CN220428364U - Gas cylinder clamping device for robot suitable for IV type bottle production line - Google Patents
Gas cylinder clamping device for robot suitable for IV type bottle production line Download PDFInfo
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- CN220428364U CN220428364U CN202321908752.9U CN202321908752U CN220428364U CN 220428364 U CN220428364 U CN 220428364U CN 202321908752 U CN202321908752 U CN 202321908752U CN 220428364 U CN220428364 U CN 220428364U
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- clamping
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 210000000078 claw Anatomy 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 239000007789 gas Substances 0.000 description 29
- 229910052739 hydrogen Inorganic materials 0.000 description 16
- 239000001257 hydrogen Substances 0.000 description 16
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 15
- 238000004804 winding Methods 0.000 description 10
- 239000000835 fiber Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009417 prefabrication Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 229920001903 high density polyethylene Polymers 0.000 description 1
- 150000002431 hydrogen Chemical class 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Landscapes
- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
The utility model belongs to the technical field of transferring clamping pieces, and particularly relates to a gas cylinder clamping device for a robot, which is applicable to an IV-type gas cylinder production line and comprises a frame and a clamping unit; the clamping unit comprises a servo moving mechanism and two groups of clamping mechanisms, one group of clamping mechanisms is fixedly arranged on the frame, and the servo moving mechanism is used for driving the other group of clamping mechanisms to move left and right on the frame; the clamping mechanism comprises a bracket, a fixed claw, a movable claw and a movable claw driving device, wherein the fixed claw is fixedly arranged on the bracket, the movable claw is pivoted with the fixed claw, and the movable claw driving device is used for driving the movable claw to swing. According to the utility model, the clamping of the IV-type bottle is realized through the movable clamping jaw pivoted with the fixed clamping jaw, and the IV-type bottle can be effectively prevented from falling off.
Description
Technical Field
The utility model belongs to the technical field of transferring clamping pieces, and relates to a gas cylinder clamping device for a robot, which is suitable for an IV-type bottle production line.
Background
High-pressure gaseous hydrogen storage is currently the most widely used hydrogen storage means. The high-pressure gaseous hydrogen storage container is mainly divided into 4 types of pure steel metal bottles (type I), steel liner fiber hoop winding bottles (type II), aluminum liner fiber full winding bottles (type III) and plastic liner fiber winding bottles (type IV). The III type bottle and the IV type bottle have the advantages of small weight-to-volume ratio, high hydrogen storage density per unit mass and the like, and are widely applied to hydrogen fuel cell automobiles.
Along with the environmental protection background of the development of hydrogen energy technology and the reduction of carbon emission in China, the hydrogen demand is higher and higher, and the demand for the IV-type bottle which is most suitable for loading hydrogen is also higher and higher. The IV-type bottle production line mainly comprises a nonmetallic gas bottle liner prefabrication treatment part, a liner surface fiber winding part, a curing treatment part and the like, wherein each working procedure relates to gas bottle transfer, and most of the working procedures can use a gas bottle clamping device for a robot. CN112124886a discloses an automatic feeding and discharging conveyor line for winding and solidifying hydrogen cylinders, which adopts a mechanical arm, a conveying rail and a feeding and discharging conveyor to realize that the mechanical arm transports semi-finished products to a winding station for automatic feeding, and the mechanical arm automatically discharges after winding is completed and transports the wound cylinders to a solidifying furnace for solidifying. The transfer mechanical arm comprises a mechanical arm body and a hydrogen cylinder liner clamp which is arranged on the mechanical arm body and used for lifting and clamping the hydrogen cylinder liner. The hydrogen cylinder liner clamp comprises a clamp frame arranged on the mechanical arm main body, a fixed lifting clamp arm arranged at one end of the clamp frame, and an adjustable lifting clamp arm which is arranged at the other end of the clamp frame, is matched with the fixed lifting clamp arm and can move back and forth along the length direction of the clamp frame so as to adjust and fix the interval between the lifting clamp arms. The fixture frame is provided with a screw rod, the adjustable lifting clamp arm is arranged on the fixture frame through the screw rod, the fixture frame is provided with a guide rail, the adjustable lifting clamp arm is provided with a sliding block matched with the guide rail, the adjustable lifting clamp arm is in sliding connection with the guide rail through the sliding block, and the screw rod is provided with an adjusting handle. The fixture for the hydrogen cylinder liner has the defects that the fixture is of an open structure, the anti-falling structure design is not made, the two ends of the hydrogen cylinder liner are respectively lifted by the adjustable lifting clamp arm and the fixed lifting clamp arm, and the adjustable lifting clamp arm and the fixed lifting clamp arm only have simple supporting effect on the gas cylinder. During the transfer process, the gas cylinder is moving and even can shake, so the gas cylinder can fall off from the grooves on the adjustable lifting clamp arm and the fixed lifting clamp arm. The IV type bottle is a plastic inner container, stores 70Mpa high-pressure hydrogen, is not separated from a fiber winding layer outside the inner container, and has potential safety hazards when 70Mpa high-pressure hydrogen is stored in the later stage if the gas bottle falls off and is knocked to damage the fiber layer in the process of transferring the gas bottle by winding and solidifying the gas bottle.
Disclosure of Invention
The utility model aims to provide a gas cylinder clamping device for a robot, which is suitable for an IV type bottle production line, and can clamp an IV type bottle through a movable claw pivoted with a fixed claw so as to effectively prevent the IV type bottle from falling off.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: the gas cylinder clamping device for the robot suitable for the IV-type bottle production line comprises a frame and a clamping unit, wherein the clamping unit comprises a servo moving mechanism and two groups of clamping mechanisms, one group of clamping mechanisms is fixedly arranged on the frame, and the servo moving mechanism is used for driving the other group of clamping mechanisms to move left and right on the frame; the clamping mechanism comprises a bracket, a fixed claw, a movable claw and a movable claw driving device, wherein the fixed claw is fixedly arranged on the bracket, the movable claw is pivoted with the fixed claw, and the movable claw driving device is used for driving the movable claw to swing relative to the fixed claw.
Compared with the prior art, the gas cylinder clamping device for the robot, which is applicable to the IV type gas cylinder production line, has the beneficial effects that: the clamping of the IV type bottle is realized through the movable claw pivoted with the fixed claw, so that the IV type bottle can be effectively prevented from falling off, and the potential safety hazard is eliminated.
Further, the servo moving mechanism comprises a linear guide rail, a sliding seat plate, a ball screw mechanism and a servo motor, wherein the linear guide rail is arranged on the frame along the left-right direction, the sliding seat plate is in sliding connection with the linear guide rail, the ball screw mechanism is arranged on the frame, the servo motor can drive the sliding seat plate to slide left and right through the ball screw mechanism, and the clamping mechanism which can move left and right on the frame is arranged on the sliding seat plate.
Further, the servo motor is connected with the ball screw mechanism through a synchronous belt transmission mechanism.
Further, the movable claw driving device is an air cylinder, and two ends of the air cylinder are respectively pivoted with the bracket and the movable claw.
Further, the fixed clamping jaw and the movable clamping jaw are respectively provided with a first clamping groove and a second clamping groove, and the first clamping groove is matched with the second clamping groove.
Further, the clamping units are provided with two groups, and the two groups of clamping units are arranged along the vertical direction.
Drawings
FIG. 1 is a schematic diagram of the robot of the type IV bottle line in example 1.
Fig. 2 is a front view of a gas cylinder holding device for a robot suitable for use in the type iv gas cylinder production line of embodiment 1.
Fig. 3 is a side view of a gas cylinder clamping device for a robot suitable for use in the type iv gas cylinder production line of example 1.
Wherein: the device comprises a 1-frame, a 2-gas cylinder, a 3-support, a 4-fixed claw, a 5-movable claw, a 6-linear guide rail, a 7-sliding seat plate, an 8-ball screw mechanism, a 9-servo motor, a 10-synchronous belt transmission mechanism, an 11-gas cylinder, a 12-first clamping groove, a 13-second clamping groove, a 14-first pin roll, a 15-second pin roll, a 16-third pin roll, a 17 and a robot.
Detailed Description
The utility model is further described below with reference to the accompanying drawings:
example 1
Fig. 1 to 3 show embodiment 1 of the present utility model.
Fig. 1 shows a robot of an iv-type bottle production line in embodiment 1, wherein a robot 17 is used for transferring a gas bottle 2 in the processes of prefabrication treatment, surface fiber winding and solidification treatment of the iv-type bottle liner, and the like, so that the pose of the gas bottle 2 can be adjusted, and a gas bottle clamping device is installed at the tail end of the robot 17 and used for clamping the gas bottle 2.
A gas cylinder clamping device for a robot suitable for an IV type bottle production line comprises a frame 1 and a clamping unit.
The clamping unit comprises a servo moving mechanism and two groups of clamping mechanisms, one group of clamping mechanisms is fixedly arranged on the machine frame 1, and the servo moving mechanism is used for driving the other group of clamping mechanisms to move left and right on the machine frame 1. Specifically, the servo moving mechanism comprises a linear guide rail 6, a sliding seat plate 7, a ball screw mechanism 8, a servo motor 9 and a synchronous belt transmission mechanism 10, wherein the linear guide rail 6 is arranged on the frame 1 along the left-right direction, the sliding seat plate 7 is in sliding connection with the linear guide rail 6, the ball screw mechanism 8 is arranged on the frame 1, the servo motor 9 is connected with the ball screw mechanism 8 through the synchronous belt transmission mechanism 10, the servo motor 9 can drive the sliding seat plate 7 to slide left and right through the ball screw mechanism 8, and the clamping mechanism capable of moving left and right on the frame 1 is arranged on the sliding seat plate 7.
The clamping mechanism comprises a bracket 3, a fixed claw 4, a movable claw 5 and a movable claw driving device, wherein the fixed claw 4 is fixedly arranged on the bracket 3, the movable claw 5 is pivoted with the fixed claw 4 through a first pin shaft 14, and the movable claw driving device is used for driving the movable claw 5 to swing relative to the fixed claw 4. In this embodiment, the movable claw driving device is an air cylinder 11, the upper end of the air cylinder 11 is pivoted to the bracket 3 through a second pin 15, and the lower end of the air cylinder 11 is pivoted to the movable claw 5 through a third pin 16.
The fixed clamping jaw 4 and the movable clamping jaw 5 are respectively provided with a first clamping groove 12 and a second clamping groove 13, and the first clamping groove 12 and the second clamping groove 13 are matched and are semicircular.
In this embodiment, the two groups of clamping units are arranged along the vertical direction.
When the gas cylinder is in operation, a piston rod of the gas cylinder 11 extends out to drive the movable claw 5 to swing upwards so as to open the clamping mechanisms, and at the moment, two ends of the gas cylinder 2 are respectively arranged in the first clamping grooves 12 on the fixed claws 4 of the two groups of clamping mechanisms. Then the piston rod of the air cylinder 11 contracts to drive the movable claw 5 to swing downwards, so that the clamping mechanism is closed, and the clamping of the air cylinder 2 is realized.
The above examples are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solution of the present utility model should fall within the scope of protection defined by the claims of the present utility model without departing from the spirit of the present utility model.
Claims (6)
1. The gas cylinder clamping device for the robot is suitable for an IV-type bottle production line and is characterized by comprising a frame (1) and a clamping unit, wherein the clamping unit comprises a servo moving mechanism and two groups of clamping mechanisms, one group of clamping mechanisms is fixedly arranged on the frame (1), and the servo moving mechanism is used for driving the other group of clamping mechanisms to move left and right on the frame (1); the clamping mechanism comprises a support (3), a fixed jaw (4), a movable jaw (5) and a movable jaw driving device, wherein the fixed jaw (4) is fixedly arranged on the support (3), the movable jaw (5) is pivoted with the fixed jaw (4), and the movable jaw driving device is used for driving the movable jaw (5) to swing relative to the fixed jaw (4).
2. The gas cylinder clamping device for a robot suitable for a type IV bottle production line according to claim 1, wherein: the servo moving mechanism comprises a linear guide rail (6), a sliding seat plate (7), a ball screw mechanism (8) and a servo motor (9), wherein the linear guide rail (6) is arranged on the frame (1) along the left-right direction, the sliding seat plate (7) is in sliding connection with the linear guide rail (6), the ball screw mechanism (8) is arranged on the frame (1), the servo motor (9) can drive the sliding seat plate (7) to slide left and right through the ball screw mechanism (8), and the clamping mechanism which can move left and right on the frame (1) is arranged on the sliding seat plate (7).
3. The gas cylinder clamping device for a robot suitable for a type IV bottle production line according to claim 2, wherein: the servo motor (9) is connected with the ball screw mechanism (8) through a synchronous belt transmission mechanism (10).
4. A robotic cylinder gripping device adapted for use in a type iv cylinder line according to any one of claims 1-3, wherein: the movable claw driving device is an air cylinder (11), and two ends of the air cylinder (11) are respectively pivoted with the bracket (3) and the movable claw (5).
5. A robotic cylinder gripping device adapted for use in a type iv cylinder line according to any one of claims 1-3, wherein: the fixed clamping jaw (4) and the movable clamping jaw (5) are respectively provided with a first clamping groove (12) and a second clamping groove (13), and the first clamping groove (12) is matched with the second clamping groove (13).
6. A robotic cylinder gripping device adapted for use in a type iv cylinder line according to any one of claims 1-3, wherein: the clamping units are provided with two groups, and the two groups of clamping units are arranged along the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321908752.9U CN220428364U (en) | 2023-07-19 | 2023-07-19 | Gas cylinder clamping device for robot suitable for IV type bottle production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321908752.9U CN220428364U (en) | 2023-07-19 | 2023-07-19 | Gas cylinder clamping device for robot suitable for IV type bottle production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220428364U true CN220428364U (en) | 2024-02-02 |
Family
ID=89691948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321908752.9U Active CN220428364U (en) | 2023-07-19 | 2023-07-19 | Gas cylinder clamping device for robot suitable for IV type bottle production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220428364U (en) |
-
2023
- 2023-07-19 CN CN202321908752.9U patent/CN220428364U/en active Active
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