A gripping robot for bars

Abstract

The application discloses a grabbing manipulator for a bar, and relates to the technical field of manipulators, comprising a hydraulic clamping jaw, two groups of lifting assemblies, a rotating assembly and a walking trolley, the tail of the hydraulic clamping jaw is slidably connected with a swing arm, the head of the hydraulic clamping jaw is slidably connected with a sleeve, and a driving assembly capable of assisting the hydraulic clamping jaw to extend when the grabbing part of the hydraulic clamping jaw is lifted is further arranged on a rotating platform between the hydraulic clamping jaw and the swing arm. Considering that the position of the hydraulic clamping jaw in the initial position is relatively low and far away from the bar, the position of the hydraulic clamping jaw needs to be further adjusted. In order to simplify the position adjustment, the sliding type of the hydraulic clamping jaw and the swing arm is combined with the design of the driving assembly, so that the synchronous adjustment of the height of the hydraulic clamping jaw and the distance from the bar can be realized without the aid of other telescopic equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of manipulator, in particular to a kind of grabbing manipulator for bar. BACKGROUND

[0002] Bar needs to be transferred to the next process for secondary forming after primary forging processing, and the traditional way is to use truss type grabbing equipment or trolley, which can achieve the above goal, but the former way is complex in structure, large in floor space, and prone to falling in practice due to grabbing from above;The latter way is low in efficiency and high in labor intensity. Therefore, it is necessary to design a device with small floor space, flexible operation and high efficiency to solve the above problems. SUMMARY

[0003] The present application aims to provide a kind of grabbing manipulator for bar to solve the above-mentioned defects caused by prior art.

[0004] To achieve the above object, the present application provides the following technical scheme: a kind of grabbing manipulator for bar, including hydraulic clamping jaw, horizontally installed on rotating platform and can be used to grab after forging bar, the tail of hydraulic clamping jaw is slidably connected with swing arm, the head of hydraulic clamping jaw is slidably connected with sleeve, and driving assembly is further provided on the rotating platform between hydraulic clamping jaw and swing arm, which can assist hydraulic clamping jaw to extend when the grabbing part of hydraulic clamping jaw is lifted;

[0005] Two groups of lifting assemblies are installed on the rotating platform and are connected with the hydraulic clamping jaw and the swing arm respectively, and the two groups of lifting assemblies can independently lift the hydraulic clamping jaw and the swing arm respectively;

[0006] Rotary assembly is installed below the rotating platform and is used to drive the rotating platform to rotate;

[0007] Walking trolley is arranged below the rotating platform and is connected with the rotary assembly, and is used to support the rotating platform.

[0008] Further, the driving assembly includes a stand and a connecting rod, the stand is installed on the upper end of the rotating platform;

[0009] A gap is left between the tail of the hydraulic clamping jaw and the swing arm, the stand is located in the gap, and the two ends of the connecting rod are hinged with the stand and the tail of the hydraulic clamping jaw respectively.

[0010] Further, the tail of the hydraulic clamping jaw is fixed with two symmetrically arranged extension arms, and the extension arms are slidably connected with the slide rails on both sides of the swing arm.

[0011] Further, the lifting assembly includes a support column, a lifting arm and a hydraulic cylinder.

[0012] The support column is two and symmetrically installed on the rotating platform, the upper end of the support column is installed with a bearing seat, the lifting arm is also two and symmetrically arranged, one end of the lifting arm is rotatably connected to the bearing seat, and the two lifting arms are connected through a connecting shaft one;

[0013] The lower part of the support column is further installed with a support one, and the two ends of the hydraulic cylinder are respectively hinged to the support one and the other end of the lifting arm;

[0014] The other end of the two lifting arms is connected through a connecting shaft two, the connecting shaft two is installed with a connecting arm, and the other end of the connecting arm is connected with the sleeve or the swing arm and can relatively rotate.

[0015] Further, the sleeve and the swing arm are installed with a support two, and the two connecting arms are respectively connected with the sleeve and the swing arm through the support two and can relatively rotate.

[0016] Further, the rotating assembly comprises a support shaft, a slewing bearing and a support seat;

[0017] The support shaft is fixed to the lower end of the rotating platform and is rotatably connected to the support seat through the slewing bearing, the support seat is installed and fixed in the walking trolley, and the upper part of the support shaft is installed with a gear ring, the gear ring is engaged with a driving gear, the driving gear is connected to a driving motor, and the driving motor is installed in the walking trolley.

[0018] Further, the two support columns adjacent to each other in the two lifting assemblies are connected through a horizontally arranged connecting bridge.

[0019] Further, the tail part of the rotating platform is installed with a support piece, the upper part of the support piece is installed with a support table, and the support table is installed with a counterweight.

[0020] Further, a reinforcing rod is further connected between the support column located at the tail part of the rotating platform and the support table.

[0021] Further, the number of the connecting arms in each lifting assembly is one or two.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] 1. Considering that the position of the hydraulic clamping jaw in the initial position is lower and farther away from the height of the bar, the position of the hydraulic clamping jaw needs to be further adjusted, in order to simplify the position adjustment, therefore, the design of the sliding type hydraulic clamping jaw combined with the swing arm and the driving assembly in the present application can realize the synchronous adjustment of the height of the hydraulic clamping jaw and the distance from the bar without the help of other telescopic equipment.

[0024] 2. The present application adopts a walking trolley as a carrying platform, and realizes rapid grabbing and transferring of the bar material by means of the hydraulic clamping jaw and the lifting assembly, and has simple and practical overall structure, small floor area and flexible operation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of the present application.

[0026] Figure 2 It is a top view of the present application.

[0027] Figure 3 It is a partial schematic view of the present application.

[0028] Figure 4 It is Figure 3 a partial detail view at A in the figure.

[0029] Figure 5 It is Figure 3 a partial detail view at B in the figure.

[0030] Figure 6 It is a partial view of the rotating assembly and the walking trolley in the present application.

[0031] Figure 7 It is a schematic view of the relative position of the driving assembly and the tail part of the hydraulic clamping jaw.

[0032] Wherein:

[0033] 1 - hydraulic clamping jaw, 10 - grabbing part, 11 - extension arm, 12 - movable groove, 13 - sleeve, 14 - limiting block, 15 - swing arm, 150 - slide rail;

[0034] 2 - lifting assembly, 20 - support column, 21 - lifting arm, 22 - hydraulic cylinder, 23 - bearing seat, 24 - support one, 25 - connecting shaft one, 26 - connecting shaft two, 27 - connecting arm, 28 - connecting bridge;

[0035] 3 - rotating platform;

[0036] 4 - walking trolley;

[0037] 5 - rotating assembly, 50 - support shaft, 51 - slewing bearing, 52 - bearing seat, 53 - gear ring, 54 - servo motor, 55 - driving gear;

[0038] 6 - support two;

[0039] 7 - driving assembly, 70 - stand column, 71 - connecting rod;

[0040] 8 - support piece, 81 - support table, 82 - counterweight, 83 - reinforcing rod. DETAILED DESCRIPTION

[0041] The technical means, creative features, purposes and effects of the present application are described below in conjunction with specific embodiments.

[0042] Please refer to Figures 1 to 6 The present application provides a technical solution:

[0043] A grabbing manipulator for a bar material, comprising a hydraulic gripper 1 horizontally installed on a rotating platform 3 and capable of being used for grabbing a bar material after forging, the head of the hydraulic gripper 1 is slidingly connected with a sleeve 13, the tail of the hydraulic gripper 1 is slidingly connected with a swing arm 15, and a driving assembly 7 capable of assisting the hydraulic gripper 1 to extend when the grabbing part 10 of the hydraulic gripper 1 is lifted is further arranged on the rotating platform 3 between the hydraulic gripper 1 and the swing arm 15.

[0044] Specifically, the driving assembly 7 comprises a column 70 and a connecting rod 71, the column 70 is installed on the upper end of the rotating platform 3;

[0045] A gap is left between the tail of the hydraulic gripper 1 and the swing arm 15, the column 70 is located in the gap, and the two ends of the connecting rod 71 are respectively hinged with the column 70 and the tail of the hydraulic gripper 1. In specific operation, when the grabbing part 10 of the hydraulic gripper 1 is lifted, the angle between the hydraulic gripper 1 and the rotating platform 3 will change, which will also cause the angle between the hydraulic gripper 1 and the column 70 to change, thereby causing the connecting rod 71 to rotate counterclockwise (as shown in Figure 7 ), and then pushing the hydraulic gripper 1 to extend and move towards the bar material in order to facilitate the grabbing of the bar material, which is the bar grabbing process. When the swing arm 15 is lifted, the connecting rod 71 will rotate clockwise, and due to the fact that the weight at the hydraulic gripper is greater than the weight at the swing arm 15, under the action of gravity, the hydraulic gripper will also extend a distance in order to facilitate the release of the bar material, which is the bar release process.

[0046] The grabbing manipulator of the present application further comprises two sets of lifting assemblies 2 installed on the rotating platform 3 and respectively connected with the hydraulic gripper 1 and the swing arm 15, and the two sets of lifting assemblies 2 can independently lift the hydraulic gripper 1 and the swing arm 15 respectively.

[0047] Specifically, the lifting assembly 2 comprises a support column 20, a lifting arm 21 and a hydraulic cylinder 22;

[0048] The support column 20 has two and is symmetrically installed on the rotating platform 3, the upper end of the support column 20 is provided with a bearing seat 23, the lifting arm 21 also has two and is symmetrically arranged, one end of the lifting arm 21 is rotatably connected to the bearing seat 23, and the two lifting arms 21 located at a high position are connected by means of a connecting shaft 25;

[0049] The lower part of the support column 20 is further provided with a support 24 for supporting a hydraulic cylinder 22, the two ends of the hydraulic cylinder 22 are respectively hinged to the support 24 and the other end of the lifting arm 21; wherein the lower part of the lifting arm 21 is provided with a notch, and a rotating shaft is installed in the notch, and the connecting end of the end of the hydraulic cylinder 22 is connected with the rotating shaft.

[0050] The other end of the two lifting arms 21 is connected through a connecting shaft 26, the connecting shaft 26 is rotatably connected with a connecting arm 27, the connecting arm 27 is installed on the connecting shaft 26, and the other end of the connecting arm 27 is connected with the sleeve 13 or the swing arm 15 and can rotate relatively. Wherein, the connecting arm 27 located at the head is connected with the sleeve 13, and the connecting arm 27 located at the tail is connected with the swing arm 15. It should be noted that the hydraulic clamping jaw 1 is further provided with a movable groove 12, in order to prevent the hydraulic clamping jaw 1 from moving excessively, a limiting block 14 can be arranged at the tail of the sleeve 13, and the limiting block 14 can move in the movable groove 12. It should be noted that the number of the connecting arm 27 in each lifting assembly 2 is one or two, and one is preferred in the present application.

[0051] In the embodiment of the present application, the sleeve 13 and the swing arm 15 are provided with a support 6, which can be fixedly connected by welding or detachably connected by bolts, and the two connecting arms 27 are connected with the sleeve 13 and the swing arm 15 through the support 6 and can rotate relatively.

[0052] The grabbing manipulator of the present application further comprises a rotating assembly 5 installed below the rotating platform 3 and used for driving the rotating platform 3 to rotate;

[0053] Specifically, the rotating assembly 5 comprises a support shaft 50, a slewing bearing 51 and a support seat 52.

[0054] The support shaft 50 is fixed to the lower end of the rotating platform 3 and is rotatably connected with the support seat 52 through the slewing bearing 51, the support seat 52 is fixedly installed in the walking trolley 4, the upper part of the support shaft 50 is provided with a gear ring 53, the gear ring 53 is engaged with a driving gear 55, and the driving gear 55 is connected to a driving motor, the driving motor is installed in the walking trolley 4. When it is necessary to drive the rotating platform 3 and the hydraulic clamping jaw 1 above it to rotate, the servo motor 54 can be started, and then the driving gear 55 drives the gear ring 53 and the support shaft 50 to rotate. In the embodiment of the present application, the maximum rotation angle is 90 degrees.

[0055] The grabbing manipulator of the present application further comprises a walking trolley 4 arranged below the rotating platform 3 and connected with the rotating assembly 5, used for supporting the rotating platform 3. The walking trolley 4 is internally provided with relevant power assemblies (not shown in the figure), and in the present application, only the overall structure of the walking trolley 4 is shown, including a vehicle body and walking wheels, and the walking wheels move along the pre-set track on the ground.

[0056] In the embodiment of the present application, the tail of the hydraulic clamping jaw 1 is fixed with two symmetrically arranged extension arms 11, and the extension arms 11 are slidingly connected to the slide rails 150 on both sides of the swing arm 15.

[0057] In the embodiment of the present application, in order to enhance the stability of the lifting assembly 2, the two adjacent support columns 20 in the two groups of lifting assemblies 2 are connected by a horizontally arranged connecting bridge 28.

[0058] In the embodiment of the present application, considering that the weight of the bar is relatively large, the weight needs to be balanced, so the corresponding counterweight 82 needs to be arranged. Specifically, a support 8 is installed at the tail of the rotating platform 3, a support table 81 is installed at the upper part of the support 8, and the counterweight 82 is installed on the support table 81. At the same time, in order to improve the stability of the support table 81, a reinforcing rod 83 is connected between the support column 20 at the tail of the rotating platform 3 and the support table 81.

[0059] In use, the walking trolley 4 is first moved to the bar to be transferred, and the hydraulic clamping jaw 1 is located at the head position of the walking trolley 4 at this time. Considering that the position of the hydraulic clamping jaw 1 at this time is lower and farther away from the height of the bar, the position of the hydraulic clamping jaw 1 needs to be further adjusted. Then, the hydraulic cylinder 22 at the hydraulic clamping jaw 1 is started and the hydraulic clamping jaw 1 is lifted to a certain height. In this process, the angle between the hydraulic clamping jaw 1 and the rotating platform 3 changes, which also causes the angle between the hydraulic clamping jaw 1 and the vertical column 70 to change, thereby causing the connecting rod 71 to rotate counterclockwise (as shown in FIG. 8). Figure 7 Then, the connecting rod 71 pushes the hydraulic clamping jaw 1 to extend and move towards the bar to facilitate the grabbing of the bar.

[0060] After the hydraulic clamping jaw 1 grabs the bar, the walking trolley 4 retreats a certain distance and moves to the next station. Then, the servo motor 54 drives the rotating platform 3 to rotate by 90 degrees, so that the hydraulic clamping jaw 1 is rotated to the side position of the walking trolley 4. Then, the hydraulic cylinder 22 at the hydraulic clamping jaw 1 is started and the hydraulic clamping jaw 1 is lowered to the initial position (at this time, the hydraulic clamping jaw 1 is in a horizontal state). Then, the hydraulic cylinder 22 connected with the swing arm 15 is started and the swing arm 15 is lifted to a certain height. At this time, the connecting rod 71 rotates clockwise. Since the weight at the hydraulic gripper is greater than the weight at the swing arm 15, under the action of gravity, the hydraulic gripper also extends a certain distance to facilitate the release of the bar.

[0061] Finally, the hydraulic cylinder 22 connected with the swing arm 15 is started and the swing arm 15 is lowered to the initial position (at this time, the hydraulic clamping jaw 1 is in a horizontal state). The servo motor 54 is started and the rotating platform 3 is reset, ready for the next grabbing.

[0062] Based on the above, considering that the position of the hydraulic clamping jaw 1 at the initial position is relatively low and far away from the height of the bar, the position of the hydraulic clamping jaw 1 needs to be further adjusted, in order to realize the simplification of position adjustment, therefore, the design of the hydraulic clamping jaw 1 and the sliding type swing arm 15 in combination with the driving assembly 7 can realize the synchronous adjustment of the height of the hydraulic clamping jaw 1 and the distance from the bar without the help of other telescopic equipment. In addition, the walking trolley 4 is used as a carrying platform, and the hydraulic clamping jaw 1 and the lifting assembly 2 are used to realize the rapid grabbing and transferring of the bar, so that the whole structure is simple and practical, the occupied area is small, and the operation is flexible.

[0063] From the common general knowledge, the application can be realized by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above disclosed embodiments are only illustrative in all aspects, and are not the only ones. All changes within the scope of the application or within the scope equivalent to the application are included in the application.

Claims

1. A gripping robot for a bar, characterized in that, The hydraulic clamping jaw is horizontally installed on the rotating platform and can be used to grab the bar after forging, the tail of the hydraulic clamping jaw is slidingly connected with the swing arm, the head of the hydraulic clamping jaw is slidingly connected with the sleeve, and a driving assembly capable of assisting the hydraulic clamping jaw to extend when the grabbing part of the hydraulic clamping jaw is lifted is arranged on the rotating platform between the hydraulic clamping jaw and the swing arm; Two groups of lifting assemblies are installed on the rotating platform and are connected with the hydraulic clamping jaw and the swing arm respectively, and the two groups of lifting assemblies can independently lift the hydraulic clamping jaw and the swing arm respectively; A rotating assembly is installed below the rotating platform and is used to drive the rotating platform to rotate; A walking trolley is arranged below the rotating platform and is connected with the rotating assembly and is used to support the rotating platform; The driving assembly comprises a stand and a connecting rod, and the stand is installed on the upper end of the rotating platform; A gap is left between the tail of the hydraulic clamping jaw and the swing arm, the stand is located in the gap, and the two ends of the connecting rod are hingedly connected with the stand and the tail of the hydraulic clamping jaw respectively; The lifting assembly comprises a support column, a lifting arm and a hydraulic cylinder; The support column has two and is symmetrically installed on the rotating platform, a bearing seat is installed on the upper end of the support column, the lifting arm also has two and is symmetrically arranged, one end of the lifting arm is rotatably connected to the bearing seat, and the two lifting arms are connected by means of a connecting shaft; The lower part of the support column is further provided with a support one, and the two ends of the hydraulic cylinder are hingedly connected with the support one and the other end of the lifting arm respectively; The other end of the two lifting arms is connected by means of a connecting shaft two, and a connecting arm is installed on the connecting shaft two, and the other end of the connecting arm is connected with the sleeve or the swing arm and can rotate relatively.

2. A bar grabbing robot according to claim 1, characterized in that The tail of the hydraulic clamping jaw is fixed with two symmetrically arranged extension arms, and the extension arms are slidingly connected with the slide rails on both sides of the swing arm.

3. The bar grabbing robot according to claim 1, wherein The sleeve and the swing arm are provided with a support two, and the two connecting arms are connected with the sleeve and the swing arm by means of the support two and can rotate relatively.

4. The bar grabbing robot according to claim 1, wherein The rotating assembly comprises a support shaft, a slewing bearing and a support seat; The support shaft is fixed to the lower end of the rotating platform and is rotatably connected with the support seat through the slewing bearing, the support seat is fixedly installed in the walking trolley, the upper part of the support shaft is provided with a gear ring, the gear ring is engaged with a driving gear, the driving gear is connected to a driving motor, and the driving motor is installed in the walking trolley.

5. The bar grabbing robot according to claim 1, wherein The two support columns in the two groups of lifting assemblies are connected by means of a horizontally arranged connecting bridge.

6. The bar grabbing robot according to claim 1, wherein The tail of the rotating platform is provided with a support, the upper part of the support is provided with a support table, and the support table is provided with a counterweight.

7. A bar grabbing robot according to claim 6, characterized in that A reinforcing rod is further connected between the support column at the tail of the rotating platform and the support table.

8. The bar grabbing robot according to claim 1, wherein The number of connecting arms in each group of lifting assemblies is one or two.

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