A billet grabbing device based on robot

Abstract

The present invention provides a square billet grabbing device based on a robot, comprising: a structural plate, two symmetrically arranged clamping assemblies and a driving assembly; the clamping assembly comprises a clamping arm and a clamping portion; the two clamping arms of the two clamping assemblies are symmetrically fixed on the structural plate; the clamping assembly comprises an angle plate, a track assembly, a slider, and a driving rod; the angle plate is obliquely fixed on the clamping arm; the track assembly is fixed on the angle plate; the slider is slidably connected to the track assembly; one end of the driving rod is fixedly connected to the slider and connected to the driving assembly. The advantages thereof are that the safety, accuracy and stability of each sampling of the robot are ensured, the level of on-site automation is improved, and the labor efficiency is improved; the grabbing device has a compact structure, which is convenient for on-site operators to load, unload and replace.

Description

Technical Field

[0001] The invention relates to the field of metal smelting, and in particular to a billet grabbing and wedge-type self-locking grabbing device. Background Art

[0002] At present, in the rolling process of the domestic steel industry, the sampling of billets on site is mainly done manually. The on-site ambient temperature is high, the equipment is cross-operated, and the lengths of the billets are different. When sampling is required, manual use of the lever principle to grab, carry, and stack is dangerous and labor-intensive. At the same time, clamping requires greater power and structural space. Summary of the invention

[0003] The invention provides a robot-based billet grabbing device, which can realize the grabbing and sampling of billets, especially in the steel rolling process; improve the safety, accuracy and stability of grabbing, improve the level of automated production on site, and reduce the labor intensity of workers; solve the current technical problems of low safety and stability of billet sampling, and expand the application scope of robots; so as to overcome the defects of the prior art.

[0004] The present invention provides a square billet grasping device based on a robot, comprising: a structural plate 5, two symmetrically arranged clamping assemblies and a driving assembly; the clamping assembly comprises a clamping arm 8 and a clamping portion; the two clamping arms 8 of the two clamping assemblies are symmetrically fixed on the structural plate 5; the clamping assembly comprises an angle plate 13, a track assembly, a slider 15, and a driving rod 17; the angle plate 13 is obliquely fixed on the clamping arm 8; the track assembly is fixed on the angle plate 13; the slider 15 is slidably connected to the track assembly; one end of the driving rod 17 is fixedly connected to the slider 15, and the other end is connected to the driving assembly.

[0005] Furthermore, the present invention provides a robot-based billet grasping device, which may also have the following characteristics: a driving assembly includes a connecting partition 10, a driver 9 and a driving plate 11; both ends of the connecting partition 10 are fixed on two clamping arms 8 and are parallel to the structural plate 5; the fixed end of the driver 9 is fixed on the connecting partition 10; the driving plate 11 is fixed on the telescopic end of the driver 9; both ends of the driving plate 11 have U-shaped holes or oblong holes 11a; the circumference of the driving rod 17 has a circumferential groove 17a; the size of the circumferential groove 17a matches the size of the U-shaped hole or oblong hole 11a; the circumference of the circumferential groove 17a of the driving rod 17 is embedded in the U-shaped hole or oblong hole 11a of the driving plate 11.

[0006] Furthermore, the present invention provides a robot-based billet grabbing device, which may also have the following features: it also includes a heat insulation board 12 ; the heat insulation board 12 is fixed on the driving board 11 .

[0007] Furthermore, the present invention provides a robot-based billet gripping device, which may also have the following characteristics: the clamping arm 8 includes two clamping plates 8a; the two clamping plates 8a are symmetrically arranged and fixed on the structural plate 5; and the two sides of the angle plate 13 are respectively fixed on the two clamping plates 8a.

[0008] Furthermore, the present invention provides a robot-based billet grasping device, which may also have the following characteristics: the track assembly includes a track connecting plate 18 and two circular tracks 19; the two circular tracks 19 are symmetrically fixed on both sides of the track connecting plate 18; the slider 15 is a U-shaped slider; the two inner side walls of the U-shaped slider are respectively fitted on the outer circles of the two circular tracks 19.

[0009] Furthermore, the present invention provides a robot-based billet gripping device, which may also have the following feature: the opposing surfaces of the two sliding blocks 15 are provided with anti-slip grooves.

[0010] Furthermore, the present invention provides a robot-based billet grabbing device, which may also have the following characteristics: the anti-slip pattern is fixed on the surface of the slider 15 using any one of serrated plates, right-angled corrugated plates, blunt-angled corrugated plates, and mesh plates, or the anti-slip pattern is directly machined on the surface of the slider 15.

[0011] Furthermore, the present invention provides a robot-based billet gripping device, which may also have the following feature: the inclination angle of the angle plate 13 to the horizontal plane is 79°-83°.

[0012] Furthermore, the present invention provides a square billet grasping device based on a robot, which may also have the following characteristics: it also includes an anti-collision component; the anti-collision component includes a connecting seat 1, two symmetrically arranged sliding components and an elastic member 4; the fixed ends of the two sliding components are fixedly connected to the connecting seat 1; the sliding ends of the two sliding components are fixedly connected to the structural plate 5; the elastic member 4 is arranged between the connecting seat 1 and the structural plate 5.

[0013] Furthermore, the present invention provides a square billet grasping device based on a robot, which may also have the following characteristics: the sliding assembly includes a sliding shaft 2, a linear bearing 3, a supporting sleeve 6 and a shaft stop 7; one end of the sliding shaft 2 is fixed on the connecting seat 1; the other end of the sliding shaft 2 passes through the linear bearing 3, the structural plate 5, and the supporting sleeve 6 in sequence, and is fixedly connected to the shaft stop 7; the linear bearing 3 is fixedly connected to the structural plate 5.

[0014] The present invention provides a square billet grabbing device based on a robot, which ensures the safety, accuracy and stability of the robot's sampling and material picking each time, improves the on-site automation level, and improves labor efficiency; the grabbing device has a compact structure, which is convenient for on-site operators to load, unload and replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 4 is a front view of a robot-based billet grabbing device in an embodiment.

[0016] Figure 2 It is a side half-section view of a robot-based billet grabbing device in an embodiment.

[0017] Figure 3 4 is a perspective view of a robot-based billet grabbing device in an embodiment.

[0018] Figure 4 It is a partial enlarged view of the connection position between the driving plate and the driving rod in the embodiment. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] Example

[0021] The robot-based billet grabbing device in this embodiment includes: an anti-collision component, a structural plate 5, two symmetrically arranged clamping components and a driving component.

[0022] The anti-collision component comprises: a connecting seat 1 , two symmetrically arranged sliding components and an elastic member 4 .

[0023] In this embodiment, a square billet grabbing device based on a robot has an anti-collision function. The entire grabbing device is installed on the six axes of the robot, and the connecting seat 1 is fixed to the flange of the six axes of the robot by bolts.

[0024] Each sliding assembly includes: a sliding shaft 2, a linear bearing 3, a support sleeve 6 and a shaft stop 7. The upper end of the sliding shaft 2, that is, the fixed end of the sliding assembly, is fixed to the connecting seat 1 by bolts. The lower end of the sliding shaft 2 passes through the linear bearing 3, the structural plate 5, and the support sleeve 6 in sequence, and is fixedly connected to the shaft stop 7. The linear bearing 3, as the sliding end of the sliding assembly, can slide smoothly on the sliding shaft 2; and the linear bearing 3 is fixedly connected to the structural plate 5 by bolts. In this embodiment, the elastic member 4 is a compression spring, which is arranged between the connecting seat 1 and the structural plate 5, and the two ends are respectively fixed to the connecting seat 1 and the structural plate 5. Of course, the compression spring can be replaced by other elastomers such as rubber.

[0025] Of course, the anti-collision component can use a connecting seat 1, a sliding component and two symmetrically arranged elastic members 4 to achieve the same function.

[0026] The two clamping assemblies both include: a clamping arm and a clamping portion. The clamping arm is composed of two symmetrically arranged clamping plates 8a, which are fixed to the front and rear sides of the structural plate 5 by bolts.

[0027] The two clamping assemblies include: an angle plate 13 , a track assembly, a slider 15 , a driving rod 17 and a track baffle 14 .

[0028] The two angle plates 13 are respectively fixed obliquely on the two clamping arms 8, and the two sides of each angle plate 13 are respectively fixed on the two clamping plates 8a of one clamping arm 8. Preferably, the inclination angle of the angle plate 13 to the horizontal plane is 79°-83°.

[0029] The track assembly is fixed on the angle plate 13. In this embodiment, the track assembly includes: a track connecting plate 18 and two circular tracks 19. The two circular tracks 19 are symmetrically fixed on both sides of the track connecting plate 18. The slider 15 is a U-shaped slider; the two inner side walls of the U-shaped slider are respectively fitted on the outer circles of the two circular tracks 19 to achieve a sliding connection between the slider 15 and the track assembly. Of course, the circular tracks 19 can be replaced by a number of ball bearings. The track baffle 14 is fixed on both sides of the U-shaped end face of the U-shaped slider 15. In this embodiment, an anti-slip serrated plate 20 is provided on the opposite surface of the slider 15. Of course, the serrated plate 20 can be replaced by other right-angled corrugated plates, obtuse-angled corrugated plates, mesh plates, etc., or sawtooth or mesh can be directly machined on the surface of the slider 15. The lower end of the drive rod 17 is fixedly connected to the slider 15 and connected to the drive assembly.

[0030] In this embodiment, the driving assembly includes: a connecting partition 10 , a driver 9 and a driving plate 11 .

[0031] The two sides of both ends of the connecting partition 10 are respectively fixed on the four clamping plates 8a of the two clamping arms 8, and are parallel to the structural plate 5. In this embodiment, the driver 9 adopts a cylinder, and the fixed end of the cylinder is fixed to the connecting partition 10 by bolts. The driving plate 11 is fixed on the telescopic end of the cylinder. There are U-shaped holes 11a at both ends of the driving plate 11; there is a circumferential groove 17a on the circumference of the upper end of the driving rod 17; the size of the circumferential groove 17a matches the size of the U-shaped hole or the oblong hole 11a; the circumference of the circumferential groove 17a of the driving rod 17 is embedded in the U-shaped hole or the oblong hole 11a of the driving plate 11, so that the upper end of the driving rod 17 can move left and right in the U-shaped hole 11a of the driving plate 11. Of course, the cylinder can be replaced by other power devices of the electric push rod.

[0032] In addition, the robot-based billet grabbing device further includes a heat insulation plate 12 ; the heat insulation plate 12 is fixed below the driving plate 11 .

[0033] Working process of a billet gripping device based on a robot:

[0034] The elastic member 4 can provide an elastic space to protect the entire grasping device and the robot; the grasping space formed by the two clamping arms 8 uses the head angle plate 13 to squeeze out the surrounding interfering objects at an angle, and the square billet smoothly enters the grasping space.

[0035] When grabbing, the cylinder is ventilated to extend the gas rod at the telescopic end, pushing the drive plate 11 to move downward, driving the drive rod 17 to move downward, and the U-shaped slider 15 and the serrated plate 20 are subjected to force and slide downward at an angle, that is, while moving downward, the U-shaped slider 15 is relatively close until the serrated plate 20 contacts the square billet.

[0036] The grabbing device is lifted, and the gravity of the billet drives the serrated plate 20 and the U-shaped slider 15 to prevent the grabbing device from moving upward. The serrated plate 20 and the U-shaped slider 15 tend to slide downward on the angle plate 13, and the billet is squeezed and clamped in parallel, that is, the clamping and grabbing function is realized. When the clamping distance remains unchanged, the clamping force of the billet will become greater and greater until the friction force is greater than the gravity of the billet to lift it up.

[0037] During unloading, the billet contacts the platform, and the billet is still inside the grabbing space formed by the two clamping arms 8. At this time, the serrated plate 20 moves upward with the billet, and the serrated plate 20 and the billet are disengaged, the clamping force disappears, and the ventilated gas rod of the cylinder 9 retracts, driving the driving plate 11, the driving rod 17, the U-shaped slider 15, and the serrated plate 20 to move upward. Under the guidance of the angle plate 13, the serrated plate 20 is away from the surface of the billet at the same time, the grabbing device is lifted, and the billet does not move, realizing the unloading function. At the same time, this self-locking grabbing by gravity is safe and reliable, and is suitable for sampling work of the same specification but different lengths.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A billet grabbing device based on a robot, characterized in that: It comprises a structural plate (5), two symmetrically arranged clamping assemblies and a driving assembly; Wherein, the clamping assembly comprises a clamping arm (8) and a clamping portion; The two clamping arms (8) of the two clamping assemblies are symmetrically fixed on the structural plate (5); The clamping assembly comprises an angle plate (13), a track assembly, a slider (15), and a driving rod (17); The angle plate (13) is fixed on the clamping arm (8) in an inclined manner; The track assembly is fixed on the angle plate (13); The slider (15) is slidably connected to the track assembly; One end of the driving rod (17) is fixedly connected to the slider (15), and the other end is connected to the driving assembly; The driving assembly comprises a connecting partition (10), a driver (9) and a driving plate (11); The two ends of the connecting partition (10) are fixed on the two clamping arms (8) and are parallel to the structural plate (5); The fixed end of the driver (9) is fixed on the connecting partition (10); The driving plate (11) is fixed on the telescopic end of the driver (9); The two ends of the driving plate (11) are provided with U-shaped holes or oblong holes (11a); The driving rod (17) has a circumferential groove (17a) on its circumference; The size of the circumferential groove (17a) matches the size of the U-shaped hole or the oblong hole (11a); The circumference of the circumferential groove (17a) of the driving rod (17) is embedded in the U-shaped hole or the oblong hole (11a) of the driving plate (11).

2. The robot-based billet grabbing device according to claim 1, characterized in that: Also includes a heat insulation board (12); Wherein, the heat insulation plate (12) is fixed on the driving plate (11).

3. The robot-based billet grabbing device according to claim 1, characterized in that: in, The clamping arm (8) comprises two clamping plates (8a); The two clamping plates (8a) are symmetrically arranged and fixed on the structural plate (5); The two sides of the angle plate (13) are respectively fixed on two clamping plates (8a).

4. The robot-based billet grabbing device according to claim 1, characterized in that: in, The track assembly comprises a track connection plate (18) and two circular tracks (19); the two circular tracks (19) are symmetrically fixed on both sides of the track connection plate (18); The slider (15) is a U-shaped slider; the two inner side walls of the U-shaped slider are respectively fitted on the outer circles of the two circular tracks (19).

5. The robot-based billet grabbing device according to claim 1, characterized in that: in, The opposing surfaces of the two sliding blocks (15) are provided with anti-slip grooves.

6. A robot-based billet grabbing device as claimed in claim 5, characterized in that: in, The anti-skid pattern is fixed on the surface of the slider (15) by using any one of a serrated plate, a right-angle corrugated plate, an obtuse-angle corrugated plate, and a mesh plate, or the anti-skid pattern is directly machined on the surface of the slider (15).

7. The robot-based billet grabbing device according to claim 1, characterized in that: in, The inclination angle of the angle plate (13) to the horizontal plane is 79°-83°.

8. A robot-based billet grabbing device according to any one of claims 1 to 7, characterized in that: Also included are anti-collision components; The anti-collision component comprises a connecting seat (1), two symmetrically arranged sliding components and an elastic member (4); The fixed ends of the two sliding components are fixedly connected to the connecting seat (1); The sliding ends of the two sliding assemblies are fixedly connected to the structural plate (5); The elastic member (4) is arranged between the connecting seat (1) and the structural plate (5).

9. The robot-based billet grabbing device according to claim 8, characterized in that: in, The sliding assembly comprises a sliding shaft (2), a linear bearing (3), a supporting sleeve (6) and a shaft stop (7); One end of the sliding shaft (2) is fixed on the connecting seat (1); The other end of the sliding shaft (2) passes through the linear bearing (3), the structural plate (5), and the supporting sleeve (6) in sequence, and is fixedly connected to the shaft stop (7); The linear bearing (3) is fixedly connected to the structural plate (5).

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