CN206263973U - A kind of stirrup grabbing device - Google Patents
A kind of stirrup grabbing device Download PDFInfo
- Publication number
- CN206263973U CN206263973U CN201621276630.2U CN201621276630U CN206263973U CN 206263973 U CN206263973 U CN 206263973U CN 201621276630 U CN201621276630 U CN 201621276630U CN 206263973 U CN206263973 U CN 206263973U
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- CN
- China
- Prior art keywords
- stirrup
- fixed plate
- clamping cylinder
- grabbing device
- hole
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- 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.)
- Withdrawn - After Issue
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Abstract
The utility model is related to a kind of fixture, specifically disclose a kind of stirrup grabbing device, fixed plate including being connected to robot arm, and at least one clamping cylinder for being movably connected on fixed plate, the clamping cylinder can be around own rotation and for linear motion relative to fixed plate, and by the rotation and linear motion regulation self-position, to clamp the stirrup of different shape specification.The utility model passes through above-mentioned clamping cylinder, when the stirrup for carrying out different shape specification is gripped, only need to be by rotation cylinder in itself and mobile clamping cylinder is combined, you can the position of regulation clamping cylinder and clamping direction, it is at the optimal gripping position of above-mentioned stirrup.Gripping suitable for the stirrup of variously-shaped specification and pile up, improve stirrup piles up efficiency, reduces the labour intensity of workman.
Description
Technical field
The utility model is related to a kind of fixture, more particularly to a kind of stirrup grabbing device.
Background technology
With social progress, expanding economy, stirrup bender has been obtained for being widely applied, in order to avoid by reinforcing bar
Stirrup after bending hoop is machining is arbitrarily piled up, excessively in disorder, it will usually by collection apparatus or manually pile up stirrup
Neatly.With the continuous widespread development of National Industrial robot, stirrup is collected using robot, be greatly improved the work of workman
Efficiency and the labour intensity of reduction workman.
When collecting stirrup using robot at present, the jockey typically on robot arm, then by robot
And fixture clamping stirrup, stirrup is piled up to predeterminated position.But existing fixture is typically only capable to grip solid shape specification
Stirrup, it cannot meet different shape, the crawl of different size stirrup.
Utility model content
The purpose of this utility model is to provide a kind of stirrup grabbing device, to solve cannot meeting for existing fixture presence
Different shape, the problem of the crawl of different size stirrup.
It is that, up to this purpose, the utility model uses following technical scheme：
A kind of stirrup grabbing device, including the fixed plate of robot arm is connected to, and at least one is movably connected on
The clamping cylinder of fixed plate, the clamping cylinder can be around own rotation and for linear motion relative to fixed plate, and by institute
Rotation and linear motion regulation self-position are stated, to clamp the stirrup of different shape specification.
Preferably, be evenly distributed in the fixed plate offering at least one long shape hole, the clamping cylinder passes through
The long shape hole is installed in fixed plate, and can be for linear motion along the long shape hole.
Preferably, also including to be fixed on adjustable plate around the adjustable plate of own rotation, the clamping cylinder, the tune
Section plate is movably connected on fixed plate by the first bolt through the long shape hole, and can be for linear motion along the long shape hole.
Preferably, offering two arcuate sockets for setting relatively on the adjustable plate, first bolt is described in
Long shape hole and arcuate socket, adjustable plate is flexibly connected with fixed plate, and the adjustable plate is with the center of circle of the arcuate socket as the center of circle
Rotate.
Preferably, width of the diameter of first bolt less than the arcuate socket.
Preferably, being arranged with two shock structures between the adjustable plate and clamping cylinder.
Preferably, described shock structure one end is provided with the first screwed hole, the other end is provided with stud, is opened up on the adjustable plate
There is counter sink, and the first screwed hole is threadedly connected to through the counter sink by the second bolt, the clamping cylinder is provided with
The second screwed hole being threadedly coupled with stud.
Preferably, the clamping cylinder includes cylinder body, the gripping block being symmetricly set on the cylinder body and is fixed in
The clamping plate of the gripping block, two gripping blocks can drive clamping plate move toward one another or opposite motion simultaneously under action of gas source.
Preferably, the fixed plate is provided with some cable-through holes, the cable-through hole is evenly distributed in fixed plate.
Preferably, offer some fixing holes in the fixed plate, and by bolt through the fixing hole with it is described
Robot arm is fixedly connected.
The utility model passes through above-mentioned clamping cylinder, when the stirrup for carrying out different shape specification is gripped, only need to be by turning
Cylinder take offence in itself and mobile clamping cylinder is combined, you can the position of regulation clamping cylinder and clamping direction, be at
State the optimal gripping position of stirrup.Gripping suitable for the stirrup of variously-shaped specification and pile up, improve stirrup piles up effect
Rate, reduces the labour intensity of workman.
Brief description of the drawings
Fig. 1 is the fit structure schematic diagram between the utility model stirrup grabbing device and robot, hoop bender；
Fig. 2 is the structural representation of the utility model stirrup grabbing device；
Fig. 3 is the A-A of the utility model Fig. 2 to sectional view；
Fig. 4 is the B-B direction sectional view of the utility model Fig. 2；
Fig. 5 is the top view of the adjustable plate of the utility model stirrup grabbing device；
Fig. 6 is the front view of the shock structure of the utility model stirrup grabbing device；
Fig. 7 and Fig. 8 are the views that the utility model stirrup grabbing device captures different shape specification stirrup.
In figure：
1st, fixed plate；11st, long shape hole；12nd, cable-through hole；13rd, fixing hole；
2nd, clamping cylinder；21st, cylinder body；22nd, gripping block；23rd, clamping plate；24th, the second screwed hole；
3rd, adjustable plate；31st, arcuate socket；32nd, counter sink；
4th, the first bolt；
5th, shock structure；51st, the first screwed hole；52nd, stud；
6th, the second bolt；
10th, stirrup grabbing device；20th, robot；30th, hoop bender；40th, stirrup；50th, cutting mechanism.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
The utility model provides a kind of stirrup grabbing device 10, as shown in figure 1, the stirrup grabbing device 10 is connected to stirrup
Capture at the arm of robot 20, reinforcing bar can drive stirrup to grab after stirrup 40 is processed into through hoop bender 30 by robot 20
The gripping stirrup 40 of device 10 is taken, and stirrup 40 is piled up to predeterminated position.
Specifically, can refer to Fig. 2 and Fig. 3, the stirrup grabbing device 10 include fixed plate 1, at least one clamping cylinder 2,
Adjustable plate 3 and shock structure 5, wherein：
Above-mentioned fixed plate 1 is circular configuration (shown in Fig. 2), wherein circumferentially arranged with some fixing holes 13 at heart position,
Above-mentioned fixing hole 13 is passed through by bolt, fixed plate 1 can be fixedly connected with the arm of robot 20.
In center position circumferentially arranged with some cable-through holes 12, the specific cable-through hole 12 is located at solid above-mentioned fixed plate 1
Determine at the position between hole 13 and the center of fixed plate 1, by setting above-mentioned cable-through hole 12, the line that clamping cylinder 2 can be connected
Cable is passed, to connect electric-control system (not shown).
It is evenly distributed in fixed plate 1 and offers at least one long shape hole 11, for installs above-mentioned at least one clamping
Cylinder 2, in the present embodiment, each long shape hole 11 correspondence is set with a clamping cylinder 2.Preferably, above-mentioned long shape hole 11 is provided with
Four, and square be opened in fixed plate 1.It is understood that the number and combined shaped of above-mentioned long shape hole 11 can
To be arranged as required to, four and foursquare combined shaped are not limited only to.
It can also be appreciated that the shape of above-mentioned fixed plate 1 is not limited only to circular, or square, rectangle etc.
Other shapes.
In the present embodiment, clamping cylinder 2 can be around own rotation and for linear motion relative to fixed plate 1, wherein relatively
It is for linear motion in fixed plate 1 to refer to：Clamping cylinder 2 can be for linear motion along above-mentioned long shape hole 11.By around own rotation and
The position of linear motion regulation clamping cylinder 2, and then can adjust at clamping cylinder 2 to the optimal gripping position of stirrup 40, with
Preferably clamp the stirrup 40 of different shape specification.
Can refer to Fig. 3 and Fig. 4, above-mentioned clamping cylinder 2 include cylinder body 21, the gripping block 22 being symmetricly set on cylinder body 21 with
And be fixed in the clamping plate 23 of gripping block 22, two gripping blocks 22 can be driven under action of gas source clamping plate 23 simultaneously move toward one another to press from both sides
Lock ring muscle 40 or opposite motion are realized to the gripping of stirrup 40 and piled up to unclamp stirrup 40.
Reference picture 2-5, above-mentioned adjustable plate 3 is provided with least one, and two are set in the present embodiment, on adjustable plate 3
Two arcuate sockets 31 for setting relatively are offered, the center of circle of two arcuate sockets 31 overlaps.The length is passed through by the first bolt 4
Type hole 11 and arcuate socket 31, and above-mentioned adjustable plate 3 can be flexibly connected with fixed plate 1 by nut so that the energy of adjustable plate 3
It is enough for linear motion in long shape hole 11, and can be rotated by the center of circle of the center of circle of arcuate socket 31.Above-mentioned clamping cylinder 2 is affixed
Below adjustable plate 3, and then by the linear motion of adjustable plate 3, clamping cylinder 2 can be driven for linear motion；By regulation
The rotation of plate 3, enables to the clamping direction of two gripping blocks 22 of clamping cylinder 2 to change, in order to be adapted to not similar shape
The gripping of for example inclined stirrup 40 of shape is piled up.
In the present embodiment, the width of the diameter less than arcuate socket 31 of above-mentioned first bolt 4, and then ensure that arcuate socket 31
Relative can be slided between the first bolt 4 so that adjustable plate 3, can be with arcuate socket in the case where being supported by the first bolt 4
31 center of circle rotates for the center of circle.
As preferred technical scheme, Fig. 3 and Fig. 4 is can refer to, the present embodiment is right between adjustable plate 3 and clamping cylinder 2
Title is provided with two shock structures 5, by the cushioning effect of shock structure 5, vibrations can be avoided to capture stirrup of the present utility model and filled
Put 10 and robot 20 damage.
As shown in fig. 6, the one end of above-mentioned shock structure 5 is provided with the first screwed hole 51, the other end is provided with stud 52, in adjustable plate 3
On offer counter sink 32 (shown in Fig. 3), the first screwed hole 51 is threadedly connected to through counter sink 32 by the second bolt 6, will
Shock structure 5 is fixedly connected with above-mentioned adjustable plate 3；The second screwed hole 24, the stud of above-mentioned shock structure 5 are provided with clamping cylinder 2
52 are threadedly connected to the second screwed hole 24, and clamping cylinder 2 is fixedly connected on into shock structure 5.
In the present embodiment, the material of above-mentioned shock structure 5 can be rubber, or the structure with spring, as long as can play
Cushioning effect.
Above-mentioned stirrup grabbing device 10 when in use, passes through fixing hole 13, by stirrup grabbing device 10 by bolt first
Fixed plate 1 be connected with robot 20 arm, then the stirrup 40 according to different shape specification, adjusts the position (tool of adjustable plate 3
Body regulative mode has been illustrated), when larger stirrup 40 is collected, can be two adjustable plates 3 respectively to the upper end and a left side of stirrup 40
End movement, moves, to the lower end of stirrup 40 and right-hand member when smaller stirrup 40 is collected so that the gripping block 22 of clamping cylinder 2 can
With two sides of stronger clamping stirrup 40.As shown in Fig. 7 or Fig. 8, two sides that can also be captured according to stirrup 40
Angle is different, rotates adjustable plate 3, the gripping block 22 of clamping cylinder 2 is more easily gripped stirrup 40.
In the production process of stirrup 40, after bar bending shaping, before treating that cutting mechanism 50 is sheared, by Manipulation of the machine people
20 make two sides of stirrup 40 be located at respectively between two groups of gripping blocks 22 of clamping cylinder 2, work of the gripping block 22 in clamping cylinder 2
With lower clamping stirrup 40；Then cutting mechanism 50 cuts off reinforcing bar, and in cutting-off process, the vibrations that stirrup 40 is produced pass through shock structure 5
Cushioning effect avoid producing destruction to stirrup grabbing device 10 and robot 20；After cut-out is finished, robot 20 is shaping
Stirrup 40 is piled up in specified location, and clamping cylinder 2 drives gripping block 22 to unclamp, and robot 20 returns to initial position, then carries out
Circulate next time.
Obviously, above-described embodiment of the present utility model is used for the purpose of clearly explanation the utility model example, and
It is not the restriction to implementation method of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all of implementation method
It is exhaustive.All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in
Within the utility model scope of the claims.
Claims (10)
1. a kind of stirrup grabbing device, it is characterised in that the fixed plate (1) including being connected to robot (20) arm, Yi Jizhi
Few one clamping cylinder (2) for being movably connected on fixed plate (1), the clamping cylinder (2) can around own rotation and relative to
Fixed plate (1) is for linear motion, and by the rotation and linear motion regulation self-position, to clamp different shape specification
Stirrup (40).
2. stirrup grabbing device according to claim 1, it is characterised in that be evenly distributed out on the fixed plate (1)
At least one long shape hole (11) is provided with, the clamping cylinder (2) is installed in fixed plate (1) by the long shape hole (11), and
Can be for linear motion along the long shape hole (11).
3. stirrup grabbing device according to claim 2, it is characterised in that also including can be around the adjustable plate of own rotation
(3), the clamping cylinder (2) is fixed on adjustable plate (3), and the adjustable plate (3) is by the first bolt (4) through the elongated
Hole (11) is movably connected on fixed plate (1), and can be for linear motion along the long shape hole (11).
4. stirrup grabbing device according to claim 3, it is characterised in that offer two phases on the adjustable plate (3)
Pair and the arcuate socket (31) that sets, first bolt (4) through the long shape hole (11) and arcuate socket (31), by adjustable plate
(3) it is flexibly connected with fixed plate (1), the adjustable plate (3) rotates by the center of circle of the center of circle of the arcuate socket (31).
5. stirrup grabbing device according to claim 4, it is characterised in that the diameter of first bolt (4) is less than institute
State the width of arcuate socket (31).
6. according to any described stirrup grabbing devices of claim 3-5, it is characterised in that the adjustable plate (3) and clamping gas
Two shock structures (5) are arranged between cylinder (2).
7. stirrup grabbing device according to claim 6, it is characterised in that described shock structure (5) one end is provided with the first spiral shell
Pit (51), the other end is provided with stud (52), and counter sink (32) is offered on the adjustable plate (3), and by the second bolt (6)
The first screwed hole (51) is threadedly connected to through the counter sink (32), the clamping cylinder (2) is provided with and stud (52) spiral shell
Second screwed hole (24) of line connection.
8. stirrup grabbing device according to claim 1, it is characterised in that the clamping cylinder (2) including cylinder body (21),
The gripping block (22) being symmetricly set on the cylinder body (21) and the clamping plate (23) for being fixed in the gripping block (22), two folders
Clamping plate (23) can be driven under action of gas source for tight block (22) while move toward one another or opposite motion.
9. stirrup grabbing device according to claim 1, it is characterised in that the fixed plate (1) is provided with some crosses lines
Hole (12), the cable-through hole (12) is evenly distributed in fixed plate (1).
10. stirrup grabbing device according to claim 1, it is characterised in that the fixed plate (1) if on offer it is solid
Determine hole (13), and be fixedly connected with the robot (20) arm through the fixing hole (13) by bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276630.2U CN206263973U (en) | 2016-11-22 | 2016-11-22 | A kind of stirrup grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276630.2U CN206263973U (en) | 2016-11-22 | 2016-11-22 | A kind of stirrup grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263973U true CN206263973U (en) | 2017-06-20 |
Family
ID=59042933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621276630.2U Withdrawn - After Issue CN206263973U (en) | 2016-11-22 | 2016-11-22 | A kind of stirrup grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263973U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426235A (en) * | 2016-11-22 | 2017-02-22 | 建科机械（天津）股份有限公司 | Robot fixture for grabbing hooping bar |
-
2016
- 2016-11-22 CN CN201621276630.2U patent/CN206263973U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426235A (en) * | 2016-11-22 | 2017-02-22 | 建科机械（天津）股份有限公司 | Robot fixture for grabbing hooping bar |
| CN106426235B (en) * | 2016-11-22 | 2019-02-22 | 建科机械（天津）股份有限公司 | A kind of stirrup crawl robot clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170620 Effective date of abandoning: 20190222 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170620 Effective date of abandoning: 20190222 |