Double-clamping-jaw type pneumatic robot

Abstract

The invention discloses a double-clamping-jaw type pneumatic robot, and relates to the technical field of clamping equipment. The pneumatic robot comprises a mechanical clamping hand assembly and a pneumatic robot mechanical assembly, the mechanical clamping hand assembly comprises two mechanical clamping hands, pressing rods are installed in the mechanical clamping hands, the peripheral side faces of the pressing rods are sleeved with rectangular spiral springs, and the upper ends of the rectangular spiral springs are fixedly connected with the inner tops of the mechanical clamping hands; the lower end of the pressing rod is fixedly connected with a pressing piece, the pressing piece is in sliding fit with the rectangular spiral spring, and the pressing piece and the inner bottom of the mechanical clamping hand clamp a tinplate stack. Through the clamping effect of the mechanical clamping hand on a tinplate stack, then the oscillating cylinder is used for driving the oscillating cylinder positioning plate to rotate, the oscillating plate rotates to enable the oscillating cylinder to move around the z-axis relative to the linear guide rail fixing plate, and therefore changes of all corners of the horizontal plane of the pneumatic robot are achieved, the time utilization rate is high, and productivity can be improved easily.

Description

Technical Field

[0001] The invention belongs to the technical field of clamping equipment, and in particular relates to a double-claw pneumatic robot. Background Art

[0002] The loading of tinplate stacks is an important link in the can production line. When the tinplate stacks are not of large quality, size, and handling speed requirements, the feeding work is mainly achieved by manual or conveyor belt combined with robotic gripper loading.

[0003] However, both methods have some problems. Manual handling is inefficient, costly, and has safety risks. The feeding method of conveyor belt combined with mechanical gripper is not only expensive, but also difficult to maintain. To this end, we provide a double-gripper pneumatic robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a double-claw pneumatic robot, which clamps the tinplate pile through mechanical grippers and then uses a swing cylinder to drive a swing cylinder positioning plate to rotate. The swing plate rotates to cause the swing cylinder to move around the z-axis relative to the linear guide fixed plate, thereby realizing the change of various angles of the pneumatic robot's horizontal plane, solving the problems of low efficiency, high cost, and safety hazards in existing manual handling.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a double-claw pneumatic robot, comprising a mechanical gripper assembly and a pneumatic robot mechanical assembly, wherein the mechanical gripper assembly comprises two mechanical grippers, wherein a pressure rod is installed inside the mechanical gripper, wherein a rectangular coil spring is sleeved on the circumferential side of the pressure rod, wherein the upper end of the rectangular coil spring is fixedly connected to the top inside the mechanical gripper, wherein the lower end of the pressure rod is fixedly connected to a pressure plate, wherein the pressure plate and the rectangular coil spring are slidably matched, and the pressure plate and the bottom inside the mechanical gripper clamp the tinplate stack.

[0007] The present invention is further configured such that a compact cylinder fixing plate is fixedly provided on the top of the mechanical gripper, a compact cylinder is installed on the top of the compact cylinder fixing plate, and an output end of the compact cylinder is fixedly connected to the pressure rod.

[0008] The present invention is further configured such that a double-piston cylinder fixing plate is installed on one side of the mechanical gripper, a double-piston cylinder is installed on the side of the double-piston cylinder fixing plate away from the mechanical gripper, a telescopic connecting rod is fixedly provided on one side of the double-piston cylinder fixing plate, and a scale plate is fixedly provided on one side of the telescopic connecting rod.

[0009] The present invention is further configured such that a secondary cantilever is fixedly provided on one side of the mechanical gripper close to the double-piston cylinder fixing plate, and a main cantilever is rotatably provided on the end of the secondary cantilever in a horizontal position away from the mechanical gripper via a rotating shaft I, and the main cantilever is rotationally connected to the other secondary cantilever via a rotating shaft II.

[0010] The present invention is further configured such that a swing plate is fixedly provided on the top of the main cantilever, a threaded adjustment fixing arm is fixedly provided on one side of the main cantilever, an adjustment rotating sleeve and a gasket are installed on one side of the threaded adjustment fixing arm, and an adjustment rod is fixedly provided on the top of the threaded adjustment fixing arm.

[0011] The present invention is further configured such that the adjusting rod passes through the adjusting rotating sleeve to the threaded adjusting fixed arm and is fixedly connected with a double earring, the double earring is fixedly connected to the corresponding auxiliary cantilever, and a handle is fixedly provided on the top of the adjusting rod.

[0012] The present invention is further configured to also include a pneumatic robot mechanical component, which includes a swing cylinder positioning plate, the swing cylinder positioning plate is fixedly connected to the swing plate, a swing cylinder is installed on the top of the swing cylinder positioning plate, a cylinder plate is installed on the top of the swing cylinder, a linear guide fixing plate is installed on the top of the cylinder plate, and a U-shaped fixing plate is installed on the top of the linear guide fixing plate.

[0013] The present invention has the following beneficial effects:

[0014] 1. The compact cylinder of the present invention drives the pressure rod to move, and the pressure plate moves with the movement of the pressure rod. The rectangular spiral spring is stretched until the pressure plate presses the tinplate pile tightly against the bottom of the mechanical clamp. At this time, the mechanical clamp can clamp the tinplate pile, so that the tinplate pile will not deviate during the transportation process, and the two processes of movement and rotation are completed at the same time, with high time utilization rate, which is conducive to improving production capacity.

[0015] 2. The present invention drives the swing cylinder to drive the swing cylinder positioning plate to rotate. The swing plate rotates to make the swing cylinder move around the z-axis relative to the linear guide fixed plate, thereby realizing the change of various angles of the horizontal plane of the pneumatic robot. At the same time, the position of the adjusting rod is adjusted by the handle to adjust the angle between the mechanical gripper and the main cantilever, so that the pneumatic robot can meet the transportation needs of tinplate stacks of various shapes and sizes, and adapt to a variety of canning production lines.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the structure of a double-claw pneumatic robot.

[0019] Figure 2 for Figure 1 Left view of the structure.

[0020] Figure 3 for Figure 1 Right view of the structure.

[0021] Figure 4 It is a schematic diagram of the structure of the mechanical components of the pneumatic robot in the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the mechanical gripper assembly in the present invention.

[0023] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0024] 2-swing cylinder, 3-compact cylinder, 4-double-piston cylinder, 5-spindle I, 6-adjusting rod, 7-main cantilever, 8-auxiliary cantilever, 9-spindle II, 10-swing plate, 11-threaded adjustment fixed arm, 12-handle, 13-adjusting rotating sleeve, 14-gasket, 21-U-shaped fixed plate, 22-linear guide fixed plate, 23-cylinder plate, 24-swing cylinder positioning plate, 25-scale plate, 26-telescopic connecting rod, 27-double-piston cylinder fixed plate, 28-compact cylinder fixed plate, 29-double earrings, 31-mechanical clamp, 32-pressure rod, 33-rectangular coil spring, 34-pressing sheet. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] For specific embodiment 1, please refer to Figure 1-5 The present invention is a double-claw pneumatic robot, comprising a mechanical gripper assembly and a pneumatic robot mechanical assembly, wherein the mechanical gripper assembly comprises two mechanical grippers 31, a pressure rod 32 is installed inside the mechanical gripper 31, and a rectangular coil spring 33 is sleeved around the side surface of the pressure rod 32;

[0027] Specifically, the upper end of the rectangular coil spring 33 is fixedly connected to the top of the mechanical gripper 31, the lower end of the pressure rod 32 is fixedly connected to a pressing plate 34, the pressing plate 34 and the rectangular coil spring 33 are fixedly connected, and the pressing plate 34 and the bottom of the mechanical gripper 31 clamp the tinplate pile.

[0028] Furthermore, a compact cylinder fixing plate 28 is fixedly provided on the top of the mechanical gripper 31 , a compact cylinder 3 is installed on the top of the compact cylinder fixing plate 28 , and an output end of the compact cylinder 3 is fixedly connected to the pressure rod 32 .

[0029] The operation process of this embodiment is as follows: in the initial state, the pressing sheet 34 is inside the mechanical gripper 31, and then the tinplate pile is placed at the bottom of the mechanical gripper 31, and the compact cylinder 3 is started to drive the pressing rod 32 to move downward (see the attached Figure 5 As shown in the figure, the pressing plate 34 moves downward with the downward movement of the pressing rod 32, and the rectangular coil spring 33 is stretched until the pressing plate 32 presses the tinplate pile tightly against the bottom of the mechanical clamp 31. At this time, the mechanical clamp 31 realizes the clamping effect of the tinplate pile.

[0030] Specific embodiment 2, on the basis of specific embodiment 1, a double-piston cylinder fixing plate 27 is installed on one side of the mechanical gripper 31, and a double-piston cylinder 4 is installed on the side of the double-piston cylinder fixing plate 27 away from the mechanical gripper 31, a telescopic connecting rod 26 is fixedly provided on one side of the double-piston cylinder fixing plate 27, and a scale plate 25 is fixedly provided on one side of the telescopic connecting rod 26.

[0031] Specifically, a secondary cantilever 8 is fixedly provided on one side of the mechanical gripper 31 close to the double-piston cylinder fixed plate 27, and a main cantilever 7 is rotatably provided on the end of the secondary cantilever 8 in a horizontal position away from the mechanical gripper 31 through a rotating shaft Ⅰ5. The main cantilever 7 and the other secondary cantilever 8 are rotatably connected through a rotating shaft Ⅱ9. A swing plate 10 is fixedly provided on the top of the main cantilever 7, and a threaded adjustment fixed arm 11 is fixedly provided on one side of the main cantilever 7. An adjustment rotating sleeve 13 and a gasket 14 are installed on one side of the threaded adjustment fixed arm 11, and an adjustment rod 6 is fixedly provided on the top of the threaded adjustment fixed arm 11.

[0032] Furthermore, the adjusting rod 6 passes through the adjusting rotating sleeve 13 to the threaded adjusting fixed arm 11 and is fixedly connected with a double earring 29, which is fixedly connected to the corresponding auxiliary cantilever 8. A handle 12 is fixedly arranged on the top of the adjusting rod 6. The pneumatic robot mechanical assembly includes a swing cylinder positioning plate 24, which is fixedly connected to the swing plate 10. A swing cylinder 2 is installed on the top of the swing cylinder positioning plate 24, a cylinder plate 23 is installed on the top of the swing cylinder 2, a linear guide fixing plate 22 is installed on the top of the cylinder plate 23, a U-shaped fixing plate 21 is installed on the top of the linear guide fixing plate 22, and the linear guide fixing plate 22 is used to connect the pneumatic robot and the frame to fix the robot, and needs to have certain strength and rigidity requirements (mentioned The cylinder includes a cylinder body, a piston rod, a cylinder end cover, a return spring, a relief valve, an air pipe joint and an intake check valve. The cylinder end cover is fixed at one end of the cylinder body. A cylinder chamber is formed between the cylinder end cover and the cylinder body. The piston rod is arranged in the cylinder chamber. The piston rod divides the cylinder chamber into an upper chamber and a lower chamber. One end of the piston rod extends out after passing through the cylinder end cover. The return spring is arranged in the lower chamber of the cylinder body. The two ends of the return spring are respectively against the cylinder body and the other end of the piston rod. The air pipe joint is fixed on the cylinder body. The air pipe joint is connected with the upper chamber of the cylinder body. The relief valve and the intake check valve are staggered and fixed on the cylinder body. The relief valve and the intake check valve are respectively connected with the lower chamber of the cylinder body).

[0033] The operation process of this embodiment is as follows: drive the swing cylinder 2 to drive the swing cylinder positioning plate 24 to rotate, and the swing plate 10 rotates so that the swing cylinder 2 moves around the z-axis relative to the linear guide fixed plate 22. Thus, the various rotation angles of the horizontal plane of the pneumatic robot are changed. At the same time, the position of the adjustment rod 6 is adjusted by the handle 12, thereby adjusting the angle between the mechanical gripper 31 and the main cantilever 7, so that the pneumatic robot can meet the transportation requirements of tinplate stacks of various shapes and sizes, and adapt to various can production lines. The double-claw type mechanical arm (i.e., the main cantilever 7 and the auxiliary cantilever 8) clamps the tinplate stack horizontally and vertically respectively.

[0034] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0035] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A double-claw pneumatic robot, comprising a mechanical gripper assembly, characterized in that: The mechanical gripper assembly comprises two mechanical grippers (31), a pressure rod (32) is installed inside the mechanical gripper (31), and a rectangular coil spring (33) is sleeved on the circumferential side of the pressure rod (32); The upper end of the rectangular coil spring (33) is fixedly connected to the top of the mechanical gripper (31), and the lower end of the pressure rod (32) is fixedly connected to a pressing plate (34). The pressing plate (34) and the rectangular coil spring (33) are fixedly connected, and the pressing plate (34) and the bottom of the mechanical gripper (31) clamp the tinplate pile.

2. A double-claw pneumatic robot according to claim 1, characterized in that: A compact cylinder fixing plate (28) is fixedly arranged on the top of the mechanical gripper (31), a compact cylinder (3) is installed on the top of the compact cylinder fixing plate (28), and an output end of the compact cylinder (3) is fixedly connected to the pressure rod (32).

3. A double-claw pneumatic robot according to claim 2, characterized in that: A double-piston cylinder fixing plate (27) is installed on one side of the mechanical gripper (31); a double-piston cylinder (4) is installed on the side of the double-piston cylinder fixing plate (27) away from the mechanical gripper (31); A telescopic connecting rod (26) is fixedly arranged on one side of the double-piston cylinder fixing plate (27), and a scale plate (25) is fixedly arranged on one side of the telescopic connecting rod (26).

4. A double-claw pneumatic robot according to claim 3, characterized in that: A secondary cantilever (8) is fixedly arranged on one side of the mechanical gripper (31) close to the double-piston cylinder fixing plate (27), and a main cantilever (7) is rotatably arranged on one end of the secondary cantilever (8) in a horizontal position away from the mechanical gripper (31) via a rotating shaft I (5); The main cantilever (7) and the other auxiliary cantilever (8) are rotationally connected via a rotating shaft II (9).

5. A double-claw pneumatic robot according to claim 4, characterized in that: A swing plate (10) is fixedly arranged on the top of the main cantilever (7), a threaded adjustment fixing arm (11) is fixedly arranged on one side of the main cantilever (7), an adjustment rotating sleeve (13) and a gasket (14) are installed on one side of the threaded adjustment fixing arm (11), and an adjustment rod (6) is fixedly arranged on the top of the threaded adjustment fixing arm (11).

6. A double-claw pneumatic robot according to claim 5, characterized in that: The adjusting rod (6) passes through the adjusting rotating sleeve (13) to the threaded adjusting fixed arm (11) and is fixedly connected to a double earring (29); the double earring (29) is fixedly connected to the corresponding auxiliary cantilever (8); and a handle (12) is fixedly provided on the top of the adjusting rod (6).

7. A double-claw pneumatic robot according to claim 6, characterized in that: Also included is a pneumatic robot mechanical assembly; wherein, The pneumatic robot mechanical assembly comprises a swing cylinder positioning plate (24), the swing cylinder positioning plate (24) is fixedly connected to the swing plate (10), and a swing cylinder (2) is installed on the top of the swing cylinder positioning plate (24); A cylinder plate (23) is installed on the top of the swing cylinder (2), a linear guide rail fixing plate (22) is installed on the top of the cylinder plate (23), and a U-shaped fixing plate (21) is installed on the top of the linear guide rail fixing plate (22).

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