CN220741151U

CN220741151U - Fixed mechanical gripper

Info

Publication number: CN220741151U
Application number: CN202322346429.3U
Authority: CN
Inventors: 张红霞; 魏家坤; 高延忠; 李勇; 李华俊; 孙蕾; 纪万强; 杨安青; 谷业山
Original assignee: Weiqiao Textile Co Ltd
Current assignee: Weiqiao Textile Co Ltd
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2024-04-09
Anticipated expiration: 2033-08-30

Abstract

The utility model relates to the technical field of mechanical grippers, in particular to a fixed mechanical gripper which comprises a mechanical gripper body and an upright post, wherein the mechanical gripper body can grip and put materials, the upright post is rotationally connected with one end of a first mechanical arm, the first mechanical arm rotates by taking the upright post as a rotating shaft, the other end of the first mechanical arm is rotationally connected with one end of a second mechanical arm, the other end of the second mechanical arm is connected with one end of a lifting mechanism, the other end of the lifting mechanism is connected with the mechanical gripper body, and the lifting direction of the lifting mechanism is parallel to the axial direction of the upright post. The mechanical gripper has the beneficial effects that the mechanical gripper body can be flexibly moved to any appointed position in the horizontal grabbing range by rotating the first mechanical arm and the second mechanical arm, the mechanical gripper body can be driven to lift to any appointed position in the vertical grabbing range by lifting the lifting mechanism, then the mechanical gripper body grabs and releases the cloth, the cloth at the cloth falling opening can be grabbed, or the cloth is classified and placed at any appointed position in the grabbing range.

Description

Fixed mechanical gripper

Technical Field

The utility model relates to the technical field of mechanical grippers, in particular to a fixed mechanical gripper.

Background

After the cloth is formed, the cloth is usually required to be rolled and packaged, and with the progress and development of technology, an automatic cloth rolling packaging machine is gradually put into use in a production line.

The existing cloth automatic rolling packaging production line can output cloth from a cloth outlet after rolling and packaging the cloth. The number of cloth falling outlets of the existing automatic cloth rolling and packaging production line is limited, and is usually three, however, the varieties and the cylinder numbers of the cloth are far more than three, so that workers are required to transport the cloth of different varieties and different cylinder numbers to different supporting plates for classification and placement, and each supporting plate is only prevented from being provided with the cloth of the same variety and the same cylinder number.

The existing cloth conveying mode for classifying and placing cloth is usually manual conveying, or conveying by using a conveying vehicle, or grabbing and conveying by using a mechanical arm. However, the weight of the cloth is relatively heavy, the weight of one roll of cloth can reach about 150 jin, when the cloth is manually carried, the safety is lower, the labor intensity of staff is higher, the labor cost is higher, the labor efficiency is lower, and the production beat of a factory is slower. In addition, when the carrier is used for carrying, the labor intensity of workers can be reduced, the labor cost is reduced, the labor efficiency is improved, the production beat of a factory is accelerated, but the carrier needs a larger moving space, the flexibility is lower, the field utilization rate is reduced, and the field cost is increased.

Disclosure of Invention

The utility model provides a fixed mechanical gripper for solving the technical problems that cloth is inflexible to move and low in efficiency when being placed in a classified mode.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a fixed mechanical tongs, includes gripper body and stand, and gripper body can grasp the material of putting, and the stand rotates with the one end of first arm to be connected, and first arm uses the stand to rotate as the rotation axis, and the other end of first arm rotates with the one end of second arm to be connected, and the other end of second arm is connected with elevating system's one end, and elevating system's the other end is connected with gripper body, and elevating system's lifting direction is parallel with the axial direction of stand.

By adopting the above structural scheme, the length of first arm and second arm can be according to actual demand setting, and the minimum radius of snatching of gripper body is the length of first arm, and the biggest radius of snatching is the length sum of first arm and second arm, and the horizontal range of snatching of gripper body is between minimum radius of snatching and biggest radius of snatching, and the horizontal range of snatching includes minimum radius of snatching and biggest radius of snatching. The height of the lifting mechanism can be set according to actual requirements, and the vertical grabbing range of the mechanical claw body is in the lifting height range of the lifting mechanism, and comprises the limit lifting height value of the lifting mechanism. Through rotating first arm and second arm, can be nimble remove the mechanical claw body to the arbitrary appointed position in the horizontal range of snatching, can drive mechanical claw body through making elevating system go up and down, make mechanical claw body nimble remove to the arbitrary appointed position in the vertical range of snatching, then make mechanical claw body grab, put the cloth, can snatch the cloth of cropping mouth, or classify the cloth and place the arbitrary appointed position in the range of snatching. Therefore, the cloth sorting machine is flexible to move when being placed in a sorting mode, saves time and labor, occupies small area, is high in production efficiency, and reduces personnel cost and land cost.

As a preferred implementation of the stationary mechanical gripper, the first mechanical arm is arranged perpendicular to the upright.

By adopting the structural scheme, the stress between the upright post and the first mechanical arm is reliable, and the assembly is convenient.

As a preferred implementation manner of the fixed mechanical gripper, the section of the first mechanical arm along the axial direction of the upright post is trapezoid; the longer bottom edge in the first mechanical arm is rotationally connected with the upright post, and the shorter bottom edge in the first mechanical arm is rotationally connected with the second mechanical arm.

By adopting the structural scheme, the structural strength of the first mechanical arm is enhanced, the maximum load of the first mechanical arm is increased, and the safety is improved.

As a preferred implementation of the stationary mechanical gripper, the axis of rotation of the second mechanical arm is parallel to the axis of rotation of the first mechanical arm.

By adopting the structural scheme, the stress between the second mechanical arm and the first mechanical arm is balanced and reliable, and the assembly is convenient.

As a preferred implementation of the stationary mechanical gripper, an angle is formed between the upper part of the second mechanical arm and the upper part of the first mechanical arm, and the angle is larger than 90 degrees.

By adopting the structural scheme, the structural strength of the second mechanical arm is enhanced, the maximum load of the second mechanical arm is increased, and the safety is improved.

As a preferable implementation mode of the fixed mechanical gripper, a supporting rod is arranged below the second mechanical arm and is used for supporting the second mechanical arm in an inclined mode.

By adopting the structural scheme, the supporting rod can support the second mechanical arm, so that the structural strength of the second mechanical arm is enhanced, the maximum load of the second mechanical arm is increased, and the safety is improved.

As a preferred implementation of a stationary mechanical gripper, the lifting mechanism and/or the gripper body are connected to a control unit, which is able to control the lifting of the lifting mechanism and/or the gripping of the gripper body.

By adopting the above structural scheme, the lifting of the lifting mechanism and/or the grabbing and releasing of the mechanical claw body can be controlled at will through the control unit, so that the flexibility of the mechanical claw body in moving and grabbing is further improved.

As a preferred implementation of the stationary mechanical gripper, the lifting mechanism is a lifting cylinder and/or the gripper body is a pneumatic gripper, and the control unit is a pneumatic gripper valve.

By adopting the above structure scheme, the manual valve is controlled, the lifting mechanism can drive the mechanical claw body to lift to a required height, and the mechanical claw body can also grasp and put cloth, grasp the cloth at the cloth falling opening, or classify the cloth and put the cloth at any appointed position in the grasping range, so that the mechanical claw is safe and reliable.

The beneficial effects of the utility model include:

the length of first arm and second arm can be according to actual demand setting, and the minimum radius of snatching of gripper body is the length of first arm, and the biggest radius of snatching is the length sum of first arm and second arm, and the horizontal range of snatching of gripper body is between minimum radius of snatching and biggest radius of snatching, and horizontal range of snatching includes minimum radius of snatching and biggest radius of snatching. The height of the lifting mechanism can be set according to actual requirements, and the vertical grabbing range of the mechanical claw body is in the lifting height range of the lifting mechanism, and comprises the limit lifting height value of the lifting mechanism. Through rotating first arm and second arm, can be nimble remove the mechanical claw body to the arbitrary appointed position in the horizontal range of snatching, can drive mechanical claw body through making elevating system go up and down, make mechanical claw body nimble remove to the arbitrary appointed position in the vertical range of snatching, then make mechanical claw body grab, put the cloth, can snatch the cloth of cropping mouth, or classify the cloth and place the arbitrary appointed position in the range of snatching. Therefore, the cloth sorting machine is flexible to move when being placed in a sorting mode, saves time and labor, occupies small area, is high in production efficiency, and reduces personnel cost and land cost.

Drawings

In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an embodiment of the present utility model.

List of parts and reference numerals:

1. a gripper body;

2. a column;

3. a first mechanical arm;

4. a second mechanical arm; 41. a support rod;

5. a lifting mechanism;

6. and a supporting plate.

Detailed Description

In order to make the objects, features and advantages of the present utility model more obvious and understandable, the technical solutions of the present utility model will be clearly and completely described below with reference to the drawings in this specific embodiment, and it is apparent that the embodiments described below are only some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, based on the embodiments in this patent, which would be within the purview of one of ordinary skill in the art without the particular effort to make the utility model are intended to be within the scope of the patent protection.

Referring to fig. 1, this embodiment provides a fixed mechanical gripper, including gripper body 1 and stand 2, gripper body 1 is pneumatic gripper, gripper body 1 can grasp the material, stand 2 vertical setting, stand 2 and the one end rotation of first arm 3 are connected, first arm 3 sets up with stand 2 is perpendicular, first arm 3 uses stand 2 as the rotation axis rotation, the cross-section of first arm 3 along the axial direction of stand 2 is trapezoidal, longer base and stand 2 rotation connection in trapezoidal first arm 3, shorter base and the one end rotation connection of second arm 4 in the first arm 3, the axis of rotation and the axis of rotation of first arm 3 are parallel, have the contained angle between second arm 4 top and the first arm 3 top, the contained angle is greater than 90, second arm 4 below is equipped with bracing piece 41, bracing piece 41 slant support second arm 4, the other end and the one end connection of elevating system 5, elevating system 5 other end and gripper body 1 are connected, elevating system 5 is the elevating system, elevating system is the axial direction of the control unit of elevating system 1 and the lift unit of elevating system, the control unit of elevating system 1 and lift, can be parallel with gripper body 1.

The working process of the embodiment is as follows: the length of the first mechanical arm 3 and the second mechanical arm 4 can be set according to actual requirements, the minimum grabbing radius of the mechanical gripper body 1 is the length of the first mechanical arm 3, the maximum grabbing radius is the sum of the lengths of the first mechanical arm 3 and the second mechanical arm 4, the horizontal grabbing range of the mechanical gripper body 1 is between the minimum grabbing radius and the maximum grabbing radius, and the horizontal grabbing range comprises the minimum grabbing radius and the maximum grabbing radius. The height of the lifting mechanism 5 can also be set according to actual requirements, and the vertical grabbing range of the mechanical claw body 1 is in the lifting height range of the lifting mechanism 5, including the limit lifting height value of the lifting mechanism 5. Through rotating first arm 3 and second arm 4, can be with the flexible movement of gripper body 1 to the arbitrary appointed position in the horizontal range of snatching, then control the hand valve, make elevating system 5 drive gripper body 1 go up and down, make gripper body 1 nimble the arbitrary appointed position in the vertical range of snatching, control the hand valve again, make gripper body 1 grab, put the cloth, snatch the cloth of cropping mouth, or classify the cloth and place the arbitrary appointed position in the range of snatching. Therefore, the cloth sorting and placing device is flexible in movement, time-saving and labor-saving, small in occupied area, high in production efficiency and capable of reducing labor cost and land cost.

In this embodiment, the rotation of the first mechanical arm 3 and the rotation of the second mechanical arm 4 are driven by manual operation, which is flexible and reliable, and can enable the first mechanical arm 3 and the second mechanical arm 4 to flexibly rotate to the required positions. In other embodiments, the rotation of the first mechanical arm 3 and the rotation of the second mechanical arm 4 may also be driven by a driving mechanism, such as electric driving, hydraulic driving or pneumatic driving, which saves time and effort.

In the embodiment, the mechanical claw body 1 is a pneumatic mechanical claw, so that the mechanical claw is firm in grabbing and placing, and reliable and safe in work. In other embodiments, the gripper body 1 may also be an electric gripper or a hydraulic gripper.

In the embodiment, the lifting mechanism 5 is a lifting cylinder, and is safe and reliable, and the lifting mechanism is firmly started and stopped in the lifting process. In other embodiments, the lifting mechanism 5 may also be an electric lifting mechanism 5 or a hydraulic lifting mechanism 5.

In this embodiment, the cross section of the first mechanical arm 3 along the axial direction of the upright post 2 is trapezoidal, so that the structural strength of the first mechanical arm 3 can be enhanced, the maximum load of the first mechanical arm 3 is increased, and the safety is improved. In other embodiments, the cross section of the first mechanical arm 3 along the axial direction of the upright 2 may also be triangular.

The wrench valve in the embodiment has self-locking property, so that lifting of the lifting mechanism 5 and grabbing of the mechanical claw body 1 are safer and more reliable. For example, the hand plate valve in the embodiment can be 3 4HA230c-08 type hand plate valves with self-locking function, so that the requirement of follow-up stop of a lifting cylinder can be met, flexible grabbing and placing actions of the mechanical claw body 1 are realized, and the mechanical claw body is safer and more reliable than an electric tool.

In this embodiment, the DN150 galvanized welded pipe is used as the upright post 2, the upright post 2 is inlaid with underground 1 meter and reinforced by an iron plate to ensure safety, a plurality of supporting plates 6 for placing cloth can be arranged on the ground, each supporting plate 6 only prevents cloth with the same variety and the same cylinder number, and the supporting plates 6 are positioned in the horizontal grabbing range of the mechanical claw body 1. In other embodiments, other materials may be used for the upright 2, and the upright 2 may be fixed on other base structures.

In the embodiment, the movable shafts of the vertical column 2 and the first mechanical arm 3 can use 65mm shaft heads, and 32013 tapered roller bearings are installed, so that multi-directional stress safety is ensured. In other embodiments, other types of stub shafts may be used, with other types of bearings installed.

The first mechanical arm 3 and the second mechanical arm 4 in the embodiment can be made of DN65 welded pipes, the trapezoid first mechanical arm 3 is only used for parallel circular motion, does not do lifting motion, has the length of 3 meters, has the longer bottom edge height of 60cm and the shorter bottom edge of 40cm. The above values are merely illustrative, and are not to be construed as limiting the present embodiment.

The model of the lifting cylinder in the embodiment can be QGB100x1200mm, the stroke is 1200mm, an auxiliary lifting cylinder is additionally arranged to increase the movable range, the total lifting stroke can be 1.7 meters from the ground, and the height requirements for classifying and placing cloth are met.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a fixed mechanical tongs, including gripper body (1), gripper body (1) can grasp the material of putting, a serial communication port, still include stand (2), stand (2) are rotated with the one end of first arm (3) and are connected, first arm (3) use stand (2) to rotate as the rotation axis, the other end of first arm (3) is rotated with the one end of second arm (4) and is connected, the other end of second arm (4) is connected with the one end of elevating system (5), the other end and the gripper body (1) of elevating system (5) are connected, the direction of elevation of elevating system (5) is parallel with the axial direction of stand (2).

2. A stationary mechanical gripper according to claim 1, characterized in that the first mechanical arm (3) is arranged perpendicular to the upright (2).

3. A stationary mechanical gripper according to claim 1 or 2, characterized in that the first mechanical arm (3) has a trapezoidal cross section in the axial direction of the upright (2); the longer bottom edge in the first mechanical arm (3) is rotationally connected with the upright post (2), and the shorter bottom edge in the first mechanical arm (3) is rotationally connected with the second mechanical arm (4).

4. A stationary mechanical gripper according to claim 1 or 2, characterized in that the axis of rotation of the second mechanical arm (4) is parallel to the axis of rotation of the first mechanical arm (3).

5. The stationary mechanical gripper of claim 4, characterized in that an angle is formed between the upper part of the second mechanical arm (4) and the upper part of the first mechanical arm (3), the angle being larger than 90 °.

6. The stationary mechanical gripper according to claim 5, characterized in that a support bar (41) is arranged below the second mechanical arm (4), and the support bar (41) supports the second mechanical arm (4) in an inclined manner.

7. A stationary mechanical gripper according to claim 1, characterized in that the lifting mechanism (5) and/or the gripper body (1) are connected to a control unit, which is able to control the lifting of the lifting mechanism (5) and/or the gripping of the gripper body (1).

8. A stationary mechanical gripper according to claim 7, characterized in that the lifting mechanism (5) is a lifting cylinder and/or the gripper body (1) is a pneumatic gripper and the control unit is a pneumatic hand valve.