rotating motor (9), a lifting frame (10), a lifting cylinder (11), a swinging frame (12), a swinging electric cylinder (13) and a lifting rod cylinder (25);
a rotating frame (8) is rotatably connected below the main flange (7), a rotating motor (9) is mounted on the main flange (7), and the rotating motor (9) is connected with the rotating frame (8) through a belt mechanism;
a lifting frame (10) is slidably connected below the rotating frame (8), a lifting cylinder (11) is installed on the rotating frame (8), and a plunger of the lifting cylinder (11) is connected with the lifting frame (10);
the lower part of the lifting frame (10) is movably connected with a swing frame (12), and the lifting frame (10) is hinged with the swing frame (12) through a swing electric cylinder (13);
the swing frame (12) is provided with a plurality of radially arranged branch arms which are uniformly distributed; each branch arm is provided with a lifting rod cylinder (25) in a sliding mode, an electromagnet (14) is installed below a plunger of each lifting rod cylinder (25), and the plunger of each lifting rod cylinder (25) penetrates through the swinging frame (12) to extend downwards.
2. The robot gripper for gripping small boards as claimed in claim 1, wherein each of the branch arms is provided with a slide motor (16), a slide rail and a rack;
a sliding block (15) is connected to the sliding track in a sliding mode, a sliding motor (16) is installed on the sliding block (15), and a driving gear of the sliding motor (16) is meshed with the rack;
and a lifting rod cylinder (25) is arranged on the sliding block (15).
3. The robot gripper for gripping sheets as claimed in claim 1, wherein said belt mechanism comprises: a drive pulley, a driven pulley, and a belt;
the driving belt pulley and the driven belt pulley are respectively arranged at two ends of the bottom surface of the main flange (7);
the driving belt pulley is connected with an output shaft of the rotating motor (9), and the driving belt pulley is connected with the driven belt pulley through a belt;
the driven pulley is connected with the rotating frame (8).
4. The automatic mechanical claw for grabbing the small-sized plates is characterized in that a hinged shaft is arranged below the lifting frame (10), a hinged seat is arranged in the middle of the swinging frame (12), and the hinged shaft is matched with the hinged seat;
the cylinder body of the swing electric cylinder (13) is hinged to the top end of the lifting frame (10), and the lower portion of the plunger of the swing electric cylinder (13) is hinged to the swing frame (12).
5. The utility model provides a two-sided production line of polishing of small-size panel which characterized in that includes: -a machine frame (1), -a double-sided grinding device (2), -a roller conveyor line (3), -a three-axis truss robot (4) and-a robot gripper (5) according to any of claims 1 to 4;
the double-side polishing equipment (2) is arranged in the rack (1);
the roller conveying line (3) penetrates through the rack (1) and is arranged in parallel with the double-side polishing equipment (2); the roller conveying line (3) is used for conveying a bin (6) of the small plates;
the three-axis truss robot is characterized in that a three-axis truss robot (4) is arranged on the rack (1), and an automatic mechanical claw (5) is installed at the terminal of the three-axis truss robot (4).
6. A small panel double side grinding line according to claim 5, characterized in that the triaxial truss robot (4) is terminated in connection with the main flange (7) of the robot gripper (5).
7. A small-sized board double-sided sanding production line as defined in claim 5, characterized in that a cross beam of the tri-axial truss robot (4) is provided with a vision camera (19).
8. The small-sized plate double-side grinding production line as claimed in claim 5, characterized in that a mesh plate (17) is arranged below the periphery of the double-side grinding equipment (2), and a protection plate is arranged around the mesh plate (17);
a plurality of scrap receiving vehicles (18) are arranged on one side below the mesh plate (17).
9. The small-sized plate double-side grinding production line as claimed in claim 5, wherein one side of the roller conveying line (3) is provided with a plurality of groups of reference idler wheels (21), and the other side of the roller conveying line is provided with a plurality of groups of pushing cylinders (22).
10. The small-sized plate double-sided grinding production line as claimed in claim 9, wherein a conveying roller (20) is mounted on the roller conveying line (3), and the conveying roller (20) is driven by a roller driving motor and a chain transmission;
a plurality of groups of intercepting cylinders (23) are arranged in the gaps of the conveying rollers (20), and the intercepting cylinders (23) are provided with buffer cylinders (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221841702.9U CN217807404U (en) | 2022-07-18 | 2022-07-18 | Automatic mechanical claw for grabbing small-sized plates and double-sided polishing production line for small-sized plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221841702.9U CN217807404U (en) | 2022-07-18 | 2022-07-18 | Automatic mechanical claw for grabbing small-sized plates and double-sided polishing production line for small-sized plates |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217807404U true CN217807404U (en) | 2022-11-15 |
Family
ID=83966704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221841702.9U Active CN217807404U (en) | 2022-07-18 | 2022-07-18 | Automatic mechanical claw for grabbing small-sized plates and double-sided polishing production line for small-sized plates |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217807404U (en) |
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2022
- 2022-07-18 CN CN202221841702.9U patent/CN217807404U/en active Active
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| GR01 | Patent grant | ||
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Denomination of utility model: Automatic mechanical claws for small plate grabbing and production line for double-sided polishing of small plates Effective date of registration: 20230523 Granted publication date: 20221115 Pledgee: China Construction Bank Corporation Dalian Jinpu New Area Branch Pledgor: YOUTE MACHINERY TOOLS (DALIAN) CO.,LTD. Registration number: Y2023980041512 |