Automatic grabbing device for automatic disassembly and assembly container cover plate equipment

Abstract

The utility model provides an automatic grabbing device for automatic disassembly and assembly of container cover plate equipment, and relates to the technical field of disassembly and assembly of container cover plates in the flow battery industry. The telescopic mechanism is arranged on the frame body; the turnover mechanism is arranged on the telescopic mechanism; the frame body comprises a first support frame, a second support frame and a connecting bridge frame; and the first support frame is connected with the second support frame through the connecting bridge frame. According to the container cover plate assembling and disassembling device, automatic assembling and disassembling of container cover plates are achieved, the requirement for manual operation is reduced, working efficiency and safety are improved, the length can be automatically adjusted according to the cover plates of different sizes, the inner surfaces of the cover plates are overturned upwards through the overturning mechanism, workers can conduct next operation conveniently, and the labor intensity of workers is relieved. Operators can more easily complete the disassembly and assembly work of the cover plate, and time and labor cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of disassembly and assembly of container covers in the flow battery industry, and in particular to an automatic grabbing device for automatic disassembly and assembly of container cover equipment. Background Art

[0002] The container cover grabbing device is used to quickly grab and release the container cover, and uses a robotic arm to grab the container cover. The robotic arm is usually composed of multiple joints and actuators, which can simulate the movements of human hands to grab and release. The device is equipped with sensors and control systems, which can achieve precise grabbing and releasing operations by controlling the movement and strength of the arm. The existing grabbing device cannot flip the container cover after grabbing and releasing it, and is not suitable for situations where the container needs to be flipped. Utility Model Content

[0003] The utility model provides an automatic grabbing device for automatically disassembling and assembling container cover plate equipment, which solves the problem that the container cover plate cannot be turned over.

[0004] In order to solve the above technical problems, the technical solution of the utility model is as follows:

[0005] The embodiment of the utility model provides an automatic grabbing device for automatically disassembling and assembling container cover equipment, comprising:

[0006] Frame;

[0007] A telescopic mechanism is arranged on the frame;

[0008] The turning mechanism is arranged on the telescopic mechanism.

[0009] Furthermore, the frame body includes a first support frame, a second support frame and a connecting bridge frame;

[0010] The first support frame is connected to the second support frame via a connecting bridge frame.

[0011] Further, the telescopic mechanism includes a first telescopic arm, a second telescopic arm and a first motor;

[0012] The first telescopic arm is arranged on the first supporting frame;

[0013] The second telescopic arm is arranged on the second supporting frame;

[0014] The first telescopic arm and the second telescopic arm are arranged opposite to each other and have the same structure;

[0015] The first telescopic arm and the second telescopic arm are connected via a transmission shaft;

[0016] The first motor is arranged on the first support frame, and an output end of the first motor is connected to the transmission shaft.

[0017] Further, the first telescopic arm includes a first telescopic plate, a second telescopic plate and a third telescopic plate;

[0018] The first telescopic plate is arranged on the first supporting frame;

[0019] The second telescopic plate is connected to the first motor via a first transmission device;

[0020] The third telescopic plate is connected to the first telescopic plate via a second transmission device;

[0021] The second telescopic plate is sandwiched between the first telescopic plate and the third telescopic plate;

[0022] A limit baffle is provided at one end of the first telescopic plate away from the first motor, and a limit rod matched with the limit baffle is provided at one end of the third telescopic plate close to the first motor.

[0023] Further, the first transmission device includes a first gear set and a first rack;

[0024] The first gear set is arranged on the first support frame and connected to the output end of the first motor;

[0025] The first rack is arranged on a side of the second telescopic plate close to the first motor;

[0026] The first gear set is meshed with the first rack.

[0027] Further, the second transmission device includes a second gear set, a second rack and a third rack;

[0028] The second rack is arranged on the first telescopic plate;

[0029] The third rack is arranged on the third telescopic plate;

[0030] The second gear set is clamped in the second telescopic plate;

[0031] The second rack is connected to the third rack through the second gear set.

[0032] Furthermore, the flipping mechanism includes a flipping frame, a second motor and a third motor;

[0033] The second motor is arranged at an end of the third telescopic plate away from the transmission shaft;

[0034] The third motor is arranged at an end of the second telescopic arm away from the transmission shaft;

[0035] One end of the flip frame is connected to the output end of the second motor, and the other end is connected to the output end of the third motor.

[0036] Furthermore, the flip frame is provided with four electromagnets.

[0037] The above solution of the utility model includes at least the following beneficial effects:

[0038] The automatic grabbing device of the utility model realizes automatic disassembly and assembly of container covers, thereby reducing the need for manual operation and improving work efficiency and safety. It can automatically adjust the length according to covers of different sizes and flip the inner surface of the cover upwards through a flipping mechanism, making it convenient for workers to carry out the next step of operation, so that operators can complete the disassembly and assembly of the cover more easily, saving time and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a three-dimensional diagram of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0040] Figure 2 It is another stereoscopic view of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0041] Figure 3 It is a top view of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0042] Figure 4 It is a side view of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0043] Figure 5 It is a three-dimensional diagram of the telescopic mechanism of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0044] Figure 6 This is a cross-sectional view of the AA portion of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0045] Figure 7 It is a cross-sectional view of the BB portion of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model;

[0046] Figure 8 It is an enlarged view of the C position of the automatic grabbing device for automatically disassembling and assembling container cover equipment of the utility model.

[0047] Description of reference numerals:

[0048] 11. First support frame; 12. Second support frame; 13. Connecting bridge frame; 21. First telescopic arm; 22. Second telescopic arm; 23. First motor; 24. Transmission shaft; 31. Turning frame; 32. Second motor; 33. Third motor; 34. Electromagnet; 211. First telescopic plate; 212. Second telescopic plate; 213. Third telescopic plate; 214. Limit baffle; 215. Limit rod; 251. First gear set; 252. First rack; 261. Second gear set; 262. Second rack; 263. Third rack. DETAILED DESCRIPTION

[0049] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0050] like Figure 1 As shown, an embodiment of the utility model provides an automatic grabbing device for automatically disassembling and assembling container cover equipment, comprising:

[0051] Frame;

[0052] A telescopic mechanism is arranged on the frame;

[0053] The turning mechanism is arranged on the telescopic mechanism.

[0054] In the embodiment of the utility model, the telescopic mechanism is arranged on the frame to realize the telescopic function of the grabbing device, and can automatically adjust its own length according to the size of the container cover to adapt to covers of different sizes. The telescopic mechanism allows the grabbing device to easily adapt to covers of different sizes and ensure that the cover is firmly grasped; the flipping mechanism is arranged on the telescopic mechanism to realize the flipping function of the grabbing device, and can make the grabbing device drive the container cover to flip, so that the cover can be moved and handled more conveniently during the disassembly and assembly process. The inner surface of the cover can be easily flipped upward through the flipping mechanism, which is convenient for the staff to carry out the next operation and improve work efficiency; the automatic grabbing device realizes the automatic disassembly and assembly of the container cover, thereby reducing the need for manual operation and improving work efficiency and safety. It can automatically adjust the length according to covers of different sizes and can be conveniently operated through the flipping mechanism. The operator can complete the disassembly and assembly of the cover more easily, saving time and labor costs.

[0055] like Figures 1 to 8 As shown, the frame body includes a first support frame 11, a second support frame 12 and a connecting bridge frame 13;

[0056] The first support frame 11 is connected to the second support frame 12 via a connecting bridge frame 13 .

[0057] In the embodiment of the utility model, the frame provides a stable supporting structure to ensure the stability and reliability of the grabbing device. The first support frame 11 and the second support frame 12 are connected to each other to form an integral supporting frame. The connecting bridge 13 serves as a connecting component to connect the first support frame 11 and the second support frame 12 together, thereby increasing the stability and rigidity of the frame, so that the grabbing device can remain stable during installation and operation. The connecting bridge 13 of the first support frame 11 and the second support frame 12 provides sufficient supporting strength so that the grabbing device can withstand the weight of the cover and the vibration during movement; the frame structure also has certain flexibility and adjustability. The connecting bridge 13 can make the distance between the first support frame 11 and the second support frame 12 adjustable to adapt to container covers of different sizes and shapes. The operator can adjust the position of the connecting bridge as needed, so that the grabbing device can adapt to different working conditions and provide a safe and stable working environment for the operator.

[0058] like Figures 1 to 8 As shown, the telescopic mechanism includes a first telescopic arm 21, a second telescopic arm 22 and a first motor 23;

[0059] The first telescopic arm 21 is arranged on the first supporting frame 11;

[0060] The second telescopic arm 22 is disposed on the second supporting frame 12;

[0061] The first telescopic arm 21 and the second telescopic arm 22 are arranged opposite to each other and have the same structure;

[0062] The first telescopic arm 21 and the second telescopic arm 22 are connected via a transmission shaft 24;

[0063] The first motor 23 is disposed on the first support frame 11 , and an output end of the first motor 23 is connected to the transmission shaft 24 .

[0064] In the embodiment of the utility model, the telescopic mechanism can realize the telescopic function of the grasping device, and the driving transmission shaft 24 of the first motor 23 rotates, thereby driving the first telescopic arm 21 and the second telescopic arm 22 to simultaneously extend or contract. The lengths of the first telescopic arm 21 and the second telescopic arm 22 can be automatically adjusted according to the size of the container cover to adapt to covers of different sizes, so that the grasping device can be automatically adjusted according to the size of the cover to ensure that the grasping device can firmly grasp the cover. Through the design of the telescopic mechanism, the operator can easily adapt to covers of different sizes. Whether it is a smaller or larger cover, the grasping device can be adjusted through the telescopic mechanism to ensure the stability and reliability of the grasping. The operator can more easily complete the disassembly and assembly of the cover and improve work efficiency.

[0065] like Figures 1 to 8 As shown, the first telescopic arm 21 includes a first telescopic plate 211, a second telescopic plate 212 and a third telescopic plate 213;

[0066] The first telescopic plate 211 is disposed on the first supporting frame 11;

[0067] The second telescopic plate 212 is connected to the first motor 23 via a first transmission device;

[0068] The third telescopic plate 213 is connected to the first telescopic plate 211 via a second transmission device;

[0069] The second telescopic plate 212 is sandwiched between the first telescopic plate 211 and the third telescopic plate 213;

[0070] A limit baffle 214 is disposed at one end of the first telescopic plate 211 away from the first motor 23 , and a limit rod 215 matched with the limit baffle 214 is disposed at one end of the third telescopic plate 213 close to the first motor 23 .

[0071] In the embodiment of the utility model, the first telescopic plate 211 and the third telescopic plate 213 are relative double concave groove structures, and the second telescopic plate 212 is composed of two plates. The two plates of the second telescopic plate 212 are respectively clamped between the double grooves of the first telescopic plate 211 and the third telescopic plate 213, forming a clamping relationship, so that the first telescopic plate 211 and the third telescopic plate 213 can move relative to each other to achieve the telescopic function; the role of the limit baffle 214 and the limit rod 215 is to limit the extension range of the third telescopic plate 213 when the first telescopic plate 211 and the third telescopic plate 213 reach the limit baffle, so that the entire telescopic device remains stable and balanced; when the first motor 23 is started, the first transmission device is driven, and the second telescopic plate 212 can move along the length of the first telescopic plate 211 The third telescopic plate 213 performs telescopic movement in the direction of degrees. At the same time, the third telescopic plate 213 is connected to the first telescopic plate 211 through the second transmission device. The movement of the second telescopic plate 212 drives the second transmission device to move, so that the third telescopic plate 213 performs telescopic movement relative to the first telescopic plate 211; when the limiting rod 215 on the third telescopic plate 213 is close to the limiting baffle 214 on the first telescopic plate 211, the limiting rod 215 will contact the limiting baffle 214 to limit the extension range of the third telescopic plate 213 and maintain the stability of the entire telescopic device; when the first motor 23 moves in the reverse direction, the first telescopic plate 211 and the third telescopic plate 213 will shrink relatively; the operator can easily adjust the length of the telescopic arm to ensure the matching degree and stability of the grabbing device and the cover plate, thereby improving work efficiency.

[0072] like Figures 1 to 8 As shown, the first transmission device includes a first gear set 251 and a first rack 252;

[0073] The first gear set 251 is disposed on the first support frame 11 and connected to the output end of the first motor 23;

[0074] The first rack 252 is disposed on a side of the second telescopic plate 212 close to the first motor 23;

[0075] The first gear set 251 is meshed with the first rack 252 .

[0076] In the embodiment of the utility model, when the first motor 23 rotates, the first gear set 251 is driven to rotate, and the first gear set 251 has three gears arranged in sequence; due to the meshing action of the first gear set 251 and the first rack 252, the first rack 252 is driven to perform linear motion; since the first rack 252 is arranged on the side of the second telescopic plate 212 close to the first motor 23, the first gear set 251 driven to rotate by the first motor 23 will cause the linear motion of the second telescopic plate 212, so that the second telescopic plate 212 can be extended or contracted along the length direction of the first telescopic plate 211, and the length of the grabbing device can be automatically adjusted according to the size of the container cover.

[0077] like Figures 1 to 8 As shown, the second transmission device includes a second gear set 261, a second rack 262 and a third rack 263;

[0078] The second rack 262 is disposed on the first telescopic plate 211;

[0079] The third rack 263 is disposed on the third telescopic plate 213;

[0080] The second gear set 261 is sandwiched in the second telescopic plate 212;

[0081] The second rack 262 and the third rack 263 are connected via the second gear set 261 .

[0082] In the embodiment of the utility model, the second transmission device is used to transmit the telescopic movement of the second telescopic plate 212 to the third telescopic plate 213. Since the second gear set 261 is clamped in the second telescopic plate 212, when the second telescopic plate 212 is telescoped, the second gear set 261 will be displaced accordingly. Since the second gear set 261 is meshed with the second rack 262 on the first telescopic plate 211, the displacement of the second gear set 261 is converted into rotation under the action of the meshing. Since the third rack 263 is meshed with the second gear set 261, the rotation of the second gear set 261 is transmitted to the third rack 263, so that the third telescopic plate 213 is telescopic. Through the first transmission device and the second transmission device, the first motor 23 can drive the second telescopic plate 212 to perform telescopic movement, and then transmit it to the third telescopic plate 213, so as to realize the telescopic function of the grasping device to adapt to cover plates of different sizes.

[0083] like Figures 1 to 8 As shown, the flipping mechanism includes a flipping frame 31, a second motor 32 and a third motor 33;

[0084] The second motor 32 is disposed at an end of the third telescopic plate 213 away from the transmission shaft 24;

[0085] The third motor 33 is disposed at an end of the second telescopic arm 22 away from the transmission shaft 24;

[0086] One end of the flip frame 31 is connected to the output end of the second motor 32 , and the other end is connected to the output end of the third motor 33 .

[0087] In the embodiment of the utility model, the flipping mechanism can realize the flipping function of the grasping device. The flipping frame 31 can rotate by driving the second motor 32 and the third motor 33. When the second motor 32 and the third motor 33 rotate at the same time, the flipping frame 31 will perform a corresponding flipping action. The coordinated work of the second motor 32 and the third motor 33 can enable the flipping frame to rotate to a predetermined position to adapt to different disassembly and assembly work and improve work efficiency.

[0088] like Figures 1 to 8 As shown, the flip frame 31 is provided with four electromagnets 34 .

[0089] In the embodiment of the utility model, the four electromagnets 34 provide a stable adsorption force during the flipping process of the grasping device. When the grasping device needs to be flipped, the four electromagnets 34 will be activated to generate adsorption force to fix the grasping device on the flipping frame 31. The grasping device will not loosen or slide during the flipping process, thereby ensuring the stability and safety of the flipping and ensuring that the grasping device is firmly fixed on the flipping frame 31 during the flipping process. The operator can perform the flipping operation with confidence without worrying about the grasping device loosening or falling off. At the same time, the adsorption force of the electromagnet can also be adjusted as needed to adapt to objects of different weights and sizes.

[0090] When the automatic grabbing device is in the initial state, the telescopic arm and the flipping mechanism are both in the retracted state, the grabbing device faces the default direction, and detects the position and size of the target container cover through a sensor or a visual system. According to the size of the target container cover, the length of the first telescopic arm is adjusted, and when the first motor 23 rotates, the first gear set 251 is driven to rotate. The first gear set 251 has three gears arranged in sequence; due to the meshing action of the first gear set 251 and the first rack 252, the first rack 252 is driven to perform linear motion; since the first rack 252 is arranged on the side of the second telescopic plate 212 close to the first motor 23, the first gear set 251 driven to rotate by the first motor 23 will cause the linear motion of the second telescopic plate 212, so that the second telescopic plate 212 can be extended or contracted along the length direction of the first telescopic plate 211; since the second gear set 261 is clamped in the second telescopic plate 212, when the second telescopic plate 212 is extended or retracted, the second gear set 261 will move accordingly, due to The second gear set 261 is meshed with the second rack 262 on the first telescopic plate 211, so the displacement of the second gear set 261 is converted into rotation under the action of meshing. Since the third rack 263 is meshed with the second gear set 261, the rotation of the second gear set 261 is transmitted to the third rack 263, so that the third telescopic plate 213 performs telescopic movement to adapt to the length of the target cover plate. Driven by the second motor 32 and the third motor 33, the flip frame 31 can rotate, adjust the direction and angle of the grasping device to align with the target cover plate, activate the four electromagnets 34, generate adsorption force, fix the grasping device on the target cover plate, ensure that the grasping device firmly grasps the cover plate, and continue to drive the rotation of the flip frame to flip the grasped cover plate from the target position to the desired position. After the flip is completed, the adsorption force of the electromagnet is released to place the cover plate in the desired position, and the telescopic arm and the flip mechanism are restored to the initial state to prepare for the next operation, which can improve the efficiency and accuracy of the operation and reduce the need for manual operation.

[0091] The above is a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An automatic grabbing device for automatically disassembling and assembling container cover equipment, It is characterized in that include: Frame; A telescopic mechanism is arranged on the frame; A turning mechanism is arranged on the telescopic mechanism; the frame body comprises a first supporting frame (11), a second supporting frame (12) and a connecting bridge frame (13); The first support frame (11) is connected to the second support frame (12) via a connecting bridge frame (13); the telescopic mechanism comprises a first telescopic arm (21), a second telescopic arm (22) and a first motor (23); The first telescopic arm (21) is arranged on the first supporting frame (11); The second telescopic arm (22) is arranged on the second supporting frame (12); The first telescopic arm (21) and the second telescopic arm (22) are arranged opposite to each other and have the same structure; The first telescopic arm (21) and the second telescopic arm (22) are connected via a transmission shaft (24); The first motor (23) is arranged on the first support frame (11), and the output end of the first motor (23) is connected to the transmission shaft (24); the first telescopic arm (21) comprises a first telescopic plate (211), a second telescopic plate (212) and a third telescopic plate (213); The first telescopic plate (211) is arranged on the first supporting frame (11); The second telescopic plate (212) is connected to the first motor (23) via a first transmission device; The third telescopic plate (213) is connected to the first telescopic plate (211) via a second transmission device; The second telescopic plate (212) is sandwiched between the first telescopic plate (211) and the third telescopic plate (213); A limit baffle (214) is provided at one end of the first telescopic plate (211) away from the first motor (23), and a limit rod (215) matched with the limit baffle (214) is provided at one end of the third telescopic plate (213) close to the first motor (23); the first transmission device comprises a first gear set (251) and a first rack (252); The first gear set (251) is arranged on the first support frame (11) and is connected to the output end of the first motor (23); The first rack (252) is arranged on a side of the second telescopic plate (212) close to the first motor (23); The first gear set (251) is meshed with the first rack (252); the second transmission device comprises a second gear set (261), a second rack (262) and a third rack (263); The second rack (262) is arranged on the first telescopic plate (211); The third rack (263) is arranged on the third telescopic plate (213); The second gear set (261) is clamped in the second telescopic plate (212); The second rack (262) and the third rack (263) are connected via the second gear set (261); the turning mechanism comprises a turning frame (31), a second motor (32) and a third motor (33); The second motor (32) is arranged at an end of the third telescopic plate (213) away from the transmission shaft (24); The third motor (33) is arranged at an end of the second telescopic arm (22) away from the transmission shaft (24); One end of the flip frame (31) is connected to the output end of the second motor (32), and the other end is connected to the output end of the third motor (33); four electromagnets (34) are provided on the flip frame (31).

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