CN109515882A - A kind of clamping and mounting device for inner corner protector of steel reel - Google Patents
A kind of clamping and mounting device for inner corner protector of steel reel Download PDFInfo
- Publication number
- CN109515882A CN109515882A CN201811392751.7A CN201811392751A CN109515882A CN 109515882 A CN109515882 A CN 109515882A CN 201811392751 A CN201811392751 A CN 201811392751A CN 109515882 A CN109515882 A CN 109515882A
- Authority
- CN
- China
- Prior art keywords
- finger
- sliding block
- plate
- wedge block
- aluminum profile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/20—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents
- B65B61/22—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for adding cards, coupons or other inserts to package contents for placing protecting sheets, plugs, or wads over contents, e.g. cotton-wool in bottles of pills
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D59/00—Plugs, sleeves, caps, or like rigid or semi-rigid elements for protecting parts of articles or for bundling articles, e.g. protectors for screw-threads, end caps for tubes or for bundling rod-shaped articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
Abstract
The present invention discloses a kind of clamping for inner corner protector of steel reel and mounting device, belongs to Industrial Robot Technology field.Apparatus of the present invention include driving motor, motor mounting plate, shaft coupling, lead screw, feed screw nut, finger mountings support plate, U-shaped vertical plate, bearing block assembly, click-on mechanism, finger mountings, nut, wedge block push rod, the first spring assembly, second spring component, wedge block, the first sliding block, the second sliding block, pushing plate, the first gripping finger, the second gripping finger, claw cabinet and aluminum profile mounting rack.Its working principle is that: when driving motor rotation, power is successively passed to feed screw nut, finger mountings support plate and finger mountings by shaft coupling and lead screw, under the elastic force effect of the first and second spring assemblies on wedge block push rod, wedge block is driven posteriorly or anteriorly to move, and then drive the first and second gripping fingers to realize clamping and push function to inner corner protector of steel reel by dovetail slide bearing, it can be applied in the installation process of inner corner protector of steel reel.
Description
Technical field:
The invention belongs to Industrial Robot Technology fields, and in particular to a kind of clamping for inner corner protector of steel reel and installation fill
It sets, which can be realized the function that the inner protective corner after contraction is clamped and installed, and can be applied to the peace of inner corner protector of steel reel
Dress.
Background technique:
Inner corner protector of steel reel plays an important role during steel roll package process and transporting and hoisting.Existing steel
Volume inner protective corner installation relies primarily on the manual operations of worker, and installation process large labor intensity, installation effectiveness are low, and there is an urgent need to adopt
Realize that the automatic of inner corner protector of steel reel is packed with robot.The automatic packaging of inner corner protector of steel reel is realized using robot, is closed
Key is the design of robot end executing agency.Therefore, the present invention provides clamping and the mounting device of a kind of inner corner protector of steel reel, can
To effectively improve the efficiency of inner corner protector of steel reel installation, improve the labor intensity of worker.
Summary of the invention:
In view of the problems of the existing technology the present invention, provides a kind of clamping for inner corner protector of steel reel and mounting device,
The device can be realized the function that the inner protective corner after contraction is clamped and installed.Inner corner protector of steel reel clamping and installation of the present invention
Device includes drive transmission device, end effector mechanism and aluminum profile mounting rack.
The drive transmission device includes driving motor 1, motor mounting plate 2, shaft coupling 3, lead screw 4, feed screw nut 5, card
Pawl bracket support plate 6, U-shaped vertical plate 7, bearing block assembly 8.The driving motor 1 is fixed by bolts on motor mounting plate 2, is
It grabs the inner protective corner 23 and power is provided.There is mounting hole on the motor mounting plate 2, can be connected by bolt and robot body
It connects, the motor mounting plate 2 is fixed by bolts to the bottom end of U-shaped vertical plate 7, and the top of the U-shaped vertical plate 7 is fixed by bolts to aluminium
On profile mounting rack 22.The output shaft fixed connection of described 3 one end of shaft coupling and the driving motor 1, the other end of the shaft coupling 3
It is connected with the lead screw 4.The feed screw nut 5 couples with the lead screw 4 cooperation, and the finger mountings support plate 6 has for centre
The grand cross type structure of through-hole, the finger mountings support plate 6 are connected by the upper surface of screw and the feed screw nut.It is described
Bearing block assembly 8 is fixed by bolts on the U-shaped vertical plate 7, and the bearing block assembly 8 is used to support the lead screw 4.
The end effector mechanism includes the identical click-on mechanism 9 of four parameters of structural dimension, and the click-on mechanism 9 includes
Finger mountings 10, nut 11, wedge block push rod 12, the first spring assembly 13, second spring component 14, wedge block 15, first are sliding
Block 16, the second sliding block 17, pushing plate 18, the first gripping finger 19, the second gripping finger 20, claw cabinet 21.Four finger mountings 10
It is uniformly fixed on bolt on the cross template of the finger mountings support plate 6 respectively.There is spiral shell at 12 both ends of wedge block push rod
Line, one end of the wedge block push rod 12 and nut 11 are connected, and the other end and wedge block 15 of the wedge block push rod 12 are connected.
Through-hole is equipped among 10 upper surface of finger mountings, the wedge block push rod 12 passes through the first spring assembly 13, second spring
The through-hole of 10 upper surface of component 14 and finger mountings, first spring assembly 13 are arranged in inside the finger mountings 10, institute
It states second spring component 14 to be arranged in outside the finger mountings 10, the finger mountings 10 pass through the first spring assembly 13 of compression
Or second spring component 14, it provides the wedge block push rod 12 certain pulling force or thrust on demand, is 19 He of the first gripping finger
Second gripping finger 20 clamps inner protective corner 23 and provides certain clamping force, or pushes inner protective corner 23 for the pushing plate 18 and be bonded steel
Volume end face provides certain thrust.Dovetail guide is respectively equipped on the left and right sides inclined-plane of the wedge block 15, described first is sliding
The inclined-plane side of block 16 and the second sliding block 17 is respectively equipped with dovetail groove, the dovetail guide on 15 left and right sides inclined-plane of wedge block
It can be moved in the dovetail groove of the first sliding block 16 and the second sliding block 17.There are threaded hole, the pushing plate above the wedge block 15
18 are screwed above wedge block 15, are bonded steel coil end-face for pushing inner protective corner 23.First gripping finger 19 and described
The finger tip of second gripping finger 20 is the arc-shaped clamping plate in T font, and first gripping finger 19 is screwed in first sliding block
On 16, second gripping finger 20 is screwed on the second sliding block 17.The arc-shaped clamping plate of first gripping finger 19 is used to connect
23 lateral surface of inner protective corner is touched, second gripping finger 20 is used to contact 23 medial surface of inner protective corner.First sliding block 16
It is respectively equipped with rectangular guideway with the front and rear sides face of the second sliding block 17, it is recessed that 21 front and back sides of claw cabinet are respectively equipped with rectangle
Slot, first sliding block 16 and the second sliding block 17 can move left and right in the rectangular recess of 21 front and back sides of claw cabinet.
The 21 front and rear sides face of claw cabinet is respectively provided with four mounting holes, and the claw cabinet 21 is pacified by bolt and the aluminum profile
22 are shelved to be connected.
The aluminum profile mounting rack 22 includes two root long aluminum profiles, four short aluminum profiles, intersecting parallels connecting plate, aluminum profile angle
Connector.The aluminum profile mounting rack 22 arranges that adjacent aluminum profile spacing is equal in groined type.Four claw cabinets 21
Four ends of aluminum profile mounting rack 22 are uniformly fixed on bolt respectively, guarantee four structure sizes ginseng of end effector mechanism
The identical click-on mechanism 9 of number is distributed in the surrounding of aluminum profile mounting rack, realizes the function of synchronous clamping and installation inner protective corner 23.
Detailed description of the invention:
Fig. 1: for the structural schematic diagram of inner corner protector of steel reel of the present invention clamping and mounting device；
Fig. 2: for the structural schematic diagram of click-on mechanism in the present invention；
Fig. 3: for the structural schematic diagram of aluminum profile mounting rack in the present invention.
In figure: 1: driving motor；2: motor mounting plate；3: shaft coupling；4: lead screw；5: feed screw nut；6: finger mountings branch
Fagging；7:U type vertical plate；8: bearing block assembly；9: click-on mechanism；10: finger mountings；11: nut；12: wedge block push rod；13:
First spring assembly；14: second spring component；15: wedge block；16: the first sliding blocks；17: the second sliding blocks；18: pushing plate；19:
First gripping finger；20: the second gripping fingers；21: claw cabinet；22: aluminum profile mounting rack；23: inner protective corner.
Specific embodiment:
A kind of clamping and mounting device for inner corner protector of steel reel provided by the present invention, the device specific work process is such as
Under:
When the inner protective corner 23 needs to clamp, the driving motor 1, which is rotated forward, drives lead screw 4, the silk by shaft coupling 3
Thick stick 4 drives feed screw nut 5, and the feed screw nut 5 drives finger mountings support plate 6 mobile, and the finger mountings support plate 6 drives
Finger mountings 10 move backward, and it is described that the finger mountings 10, which drive the first spring assembly 13 to shrink a certain distance on demand,
Wedge shaped ejector pin 12 moves backward provides certain pulling force, and first spring assembly 13 drives the wedge block push rod 12, described
Wedge block 15 moves backward, and the wedge block 15 drives the first sliding block 16, the second sliding block 17 sliding toward movement at center, described first
Block 16, second sliding block 17 drive the first gripping finger 19, the second gripping finger 20 to complete the function of clamping inner protective corner 23 respectively.
When the inner protective corner 23 needs to be mounted on coil of strip, apparatus of the present invention are directed at by quilt by robot body first
Coil of strip inner hole is installed, at this point, the reversion of the driving motor 1 drives lead screw 4, the lead screw 4 to drive feed screw nut by shaft coupling 3
5, the feed screw nut 5 drives finger mountings support plate 6 mobile, and the finger mountings support plate 6 drives finger mountings 10 forward
Mobile, the finger mountings 10 drive second spring component 14 to shrink a certain distance on demand, forward for the wedge shaped ejector pin 12
Movement provides certain thrust, and the second spring component 14 drives the wedge block push rod 12, the wedge block 15 to transport forward
Dynamic, the wedge block 15 drives the first sliding block 16, the second sliding block 17 mobile at center, and the wedge block 15 drives described push away
Plate 18 is sent to move forward the end face for pushing 23 end face of the inner protective corner fitting coil of strip；Meanwhile first sliding block 16, described second
Sliding block 17 drives the first gripping finger 19, the second gripping finger 20 to be displaced outwardly release inner protective corner 23 respectively, and the inner protective corner 23 itself is being answered
It is expanded outwardly in coil of strip inner hole under power effect, to realize that the clamping of inner protective corner 23 is unclamped and push installation function simultaneously.
Claims (1)
1. a kind of clamping and mounting device for inner corner protector of steel reel, it is characterised in that the device includes drive transmission device, end
Hold executing agency and aluminum profile mounting rack (22)；The drive transmission device includes driving motor (1), motor mounting plate (2), connection
Axis device (3), lead screw (4), feed screw nut (5), finger mountings support plate (6), U-shaped vertical plate (7) and bearing block assembly (8), it is described
Driving motor (1) is fixed by bolts on the motor mounting plate (2), and the motor mounting plate (2) is equipped with mounting hole, described
Mounting hole is used to connect by bolt with robot body, and the motor mounting plate (2) is fixed by bolts to the U-shaped vertical plate
(7) top of bottom end, the U-shaped vertical plate (7) is fixed by bolts on the aluminum profile mounting rack (22), the shaft coupling
(3) output shaft fixed connection of one end and the driving motor (1), the other end of the shaft coupling (3) and the lead screw (4) are solid
Even, the feed screw nut (5) and the lead screw (4) are cooperatively connected, and the finger mountings support plate (6) is that centre has the big of through-hole
Cross-shaped configuration, the finger mountings support plate (6) are connected by the upper surface of screw and the feed screw nut (5), the axis
It holds holder assembly (8) to be fixed by bolts on the U-shaped vertical plate (7), the bearing block assembly (8) is used to support the lead screw (4)；
The end effector mechanism includes the identical click-on mechanism (9) of four parameters of structural dimension, and the click-on mechanism (9) includes claw
Bracket (10), nut (11), wedge block push rod (12), the first spring assembly (13), second spring component (14), wedge block
(15), the first sliding block (16), the second sliding block (17), pushing plate (18), the first gripping finger (19), the second gripping finger (20) and claw cabinet
(21), four finger mountings (10) are uniformly fixed on the cross template of the finger mountings support plate (6) with bolt respectively
On, wedge block push rod (12) both ends are equipped with screw thread, and one end and the nut (11) of the wedge block push rod (12) are connected,
The other end of the wedge block push rod (12) and the wedge block (15) are connected, and are equipped among finger mountings (10) upper surface
Through-hole, the wedge block push rod (12) pass through first spring assembly (13), second spring component (14) and the claw branch
The through-hole of frame (10) upper surface, first spring assembly (13) setting is in the inside of the finger mountings (10), and described second
Spring assembly (14) is arranged in the outside of the finger mountings (10)；It is set respectively on the left and right sides inclined-plane of the wedge block (15)
There is a dovetail guide, the inclined-plane side of first sliding block (16) and second sliding block (17) is respectively equipped with dovetail groove, the wedge
Dovetail guide at left and right sides of shape block (15) on inclined-plane can be in first sliding block (16) and the swallow of second sliding block (17)
It is moved in stern notch, threaded hole is equipped with above the wedge block (15), the pushing plate (18) is screwed in the wedge block
(15) top, the pushing plate (18) is for pushing inner protective corner (23) fitting steel coil end-face, first gripping finger (19) and described
The finger tip of second gripping finger (20) is the arc-shaped clamping plate in T font, and first gripping finger (19) is screwed described first
On sliding block (16), second gripping finger (20) is screwed on second sliding block (17), first gripping finger (19)
Arc-shaped clamping plate is used to contact the inner protective corner (23) lateral surface, and second gripping finger (20) is used to contact the inner protective corner (23)
The front and rear sides face of medial surface, first sliding block (16) and second sliding block (17) is respectively equipped with rectangular guideway, the card
Pawl cabinet (21) front and back sides are respectively equipped with rectangular recess, and first sliding block (16) and second sliding block (17) can be in institutes
It states and is moved left and right in the rectangular recess of claw cabinet (21) front and back sides, claw cabinet (21) the front and rear sides face is respectively provided with
Four mounting holes, the claw cabinet (21) are connected by bolt and the aluminum profile mounting rack (22)；The aluminum profile installation
Frame (22) includes two root long aluminum profiles, four short aluminum profiles, intersecting parallels connecting plate and aluminum profile angle connector；The aluminum profile peace
It shelves (22) to arrange in groined type, adjacent aluminum profile spacing is equal, and four claw cabinets (21) are uniform with bolt respectively
Four ends of the aluminum profile mounting rack (22) are fixed on, guarantee that four parameters of structural dimension of end effector mechanism are identical
The click-on mechanism (9) is distributed in the surrounding of the aluminum profile mounting rack (22), realizes synchronous clamping and installs the inner protective corner
(23) function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392751.7A CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811392751.7A CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109515882A true CN109515882A (en) | 2019-03-26 |
| CN109515882B CN109515882B (en) | 2020-07-31 |
Family
ID=65778143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811392751.7A Active CN109515882B (en) | 2018-11-21 | 2018-11-21 | Clamping and mounting device for inner protection angle of steel coil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109515882B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014444A (en) * | 2019-05-07 | 2019-07-16 | 安徽工业大学 | A kind of mechanical arm tail end clamping device installed automatically for inner corner protector of steel reel |
| CN111844107A (en) * | 2020-07-20 | 2020-10-30 | 锎量(宁夏)自动化科技有限公司 | Electric two-finger parallel electric claw |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202130707U (en) * | 2011-05-12 | 2012-02-01 | 洛阳新强联回转支承有限公司 | Deformation-preventing supporting device of slewing bearing |
| CN102658877A (en) * | 2012-05-24 | 2012-09-12 | 浙江中烟工业有限责任公司 | Packaging machine capable of automatically adding corner protectors |
| CN104300748A (en) * | 2014-07-18 | 2015-01-21 | 常州金康精工机械股份有限公司 | Drawing die coil inserting apparatus of motor stator iron core |
| CN205438538U (en) * | 2015-12-31 | 2016-08-10 | 东莞市德瑞精密设备有限公司 | Block of four rotary manipulator |
| CN205819724U (en) * | 2016-07-19 | 2016-12-21 | 中山市鑫光智能***有限公司 | Foam clamp device |
| CN206579938U (en) * | 2017-02-16 | 2017-10-24 | 上海共生自动化科技有限公司 | Clamping jaw carryover apparatus for lining paper lamination baling press |
| CN108529212A (en) * | 2018-03-27 | 2018-09-14 | 安徽芜湖新华印务有限责任公司 | A kind of folder classification grabbing device |
-
2018
- 2018-11-21 CN CN201811392751.7A patent/CN109515882B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202130707U (en) * | 2011-05-12 | 2012-02-01 | 洛阳新强联回转支承有限公司 | Deformation-preventing supporting device of slewing bearing |
| CN102658877A (en) * | 2012-05-24 | 2012-09-12 | 浙江中烟工业有限责任公司 | Packaging machine capable of automatically adding corner protectors |
| CN104300748A (en) * | 2014-07-18 | 2015-01-21 | 常州金康精工机械股份有限公司 | Drawing die coil inserting apparatus of motor stator iron core |
| CN205438538U (en) * | 2015-12-31 | 2016-08-10 | 东莞市德瑞精密设备有限公司 | Block of four rotary manipulator |
| CN205819724U (en) * | 2016-07-19 | 2016-12-21 | 中山市鑫光智能***有限公司 | Foam clamp device |
| CN206579938U (en) * | 2017-02-16 | 2017-10-24 | 上海共生自动化科技有限公司 | Clamping jaw carryover apparatus for lining paper lamination baling press |
| CN108529212A (en) * | 2018-03-27 | 2018-09-14 | 安徽芜湖新华印务有限责任公司 | A kind of folder classification grabbing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014444A (en) * | 2019-05-07 | 2019-07-16 | 安徽工业大学 | A kind of mechanical arm tail end clamping device installed automatically for inner corner protector of steel reel |
| CN111844107A (en) * | 2020-07-20 | 2020-10-30 | 锎量(宁夏)自动化科技有限公司 | Electric two-finger parallel electric claw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109515882B (en) | 2020-07-31 |
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