Fixing structure and large cylindrical workpiece loading and unloading device

Abstract

The utility model discloses a fixing structure and a large-scale cylindrical workpiece loading and unloading device, and belongs to the technical field of large-scale cylindrical workpiece loading and unloading, the fixing structure comprises a mechanical arm and a grabbing clamp which are used for carrying goods, and further comprises a grasping mechanism, and the grasping mechanism comprises an auxiliary fixing piece and a matched auxiliary piece. The auxiliary fixing part comprises mounting shells and winding wheels, the mounting shells are fixedly mounted on the two sides of the grabbing clamp, the winding wheels are mounted in the mounting shells in a limiting transmission mode, steel wires are wound around the winding wheels, the matched auxiliary part comprises supporting plates, the supporting plates are connected with the steel wires in a limiting mode, the supporting plates correspond to the two ends of the cylindrical workpiece, and the auxiliary fixing part is used for controlling the steel wires. The two ends of the cylindrical workpiece are fixed by matching with the matching auxiliary parts, the situation that the workpiece is damaged due to the fact that the workpiece slides off when being loaded and unloaded is avoided, the risk that the large cylindrical workpiece slides off in the carrying process is effectively prevented, and meanwhile multi-position and multi-direction adjustment is facilitated by matching with the mechanical arm.

Description

Technical Field

[0001] The utility model relates to the field of loading and unloading large cylindrical workpieces, in particular to a fixing structure and a large cylindrical workpiece loading and unloading device. Background Art

[0002] In factory processing, some large cylindrical workpieces are processed. When processing large cylindrical workpieces, they need to be moved and their angles, positions, etc. need to be adjusted. However, cylindrical workpieces are relatively smooth, and a large force is required to grasp them for transportation. At the same time, the large amplitude of movement during transportation and loading and unloading can easily cause the workpiece to slip, which can easily injure the staff and damage the equipment and workpieces. It is not convenient to fix the cylindrical workpiece through an auxiliary fixing structure to reduce the displacement and tilt of the cylindrical workpiece during transportation. How to invent a fixing structure and a large cylindrical workpiece loading and unloading device to improve these problems has become an urgent problem to be solved by technicians in this field. Utility Model Content

[0003] In order to make up for the above shortcomings, the utility model provides a fixed structure and a large cylindrical workpiece loading and unloading device, aiming to improve the problem that the cylindrical workpiece is relatively smooth, requires a large force to grasp and transport it, and the large amplitude of movement during the transportation process can easily cause the workpiece to slip.

[0004] The utility model is implemented as follows: a fixed structure, including a mechanical arm and a gripper for carrying goods, and also including

[0005] The gripping mechanism includes an auxiliary fixing part and a matching auxiliary part, the auxiliary fixing part includes a mounting shell and a winding wheel, the mounting shell is fixedly mounted on both sides of the gripping clamp, the winding wheel limit transmission is installed inside the mounting shell, a steel wire is wound on the winding wheel, the matching auxiliary part includes a support plate, the support plate is limitedly connected to the steel wire, and the support plate is correspondingly arranged at both ends of the cylindrical workpiece.

[0006] In a preferred technical solution of the present invention, the auxiliary fixing member also includes a transmission disk and a limiting wheel, one side of the transmission disk is connected to the internal limiting rotation of the mounting shell, one side of the limiting wheel is fixedly connected to the transmission disk, the other side of the limiting wheel is fixedly connected to the winding wheel, the other side of the winding wheel is connected to the other inner wall of the mounting shell in a limiting rotation, and one side of the transmission disk is transmission-connected to a servo motor.

[0007] In a preferred technical solution of the utility model, a gear is fixedly mounted on the transmission shaft of the servo motor, teeth are arranged on the outside of the transmission disc, and the transmission disc meshes with the gear on the servo motor.

[0008] In a preferred technical solution of the utility model, the outer portion of the limiting wheel is provided with inclined teeth, one side of the limiting wheel is provided with a limiting rod, and the limiting rod is rotatably mounted with the inner portion of the mounting shell.

[0009] In a preferred technical solution of the utility model, a spring sheet is provided on the upper side of the limit rod, an electric push rod is provided on the bottom side of the limit rod, and the spring sheet and the electric push rod are both installed on the inner wall of the installation shell.

[0010] In a preferred technical solution of the present invention, a limiting tooth is provided on the top of the limiting rod close to the side of the limiting wheel, and when the limiting wheel rotates counterclockwise, the tooth on the top of the limiting rod is locked with it, and a tail protrusion is provided on the outer side of the bottom of the limiting rod, and the tail protrusion is provided corresponding to the output end of the electric push rod.

[0011] In a preferred technical solution of the present utility model, the spring sheet is arranged on the back of the limiting teeth of the limiting rod.

[0012] In a preferred technical solution of the utility model, the mating auxiliary component also includes a wire wheel, a wire outlet through hole is opened on the side of the mounting shell corresponding to the winding wheel, the wire wheel is longitudinally rotatably installed in the wire outlet through hole of the mounting shell, the wire wheel is arranged corresponding to the steel wire, and connecting frames are fixedly installed on both sides of the grabbing clamp, and the steel wire is correspondingly clamped with the connecting frames through a locking buckle.

[0013] In a preferred technical solution of the utility model, a positioning block is fixedly provided on the back of the support plate, a through hole is opened in the axial direction of the positioning block, and a steel wire passes through the through hole of the positioning block.

[0014] In another preferred technical solution of the utility model, a large cylindrical workpiece loading and unloading device includes a fixed structure, the mechanical arm includes a mounting base, an electric turntable and a transmission arm, an electric turntable is arranged in the middle of the transmission arm, and the transmission arm is connected to the gripper transmission through the electric turntable.

[0015] The beneficial effects of the utility model are as follows: the utility model provides a fixed structure and a large cylindrical workpiece loading and unloading device obtained by the above design. When in use, the mechanical arm drives the grasping clamp to move to grab the cylindrical workpiece. After grabbing, the steel wires on both sides are manually pulled, and the steel wires pass through the positioning block. The ends of the steel wires are fixed to the connecting frame by buckles. At this time, the servo motor is controlled to tighten the steel wire and the support plate is placed on the two ends of the cylindrical workpiece. After locking, the cylindrical workpiece is transported and loaded and unloaded. The cylindrical workpiece will not fall when it is displaced or shaken at multiple angles. At the same time, after the steel wire is wound, the spring sheet will push one end of the limit rod to engage with the limit wheel to prevent the steel wire from loosening due to the reversal of the winding wheel. When it is necessary to release the wire, the electric push rod is controlled to press the limit rod downward, so that the upper part of the limit rod is away from the limit wheel to release the locking of the limit wheel, which effectively prevents the risk of large cylindrical workpieces slipping during transportation. At the same time, it is convenient to cooperate with the mechanical arm for multi-position and multi-directional adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram provided by an embodiment of the utility model;

[0018] Figure 2 A schematic diagram of the structure of the mounting base, transmission arm and gripping mechanism provided in the embodiment of the utility model;

[0019] Figure 3 A schematic diagram of the structure of the gripping mechanism provided in the embodiment of the utility model;

[0020] Figure 4 A schematic diagram of the structure of the auxiliary fixing member provided in the embodiment of the utility model;

[0021] Figure 5 A schematic diagram of the structure of some matching auxiliary parts provided in an embodiment of the utility model.

[0022] In the figure: 100-mechanical arm; 110-mounting base; 120-electric turntable; 130-transmission arm; 200-gripping mechanism; 210-gripping clamp; 220-auxiliary fixing member; 221-mounting shell; 222-transmission disk; 223-limiting wheel; 224-winding wheel; 225-limiting rod; 226-spring sheet; 227-electric push rod; 228-servo motor; 230-matching auxiliary member; 231-support plate; 232-positioning block; 233-wire wheel; 234-connecting frame. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figures 1 to 3 The utility model provides a technical solution: a fixed structure, including a mechanical arm 100 and a gripper 210 for carrying goods, and also including

[0025] The gripping mechanism 200 includes an auxiliary fixing member 220 and a matching auxiliary member 230. The auxiliary fixing member 220 includes a mounting shell 221 and a winding wheel 224. The mounting shell 221 is fixedly mounted on both sides of the gripping clamp 210. The winding wheel 224 is limitedly driven and mounted inside the mounting shell 221. A steel wire is wound around the winding wheel 224. The matching auxiliary member 230 includes a support plate 231. The support plate 231 is limitedly connected to the steel wire. The support plate 231 is correspondingly arranged at both ends of the cylindrical workpiece. The auxiliary fixing member 220 is used to control the steel wire, and cooperates with the matching auxiliary member 230 to fix the two ends of the cylindrical workpiece. It is placed in a position where the workpiece slips during loading and unloading, causing damage to the workpiece.

[0026] See also Figure 3 and Figure 4 The auxiliary fixing member 220 also includes a transmission disk 222 and a limiting wheel 223. One side of the transmission disk 222 is connected to the internal limiting rotation of the mounting shell 221, one side of the limiting wheel 223 is fixedly connected to the transmission disk 222, the other side of the limiting wheel 223 is fixedly connected to the winding wheel 224, the other side of the winding wheel 224 is connected to the other inner wall of the mounting shell 221, one side of the transmission disk 222 is connected to the servo motor 228, the servo motor 228 drives the transmission disk 222 to drive the winding wheel 224 to reel in the wire.

[0027] A gear is fixedly mounted on the transmission shaft of the servo motor 228, and teeth are arranged on the outside of the transmission disk 222, which meshes with the gear on the servo motor 228. Inclined teeth are arranged on the outside of the limiting wheel 223, and a limiting rod 225 is arranged on one side of the limiting wheel 223 for limiting rotation, and the limiting rod 225 is installed with the inner limiting rotation of the mounting shell 221, and the limiting rod 225 is used to limit the rotation of the limiting wheel 223 to prevent the winding wheel 224 from rotating at will. A spring sheet 226 is arranged on the upper side of the limiting rod 225, and an electric push rod 227 is arranged on the bottom side of the limiting rod 225, and the spring sheet 226 and the electric push rod 227 are both installed on the inner wall of the mounting shell 221, and the spring sheet 226 is used to push the limiting rod 225 so that the limiting rod 225 and the limiting wheel 223 are kept meshed, which is used to prevent the winding wheel 224 from reversing.

[0028] A limiting tooth is provided on the top of the limiting rod 225 near the limiting wheel 223. When the limiting wheel 223 rotates counterclockwise, the tooth on the top of the limiting rod 225 is locked with it. A tail bump is provided on the outer side of the bottom of the limiting rod 225. The tail bump is provided corresponding to the output end of the electric push rod 227. A spring sheet 226 is provided on the back of the limiting tooth of the limiting rod 225. When the winding wheel 224 needs to rotate, the electric push rod 227 is controlled to press down and squeeze the limiting rod 225 so that the limiting rod 225 is away from the limiting wheel 223 to release the locking of the limiting wheel 223.

[0029] See also Figures 3 to 5 The auxiliary member 230 also includes a wire wheel 233. A wire outlet through hole is provided on one side of the mounting shell 221 corresponding to the winding wheel 224. The wire wheel 233 is longitudinally rotatably installed in the wire outlet through hole of the mounting shell 221. The wire wheel 233 is arranged corresponding to the steel wire. A connection frame 234 is fixedly installed on both sides of the gripper 210. The steel wire is correspondingly connected to the connection frame 234 through a lock buckle. Both ends of the steel wire are fixed. The middle part of the steel wire cooperates with the support plate 231 to squeeze and position the two ends of the workpiece. A positioning block 232 is fixedly provided on the back of the support plate 231. A through hole is provided in the axial direction of the positioning block 232. The steel wire passes through the through hole of the positioning block 232 to facilitate the penetration of the steel wire.

[0030] See also Figure 2 The robot arm 100 includes a mounting base 110, an electric turntable 120 and a transmission arm 130. The electric turntable 120 is arranged in the middle of the transmission arm 130. The transmission arm 130 is connected to the gripper 210 through the electric turntable 120. The electric turntable 120 and the transmission arm 130 cooperate with each other to facilitate multi-directional and multi-position adjustment and transportation of the workpiece.

[0031] Working principle: Control the robot arm 100 to operate, and the robot arm 100 drives the gripper 210 to move to grab the cylindrical workpiece. After grabbing, the steel wires on both sides are manually pulled, and the steel wires pass through the positioning block 232. The ends of the steel wires are fixed to the connecting frame 234 through buckles. At this time, the servo motor 228 is controlled to tighten the steel wire and place the support plate 231 on both ends of the cylindrical workpiece. After locking, the cylindrical workpiece is transported. The cylindrical workpiece will not fall when it is displaced or shaken at multiple angles. At the same time, after the steel wire is wound, the spring sheet 226 will push one end of the limit rod 225 to engage with the limit wheel 223 to prevent the steel wire from loosening due to the reversal of the winding wheel 224. When it is necessary to release the wire, control the electric push rod 227 to press the limit rod 225 downward, so that the upper part of the limit rod 225 is away from the limit wheel 223 to release the lock of the limit wheel 223.

[0032] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A fixed structure comprising a mechanical arm and a gripper for handling goods, characterized in that: Also includes The gripping mechanism includes an auxiliary fixing part and a matching auxiliary part, the auxiliary fixing part includes a mounting shell and a winding wheel, the mounting shell is fixedly mounted on both sides of the gripping clamp, the winding wheel limit transmission is installed inside the mounting shell, a steel wire is wound on the winding wheel, the matching auxiliary part includes a support plate, the support plate is limitedly connected to the steel wire, and the support plate is correspondingly arranged at both ends of the cylindrical workpiece.

2. A fixing structure according to claim 1, characterized in that: The auxiliary fixing member also includes a transmission disk and a limiting wheel, one side of the transmission disk is connected to the internal limiting rotation of the mounting shell, one side of the limiting wheel is fixedly connected to the transmission disk, the other side of the limiting wheel is fixedly connected to the winding wheel, the other side of the winding wheel is connected to the other inner wall of the mounting shell in a limiting rotation, and one side of the transmission disk is transmission-connected to a servo motor.

3. A fixing structure according to claim 2, characterized in that: A gear is fixedly mounted on the transmission shaft of the servo motor, teeth are arranged on the outside of the transmission disc, and the transmission disc meshes with the gear on the servo motor.

4. A fixing structure according to claim 2, characterized in that: The outer portion of the limiting wheel is provided with inclined teeth, and a limiting rod is provided on one side of the limiting wheel for limiting rotation. The limiting rod is rotatably installed with the inner portion of the mounting shell for limiting rotation.

5. A fixing structure according to claim 4, characterized in that: A spring sheet is arranged on one side above the limiting rod, and an electric push rod is arranged on one side below the limiting rod. Both the spring sheet and the electric push rod are mounted on the inner wall of the mounting shell.

6. A fixing structure according to claim 5, characterized in that: A limiting tooth is provided on one side of the top of the limiting rod close to the limiting wheel. When the limiting wheel rotates counterclockwise, the tooth on the top of the limiting rod is locked with it. A tail bump is provided on the outer side of the bottom of the limiting rod, and the tail bump is provided corresponding to the output end of the electric push rod.

7. A fixing structure according to claim 5, characterized in that: The spring sheet is arranged on the back of the limiting teeth of the limiting rod.

8. A fixing structure according to claim 1, characterized in that: The mating auxiliary part also includes a wire wheel, a wire outlet through hole is opened on the side of the mounting shell corresponding to the winding wheel, the wire wheel is longitudinally rotatably installed in the wire outlet through hole of the mounting shell, the wire wheel is arranged corresponding to the steel wire, and connecting frames are fixedly installed on both sides of the grabbing clamp, and the steel wire is correspondingly clamped with the connecting frames through a lock buckle.

9. A fixing structure according to claim 8, characterized in that: A positioning block is fixedly arranged on the back of the support plate, a through hole is opened in the axial direction of the positioning block, and a steel wire passes through the through hole of the positioning block.

10. A large cylindrical workpiece loading and unloading device, comprising a fixing structure according to any one of claims 1 to 9, characterized in that: The mechanical arm comprises a mounting base, an electric turntable and a transmission arm. The middle part of the transmission arm is provided with an electric turntable, and the transmission arm is transmission-connected with the gripper through the electric turntable.

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