Multi-specification type angle steel grabbing mechanism

Abstract

The utility model discloses a can realize multi -specification model angle steel grabbing mechanism, especially in the technical field of automation production, including support seat, wherein, the center part of support seat surface is installed with the connecting shaft that is connected with robot, is used for driving mechanism to realize 360 degree rotation and is grabbed, the surface of support seat is provided with the jaw structure that carries out the grabbing of angle steel, and the adjustable positioning structure that carries out Z direction positioning to the surface of angle steel is provided to support seat bottom. The utility model can carry out the grabbing operation to different specifications angle steel, and can adjust the positioning groove width according to the specification of angle steel, realize the accurate positioning of angle steel in Z direction, ensure the position stability in the process of grabbing and transfer, make the applicability of mechanism improve greatly, satisfy the efficient production demand of automation production line.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology, and more specifically, to a mechanism for gripping angle steel of multiple specifications and models. Background Technology

[0002] In the industrial production sector, especially in industries involving the processing and manufacturing of angle steel, such as tower crane standard section production lines, the gripping and handling of angle steel is a key link in the production process. As the manufacturing industry moves towards automation and efficiency, the demand for mechanisms that can accurately and quickly grip angle steel of different specifications and models is becoming increasingly urgent.

[0003] A search revealed that Chinese patent CN211282923U discloses a gripping device for an angle steel stacking machine. This structure has the lead screw guide rails tilted on the column and crossbeam, which reduces the maximum absolute value of the speed and acceleration of the two sliders on the lead screw guide rails on both sides, thereby reducing mechanical impact and vibration and improving the stability of the gripping device.

[0004] However, in actual use, this structure reduces mechanical impact and vibration and improves operational stability by tilting the lead screw guide rail on the column and crossbeam. However, it is mainly designed for stacking angle steel of specific specifications. The gripper structure and positioning method lack the ability to adaptively adjust to angle steel of multiple specifications and models, resulting in a limited range of applications. Therefore, this utility model proposes a gripping mechanism that can grasp angle steel of multiple specifications and models. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a multi-specification angle steel gripping mechanism to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-specification angle steel gripping mechanism, including a support base, a connecting shaft connected to a robot is installed at the center of the surface of the support base for driving the mechanism to achieve 360° rotation gripping, a gripper structure for gripping angle steel is provided on the surface of the support base, and an adjustable positioning structure for Z-axis positioning of the angle steel surface is provided at the bottom of the support base. The number of gripper structures and adjustable positioning structures is set to two sets, which are symmetrically distributed with the connecting shaft as the center.

[0007] To facilitate the gripping of angle steel of various specifications, preferably, the gripper structure includes a stroke cylinder, which is fixedly installed on the top of the support base, and a concave seat is fixedly provided at the output end of the stroke cylinder. Two connecting rods are provided inside the concave seat, and a gripping claw is provided at one end of each connecting rod. A mounting base is fixedly installed on the outer wall of the support base. One end of each of the two connecting rods is hinged inside the concave seat, and one end of the gripping claw is hinged to the connecting rod. The lower middle part of the gripping claw is hinged inside the mounting base. The two connecting rods and the gripping claw are symmetrically distributed with the middle of the concave seat as the center.

[0008] To facilitate Z-axis positioning of angle steels of different specifications and improve their application range, preferably, the adjustable positioning structure includes a guide rail, which is fixedly installed on one side of the bottom of the support base. A bidirectional threaded screw is installed inside the guide rail, and two moving blocks are provided on the outside of the bidirectional threaded screw. Two symmetrically arranged positioning blocks are provided at the bottom of each of the two moving blocks, and a positioning groove that matches the surface structure of the angle steel is formed between the two positioning blocks. The bidirectional threaded screw is rotatably connected inside the guide rail, and an adjusting block is fixedly provided at one end of the bidirectional threaded screw. Both moving blocks are threadedly connected to the bidirectional threaded screw, and both positioning blocks are fixedly connected to the corresponding moving blocks.

[0009] The technical effects and advantages of this utility model are as follows:

[0010] 1. By setting an adjustable positioning structure, rotating the adjusting block can drive the bidirectional threaded screw to rotate within the guide rail, causing the two moving blocks to move relative to or away from each other along the guide rail. When the moving blocks move, they drive the positioning blocks to move synchronously. This allows the width of the positioning groove to be flexibly adjusted according to the size of different specifications of angle steel, ensuring a precise fit with the surface of the angle steel. This ensures accurate positioning of the angle steel in the Z direction during the gripping process, effectively avoiding problems such as shaking and offset of the angle steel during gripping and transfer caused by inaccurate positioning. This greatly improves the stability and accuracy of gripping, thereby improving the reliability of the entire production process and the processing precision of the products. It also enhances the adaptability of the mechanism to various specifications of angle steel and expands its application range.

[0011] 2. By setting up a gripper structure and using a stroke cylinder to drive the concave seat, the connecting rod and gripper move, achieving synchronous and symmetrical opening and closing of the gripper, which can stably grip angle steel of different specifications. Moreover, during gripping, the gripping force can be adjusted by controlling the extension and retraction of the stroke cylinder according to the size and shape of the angle steel. This ensures a firm grip without damaging the angle steel due to excessive gripping force, thus meeting the needs of efficient production in automated production lines. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0013] Figure 2 This is a schematic diagram of the internal structure of the guide rail of this utility model.

[0014] Figure 3 This is a three-dimensional view of the adjustable positioning structure of this utility model.

[0015] Figure 4 This is a perspective view of the gripper structure of this utility model.

[0016] Figure 5 This is a structural diagram of the present invention when gripping angle steel.

[0017] The attached figures are labeled as follows: 1. Support base; 2. Connecting shaft; 3. Stroke cylinder; 4. Concave seat; 5. Connecting rod; 6. Clamping claw; 7. Mounting base; 8. Guide rail; 9. Double-ended threaded screw; 10. Moving block; 11. Positioning block; 12. Positioning groove; 13. Adjusting block. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] As attached Figure 1-5 The illustrated angle steel gripping mechanism includes a support base 1. A connecting shaft 2, which is connected to a robot, is installed at the center of the surface of the support base 1 to drive the mechanism to achieve 360° rotation gripping. The surface of the support base 1 is provided with a gripper structure for gripping the angle steel. The bottom of the support base 1 is provided with an adjustable positioning structure for Z-axis positioning of the angle steel surface. The number of gripper structures and adjustable positioning structures is set to two sets, which are symmetrically distributed with the connecting shaft 2 as the center.

[0020] Specifically, in this structure, the connecting shaft 2 is installed at the center of the surface of the support base 1 and connected to the robot. The robot provides power to the connecting shaft 2, driving the connecting shaft 2 to rotate the entire gripping mechanism 360°, thereby flexibly adjusting the gripping angle and being able to grip angle steel from different directions, adapting to complex working environments and diverse production process requirements. The robot is an automated production line robot, which is an existing product and will not be described in detail.

[0021] The support base 1 has two sets of symmetrically distributed gripper structures on its surface for gripping the angle steel, while two adjustable positioning structures are used for Z-axis positioning of the angle steel surface.

[0022] The structure of this application will be explained in detail below:

[0023] In this embodiment, as shown in the appendix Figure 1 , 4 As shown in Figure 5, the gripper structure includes a stroke cylinder 3, which is fixedly installed on the top of the support base 1. A concave seat 4 is fixedly provided at the output end of the stroke cylinder 3. Two connecting rods 5 are provided inside the concave seat 4. A gripper 6 is provided at one end of each of the two connecting rods 5. An mounting base 7 is fixedly installed on the outer wall of the support base 1. One end of each of the two connecting rods 5 is hinged inside the concave seat 4. One end of the gripper 6 is hinged to the connecting rod 5, and the lower middle part of the gripper 6 is hinged inside the mounting base 7. The two connecting rods 5 and the gripper 6 are symmetrically distributed with the middle part of the concave seat 4 as the center.

[0024] Specifically, in this structure, the stroke cylinder 3 is fixed to the top of the support base 1. When the stroke cylinder 3 is activated, its output end extends and retracts, driving the concave seat 4 to move. One end of the two connecting rods 5 inside the concave seat 4 is hinged to the concave seat 4. Driven by the concave seat 4, the connecting rods 5 will rotate around the hinge point. Since the two connecting rods 5 and the clamping claws 6 are symmetrically distributed around the center of the concave seat 4, the movement of the concave seat 4 will cause the two connecting rods 5 to move synchronously and symmetrically. The other end of the connecting rods 5 is connected to the clamping claws 6. The clamping claw 6 is hinged at the lower middle part inside the mounting base 7. When the connecting rod 5 rotates, it will push the clamping claw 6 to rotate around the hinge point on the mounting base 7. The two clamping claws 6 open and close synchronously and symmetrically under the push of the connecting rod 5. When it is necessary to grab the angle steel, the stroke cylinder 3 extends and pushes the concave seat 4, which in turn drives the connecting rod 5 to close the clamping claw 6 and firmly clamp the angle steel. When it is necessary to release the angle steel, the stroke cylinder 3 retracts and the clamping claw 6 opens under the drive of the connecting rod 5, thereby achieving the purpose of grabbing angle steel of various specifications and models.

[0025] In this embodiment, as shown in the appendix Figure 1 , 2 As shown in Figures 3 and 5, the adjustable positioning structure includes a guide rail 8, which is fixedly installed on one side of the bottom of the support base 1. A bidirectional threaded screw 9 is installed inside the guide rail 8. Two moving blocks 10 are provided on the outside of the bidirectional threaded screw 9. Two symmetrically arranged positioning blocks 11 are provided at the bottom of each of the two moving blocks 10. A positioning groove 12 that is adapted to the surface structure of the angle steel is formed between the two positioning blocks 11. The bidirectional threaded screw 9 is rotatably connected inside the guide rail 8. An adjusting block 13 is fixedly provided at one end of the bidirectional threaded screw 9. Both moving blocks 10 are threadedly connected to the bidirectional threaded screw 9. Both positioning blocks 11 are fixedly connected to the corresponding moving blocks 10.

[0026] Specifically, in this structure, by rotating the adjusting block 13, the bidirectional threaded screw 9 can be driven to rotate within the guide rail 8, so that the two moving blocks 10 will move relative to each other or in opposite directions along the guide rail 8. When the moving blocks 10 move, they drive the positioning block 11 to move synchronously, thereby changing the width of the positioning groove 12.

[0027] Since the positioning groove 12 formed between the two positioning blocks 11 is adapted to the surface structure of the angle steel, before gripping the angle steel, the width of the positioning groove 12 is adjusted by rotating the adjusting block 13 according to the specifications of the angle steel, so that the positioning groove 12 is precisely matched with the flange edge and other parts of the angle steel. During the gripping process, the positioning groove 12 is stuck on the surface of the angle steel to achieve positioning of the angle steel in the Z direction, ensuring the stability of the angle steel's position during gripping and transportation, and further improving the applicability of the mechanism.

[0028] Working principle of this utility model:

[0029] This application provides a multi-specification angle steel gripping mechanism. In actual use, the operator first rotates the adjusting block 13 according to the specifications of the angle steel to be gripped, which drives the bidirectional threaded screw 9 to rotate in the guide rail 8. The two moving blocks 10, which are threaded to the bidirectional threaded screw 9, move relative to each other or away from each other along the guide rail 8, thereby driving the bottom positioning block 11 to move synchronously, changing the width of the positioning groove 12 between the two positioning blocks 11, so that it can accurately match the flange edge and other parts of the angle steel, and complete the pre-adjustment of the Z-axis positioning structure.

[0030] The automated production line robot starts, providing power to the connecting shaft 2, which drives the connecting shaft 2 to rotate the entire gripping mechanism to the position of the angle steel. Subsequently, the stroke cylinder 3 starts, and its output end extends to push the concave seat 4. The concave seat 4 drives the two internally hinged connecting rods 5 to rotate around the hinge point. Due to the symmetrical distribution of the connecting rods 5 and the gripping claws 6, the two connecting rods 5 move synchronously and symmetrically. The connecting rods 5 push the gripping claws 6 to rotate around the hinge point on the mounting base 7, so that the two gripping claws 6 close synchronously and symmetrically, firmly clamping the angle steel.

[0031] While the gripper 6 clamps the angle steel, the positioning groove 12 at the bottom of the support base 1 is adjusted to lock onto the surface of the angle steel, thereby positioning the angle steel in the Z direction and ensuring the stability of the angle steel's position during gripping and subsequent transfer.

[0032] Driven by the robot, the gripping mechanism flexibly adjusts the angle by rotating the connecting shaft 2 360°, and transfers the gripped and positioned angle steel to the designated position. After reaching the designated position, the stroke cylinder 3 retracts, driving the concave seat 4 to move in the opposite direction. The concave seat 4 drives the connecting rod 5, causing the gripping claw 6 to open synchronously and symmetrically under the action of the connecting rod 5, and put down the angle steel, completing a complete angle steel gripping and transfer operation.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-specification model angle steel grabbing mechanism, comprising a support seat (1), characterized in that: The center of the surface of the support base (1) is equipped with a connecting shaft (2) connected to the robot, which is used to drive the mechanism to achieve 360° rotation gripping. The surface of the support base (1) is provided with a gripper structure for gripping the angle steel. The bottom of the support base (1) is provided with an adjustable positioning structure for Z-axis positioning of the angle steel surface. The adjustable positioning structure includes a guide rail (8), which is fixedly installed on one side of the bottom of the support base (1). A bidirectional threaded screw (9) is installed inside the guide rail (8). Two moving blocks (10) are provided on the outside of the bidirectional threaded screw (9). Two symmetrically arranged positioning blocks (11) are provided at the bottom of each of the two moving blocks (10). A positioning groove (12) that is adapted to the surface structure of the angle steel is formed between the two positioning blocks (11). The bidirectional threaded screw (9) is rotatably connected inside the guide rail (8), and an adjusting block (13) is fixedly provided at one end of the bidirectional threaded screw (9). Both moving blocks (10) are threadedly connected to the bidirectional threaded screw (9), and both positioning blocks (11) are fixedly connected to the corresponding moving blocks (10).

2. The angle steel gripping mechanism capable of handling multiple specifications and models according to claim 1, characterized in that: The gripper structure includes a stroke cylinder (3), which is fixedly installed on the top of the support base (1), and a concave seat (4) is fixedly provided at the output end of the stroke cylinder (3). Two connecting rods (5) are provided inside the concave seat (4), and a gripper (6) is provided at one end of each of the two connecting rods (5). An installation seat (7) is fixedly installed on the outer wall of the support base (1).

3. The multi-specification angle steel gripping mechanism according to claim 2, characterized in that: One end of each of the two connecting rods (5) is hinged inside the concave seat (4), one end of the clamping claw (6) is hinged to the connecting rod (5), and the lower middle part of the clamping claw (6) is hinged inside the mounting base (7). The two connecting rods (5) and the clamping claw (6) are symmetrically distributed with the middle part of the concave seat (4) as the center.

4. The multi-specification angle steel gripping mechanism according to claim 1, characterized in that: The number of gripper structures and adjustable positioning structures is set to two sets, which are symmetrically distributed with the connecting shaft (2) as the center.

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