CN113428643A - Automatic material taking and placing device for upright post pile bin - Google Patents
Automatic material taking and placing device for upright post pile bin Download PDFInfo
- Publication number
- CN113428643A CN113428643A CN202110822143.0A CN202110822143A CN113428643A CN 113428643 A CN113428643 A CN 113428643A CN 202110822143 A CN202110822143 A CN 202110822143A CN 113428643 A CN113428643 A CN 113428643A
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- CN
- China
- Prior art keywords
- connecting rod
- bottom plate
- clamping jaw
- clamping
- hinged
- 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.)
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Classifications
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- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/36—Devices for emptying from the top
- B65G65/38—Mechanical devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention relates to an automatic material taking and placing device for a stand column pile bin, which comprises a tool bottom plate, wherein two long vertical linear guide rails are laid on the tool bottom plate, a rodless cylinder with a vertical stroke is arranged between the two linear guide rails, each linear guide rail is in sliding fit with more than one first sliding block, the first sliding blocks support and fix a clamping jaw bottom plate, and a cylinder body of the rodless cylinder is fixedly connected with the clamping jaw bottom plate; the upper end of the clamping jaw bottom plate is fixedly provided with a clamping cylinder with a vertical stroke, a short linear guide rail which is vertical in the long direction is laid on the clamping jaw bottom plate below the clamping cylinder, the short linear guide rail is in sliding fit with a second sliding block, the upper end of the second sliding block is connected with a cylinder rod of the clamping cylinder, two sides of the lower end of the second sliding block are respectively hinged with the upper end of a first connecting rod, the lower end of the first connecting rod is hinged with the upper end of a second connecting rod, the lower end of the second connecting rod is hinged with a clamping finger, and the second connecting rod is further hinged with the lower end of the clamping jaw bottom plate; the inner side of the second connecting rod is also provided with a third connecting rod, the upper end of the third connecting rod is hinged with the lower end of the clamping jaw bottom plate, and the lower end of the third connecting rod is hinged with the clamping finger.
Description
Technical Field
The invention relates to automatic equipment, in particular to an automatic material taking and placing device for a stand column pile bin.
Background
In traditional gear or accurate flange course of working, gear flank of tooth etc. are forbidden to collide strictly, and the upright post stake feed bin shown in fig. 1 becomes a high-efficient stable work piece and stores the transportation mode, and the upright post diameter cooperation gear or flange hole, the stand interval use between adjacent work piece not bump and make things convenient for the manual work to get and put suitable, and single stand height generally is more than 400mm, according to the work piece thickness difference, can stack the work piece of different quantity from top to bottom. With the advance of automation, because traditional pneumatic clamping jaw can't install the clamp that the overlength indicates, must not get and put the work piece of stand lower part.
Disclosure of Invention
In order to solve the technical problem, the invention provides an automatic material taking and placing device for a stand column pile bin, which adopts the technical scheme that:
an automatic material taking and placing device for a vertical column pile bin comprises a tool bottom plate, wherein two linear guide rails vertical in the length direction are laid on the tool bottom plate, a rodless cylinder with a vertical stroke is arranged between the two linear guide rails, each linear guide rail is in sliding fit with more than one first sliding block, the first sliding blocks support and fix a clamping jaw bottom plate, and a cylinder body of the rodless cylinder is fixedly connected with the clamping jaw bottom plate; the clamping jaw mechanism is characterized in that a clamping cylinder with a vertical stroke is fixedly arranged at the upper end of the clamping jaw bottom plate, a short linear guide rail vertical in the longitudinal direction is laid on the clamping jaw bottom plate below the clamping cylinder, the short linear guide rail is in sliding fit with a second sliding block, the upper end of the second sliding block is connected with a cylinder rod of the clamping cylinder, two sides of the lower end of the second sliding block are respectively hinged with the upper end of a first connecting rod, the lower end of the first connecting rod is hinged with the upper end of a second connecting rod, the lower end of the second connecting rod is hinged with a clamping finger, and the second connecting rod is further hinged with the lower end of the clamping jaw bottom plate; and a third connecting rod is further arranged on the inner side of the second connecting rod, the upper end of the third connecting rod is hinged with the lower end of the clamping jaw bottom plate, and the lower end of the third connecting rod is hinged with the clamping finger.
Further, between the third connecting rod set firmly length on the clamping jaw bottom plate to vertical slide, slide sliding fit slide bar, the slide top the fixing base sets firmly on the clamping jaw bottom plate, sliding fit has the ejector pin of cap on the fixing base, the spring is established to the cover on the ejector pin, the one end of spring is supported on the cap of ejector pin, and the other end supports on the fixing base, the cap lower extreme of ejector pin supports the upper end of slide bar, install proximity switch on the fixing base.
Furthermore, the clamping fingers are in L-shaped mirror symmetry and comprise vertical plates and flat plates, and jaws corresponding to the outline shape of the workpiece are arranged on the inner sides of the flat plates.
Further, whenever the first link is angled less than 180 ° inboard of the second link.
Further, the distance between the upper hinge point and the lower hinge point of the third connecting rod is equal to the distance between the middle hinge point and the lower hinge point of the second connecting rod; the distance between the upper hinge point of the third connecting rod and the hinge point in the second connecting rod is equal to the distance between the hinge point in the second connecting rod and the lower hinge point of the third connecting rod.
Further, the distance between the upper hinge point of the third connecting rod and the middle hinge point of the second connecting rod and the distance between the middle hinge point of the second connecting rod and the lower hinge point of the third connecting rod are slightly larger than the sum of the widths of the third connecting rod and the second connecting rod.
Furthermore, a limit screw is fixedly arranged at the upper end of the sliding rod.
Compared with the prior art, the invention can realize the grabbing of the workpiece in a very small range by utilizing the parallelogram link mechanism, can be made very long and is convenient for taking and placing the workpiece at the lower part of the upright post pile bin.
Drawings
Fig. 1 is a schematic structural diagram of a storage bin of a stand column pile.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic view of the structure of the lower part of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in the figure, the automatic material taking and placing device for the upright post pile bin comprises a tool bottom plate 100, wherein two linear guide rails 101 vertical in the length direction are laid on the tool bottom plate 100, a rodless cylinder 103 with a vertical stroke is arranged between the two linear guide rails 101, each linear guide rail 101 is in sliding fit with 2 first sliding blocks 102, 4 first sliding blocks 102 support and fix a clamping jaw bottom plate 200, and a cylinder body of the rodless cylinder 103 is fixedly connected with the clamping jaw bottom plate 200; the upper end of the clamping jaw bottom plate 200 is fixedly provided with a clamping cylinder 201 with a vertical stroke, a short linear guide 202 with a vertical length direction is laid on the clamping jaw bottom plate 200 below the clamping cylinder 201, the short linear guide 202 is in sliding fit with a second slide block 203, the upper end of the second slide block 203 is connected with a cylinder rod of the clamping cylinder 201, two sides of the lower end of the second slide block 203 are respectively hinged with the upper end of a first connecting rod 204, the lower end of the first connecting rod 204 is hinged with the upper end of a second connecting rod 206, the lower end of the second connecting rod 206 is hinged with a clamping finger 205, and the second connecting rod 206 is also hinged with the lower end of the clamping jaw bottom plate 200; a third connecting rod 207 is further disposed inside the second connecting rod 206, the upper end of the third connecting rod 207 is hinged to the lower end of the clamping jaw base plate 200, and the lower end is hinged to the clamping finger 205.
Between the third connecting rod 207 the long vertical slide 208 that sets firmly on the clamping jaw bottom plate 200, slide 208 sliding fit slide bar 209, slide 208 top fixing base 210 sets firmly on the clamping jaw bottom plate 200, sliding fit has the ejector pin 211 of cap head on fixing base 210, spring 213 is established to the cover on the ejector pin 211, the one end of spring 213 supports on the cap head of ejector pin 211, the other end supports on the fixing base 210, the cap head lower extreme of ejector pin 211 supports the upper end of slide bar 209, installation proximity switch 212 on the fixing base 210. Therefore, only when the lower end of the sliding rod props up the workpiece to move upwards, the proximity switch can send a signal to control the clamping cylinder 201 to act to grab or put down the workpiece.
The clamping fingers 205 are in L-shaped mirror symmetry and comprise vertical plates 2051 and flat plates 2052, wherein the inner sides of the flat plates 2052 are provided with jaws 2053 corresponding to the outline shape of the workpiece 300.
Whenever the angle a between the inner sides of the first link 204 and the second link 206 is less than 180 °. The dead point of the connecting rod is avoided.
The distance between the upper and lower hinge points of the third connecting rod 207 is equal to the distance between the upper and lower hinge points of the second connecting rod 206; the distance between the upper hinge point of the third link 207 and the hinge point of the second link 206 is equal to the distance between the hinge point of the second link 206 and the lower hinge point of the third link 207. Therefore, a parallelogram link mechanism is formed, so that the long-distance stable transmission of the moment can be ensured, and the extremely short transverse displacement can be ensured. .
The upper end of the sliding rod 209 is fixedly provided with a limit screw 214. The descending height of the clamping jaw can be conveniently adjusted, the jaw 2053 does not need to be replaced when a plurality of workpieces with similar diameters but different thicknesses exist, and only a limit screw needs to be adjusted, so that two workpieces cannot be grabbed at one time.
The distance between the upper hinge point of the third link 207 and the middle hinge point of the second link 206 and the distance between the middle hinge point of the second link 206 and the lower hinge point of the third link 207 are slightly larger than the sum of the widths of the third link 207 and the second link 206. This accommodates the small gap between adjacent workpieces.
The invention is integrally divided into two parts, one part is a clamping jaw assembly which is used for clamping, taking and placing a workpiece; one part is a lifting assembly, the two parts are connected by a linear guide rail, the clamping jaw assembly can slide on the linear guide rail on the lifting assembly, and the sliding power is a rodless cylinder on the lifting assembly.
A clamping jaw assembly: the clamping cylinder drives the parallelogram mechanism through the sliding block and the connecting rod, and clamping of the workpiece is completed through clamping fingers connected to the parallelogram mechanism.
Depth limiting: a depth limiting device is arranged because the depth of the workpiece has an error; when the rodless cylinder drives the clamping jaw assembly to take a workpiece, the clamping jaw assembly continuously descends to guide the sliding rod to contact the upper plane of the workpiece and compress the spring until the limiting screw, and meanwhile, the proximity switch senses the induction screw, so that the clamping jaw assembly descends in place, and the workpiece can be clamped.
The operation flow is as follows: the robot looks for the stand position by modes such as camera shooting location, and after the robot carried the frock and moved to getting the material position, rodless cylinder drive clamping jaw assembly descended and got the material, and the slide bar on the degree of depth spacing contacts the work piece and compression spring to stop screw, and proximity switch senses the back, begins to carry out the centre gripping action, and after the centre gripping was accomplished, rodless cylinder drive clamping jaw assembly rose, was accomplished and is got a operation.
The foregoing is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; those skilled in the art can make many possible variations or modifications to the invention using the methods and techniques disclosed above, or to modify equivalent embodiments without departing from the scope of the invention. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention.
Claims (5)
1. The automatic material taking and placing device for the upright post pile bin is characterized by comprising a tooling bottom plate (100), wherein two linear guide rails (101) vertical in the length direction are laid on the tooling bottom plate (100), a rodless cylinder (103) with a vertical stroke is arranged between the two linear guide rails (101), each linear guide rail (101) is in sliding fit with more than one first sliding block (102), the first sliding block (102) supports and fixes a clamping jaw bottom plate (200), and a cylinder body of the rodless cylinder (103) is fixedly connected with the clamping jaw bottom plate (200); the upper end of the clamping jaw bottom plate (200) is fixedly provided with a clamping cylinder (201) with a vertical stroke, a short linear guide rail (202) with a vertical length direction is laid on the clamping jaw bottom plate (200) below the clamping cylinder (201), the short linear guide rail (202) is in sliding fit with a second sliding block (203), the upper end of the second sliding block (203) is connected with a cylinder rod of the clamping cylinder (201), two sides of the lower end of the second sliding block (203) are respectively hinged with the upper end of a first connecting rod (204), the lower end of the first connecting rod (204) is hinged with the upper end of a second connecting rod (206), the lower end of the second connecting rod (206) is hinged with a clamping finger (205), and the second connecting rod (206) is further hinged with the lower end of the clamping jaw bottom plate (200); a third connecting rod (207) is further arranged on the inner side of the second connecting rod (206), the upper end of the third connecting rod (207) is hinged with the lower end of the clamping jaw base plate (200), and the lower end of the third connecting rod is hinged with the clamping finger (205); the clamping fingers (205) are in L-shaped mirror symmetry and comprise vertical plates (2051) and flat plates (2052), wherein jaws (2053) corresponding to the outline shape of the workpiece (300) are formed on the inner sides of the flat plates (2052); whenever the first link (204) is angled less than 180 ° inboard (a) from the second link (206).
2. The automatic material taking and placing device for the stand column pile bin as claimed in claim 1, wherein a long vertical sliding seat (208) is fixedly arranged on the clamping jaw bottom plate (200) between the third connecting rods (207), the sliding seat (208) is in sliding fit with a sliding rod (209), a fixed seat (210) is fixedly arranged on the clamping jaw bottom plate (200) above the sliding seat (208), a top rod (211) with a cap head is in sliding fit on the fixed seat (210), a spring (213) is sleeved on the top rod (211), one end of the spring (213) abuts against the cap head of the top rod (211), the other end of the spring abuts against the fixed seat (210), the lower end of the cap head of the top rod (211) abuts against the upper end of the sliding rod (209), and a proximity switch (212) is mounted on the fixed seat (210).
3. The automatic picking and placing device for the stud silo according to claim 1, wherein the distance between the upper and lower hinge points of the third connecting rod (207) is equal to the distance between the upper and lower hinge points of the second connecting rod (206); the distance between the upper hinge point of the third connecting rod (207) and the hinge point in the second connecting rod (206) is equal to the distance between the hinge point in the second connecting rod (206) and the lower hinge point of the third connecting rod (207).
4. The automatic taking and placing device for the upright pile storage bin as claimed in claim 2, wherein a limit screw (214) is fixedly arranged at the upper end of the sliding rod (209).
5. The automatic picking and placing device for the stud silo according to claim 3, wherein the distance between the upper hinge point of the third connecting rod (207) and the middle hinge point of the second connecting rod (206), and the distance between the middle hinge point of the second connecting rod (206) and the lower hinge point of the third connecting rod (207) are slightly larger than the sum of the widths of the third connecting rod (207) and the second connecting rod (206).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822143.0A CN113428643B (en) | 2021-07-21 | 2021-07-21 | Automatic material taking and placing device for upright post pile bin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822143.0A CN113428643B (en) | 2021-07-21 | 2021-07-21 | Automatic material taking and placing device for upright post pile bin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113428643A true CN113428643A (en) | 2021-09-24 |
| CN113428643B CN113428643B (en) | 2022-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110822143.0A Active CN113428643B (en) | 2021-07-21 | 2021-07-21 | Automatic material taking and placing device for upright post pile bin |
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| Country | Link |
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| CN (1) | CN113428643B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH387541A (en) * | 1961-04-14 | 1965-01-31 | Us Industries Inc | Device for automatic manipulation of objects |
| TW545355U (en) * | 2001-07-18 | 2003-08-01 | Tzung-Li Li | Robotic arm with parallel four links |
| CN106078774A (en) * | 2016-06-30 | 2016-11-09 | 浙江博雷重型机床制造有限公司 | A kind of clamp device of good stability |
| CN207983383U (en) * | 2018-03-20 | 2018-10-19 | 广东通立工业自动化***有限公司 | A kind of mechanical hand lift clamping jaw |
| CN208623507U (en) * | 2018-08-24 | 2019-03-19 | 无锡进和技研科技有限公司 | A kind of stator screw assembling structure for motor stator assembly equipment |
| CN109648547A (en) * | 2018-12-25 | 2019-04-19 | 深圳市欧达斯科技有限公司 | A kind of Novel material grasping mechanism of the adjustable berth away from size |
| CN209319789U (en) * | 2018-12-24 | 2019-08-30 | 重庆世玛德智能制造有限公司 | A kind of adaptive different height crawl clamping jaw system |
| CN209599242U (en) * | 2018-12-25 | 2019-11-08 | 奇宓(上海)网络科技有限公司 | Milky tea cup catching robot |
| CN213264559U (en) * | 2020-09-02 | 2021-05-25 | 湖北润烨新能源有限公司 | Cylindrical lithium battery cell clamping device |
-
2021
- 2021-07-21 CN CN202110822143.0A patent/CN113428643B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH387541A (en) * | 1961-04-14 | 1965-01-31 | Us Industries Inc | Device for automatic manipulation of objects |
| TW545355U (en) * | 2001-07-18 | 2003-08-01 | Tzung-Li Li | Robotic arm with parallel four links |
| CN106078774A (en) * | 2016-06-30 | 2016-11-09 | 浙江博雷重型机床制造有限公司 | A kind of clamp device of good stability |
| CN207983383U (en) * | 2018-03-20 | 2018-10-19 | 广东通立工业自动化***有限公司 | A kind of mechanical hand lift clamping jaw |
| CN208623507U (en) * | 2018-08-24 | 2019-03-19 | 无锡进和技研科技有限公司 | A kind of stator screw assembling structure for motor stator assembly equipment |
| CN209319789U (en) * | 2018-12-24 | 2019-08-30 | 重庆世玛德智能制造有限公司 | A kind of adaptive different height crawl clamping jaw system |
| CN109648547A (en) * | 2018-12-25 | 2019-04-19 | 深圳市欧达斯科技有限公司 | A kind of Novel material grasping mechanism of the adjustable berth away from size |
| CN209599242U (en) * | 2018-12-25 | 2019-11-08 | 奇宓(上海)网络科技有限公司 | Milky tea cup catching robot |
| CN213264559U (en) * | 2020-09-02 | 2021-05-25 | 湖北润烨新能源有限公司 | Cylindrical lithium battery cell clamping device |
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| Publication number | Publication date |
|---|---|
| CN113428643B (en) | 2022-07-01 |
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