Grabbing mechanism and grabbing device

Abstract

The utility model relates to the technical field of stemming taking and placing, in particular to a grabbing mechanism and a grabbing device. Comprising taking and placing parts used for grabbing and releasing stemming and a driving motor used for driving the taking and placing parts to rotate forwards and backwards, the driving motor drives the multiple taking and placing parts to rotate through a linkage piece, the driving motor is arranged on the upper side of a driving cavity, and a motor shaft of the driving motor extends downwards into the driving cavity to be in key connection with a driving gear; the driving shaft is rotationally matched in the driving cavity; the lower side of the driving shaft extends out of the driving cavity to be connected with the taking and placing part. A driven gear is arranged on the driving shaft; the driving gear is matched with the driven gear; the stemming clamping device solves the technical problem of how to accurately clamp stemming.

Description

Technical Field

[0001] The utility model relates to the technical field of taking and placing cannon mud, and in particular to a grabbing mechanism and a grabbing device. Background Art

[0002] Cannon clay is a refractory material used to seal the iron outlet in the metallurgical process. Cannon clay is piled in the cannon clay box on the iron outlet platform. Before the mud cannon needs to block the iron outlet, workers need to fill the cannon clay piece by piece into the mud cannon, 40 to 50 pieces of mud each time, each piece weighing 7 to 10 kg, which is extremely labor-intensive.

[0003] A Chinese patent with authorization announcement number CN212330370U discloses a hydraulic mud gun cylinder processing fixture, which realizes the clamping and placement of gun mud by setting a clamping plate that opens and closes.

[0004] The existing gun mud is piled up in a messy gun mud box, such as Figure 1 As shown, the above-mentioned equipment requires sufficient space for movement when picking up, placing and clamping. When the clamp is clamping, the surrounding gun mud will interfere with the gun mud to be clamped, resulting in inaccurate clamping.

[0005] Therefore, the problem existing in the prior art is: how to accurately clamp the taphole mud. Utility Model Content

[0006] The utility model provides a grabbing mechanism and a grabbing device, aiming to solve the technical problem of how to achieve accurate clamping of cannon mud.

[0007] The technical solution used in this utility model is as follows:

[0008] The first aspect of the present application proposes a gripping mechanism, including a pick-up and release part for grabbing and releasing gun mud and a driving motor for driving the pick-up and release part to rotate forward and reversely, the driving motor drives a plurality of pick-up and release parts to rotate through a linkage, the driving motor is arranged on the upper side of a driving cavity, the motor shaft of the driving motor extends downward into the interior of the driving cavity and is connected to a driving gear key; the driving shaft rotates and cooperates in the driving cavity; the lower side of the driving shaft extends out of the driving cavity and is connected to the pick-up and release part; a driven gear is provided on the driving shaft; the driving gear cooperates with the driven gear.

[0009] Furthermore, a drive shaft channel is provided at the lower side of the drive cavity, and the drive shaft is rotatably fitted in the drive shaft channel.

[0010] Furthermore, the driving gears are in contact with each other.

[0011] Furthermore, the driving gears are matched with each other in a non-contact manner.

[0012] Furthermore, the driving gear and the driven gear adopt the existing pulley structure and are connected through a synchronous belt transmission.

[0013] Furthermore, the pick-and-place portion is an inwardly concave pick-and-place portion, and a spiral groove is formed on the drill rod of the pick-and-place portion.

[0014] Furthermore, the pick-and-place part adopts an outward convex pick-and-place part, and a spiral plate with an external spiral structure is arranged on the drill rod of the pick-and-place part.

[0015] Furthermore, the pick-and-place portion adopts a spiral column structure.

[0016] Furthermore, a downward pressure cylinder is provided on the driving chamber, and a downward pressure part is provided on the pushing head of the downward pressure cylinder; the downward pressure part is used for pressing the cannon mud into the cannon mud filling port.

[0017] Furthermore, four mounting columns are vertically provided on the upper side of the driving cavity, and mounting plates are provided on the upper ends of the mounting columns.

[0018] In a second aspect, the present application proposes a gripping device, comprising a gripping mechanism of any one of the above-mentioned embodiments, and also comprising a moving mechanism, wherein the gripping mechanism is connected to an execution end of the moving mechanism, and the moving mechanism is used to drive the gripping mechanism to move in six-axis directions.

[0019] The beneficial effects achieved by the utility model are:

[0020] 1. Through the synchronous rotation and downward movement of several pick-up and place parts, the pick-up and place parts are engaged and embedded in the cannon clay, and the interaction between the spiral structure of the pick-up and place parts and the cannon clay lifts the cannon clay; compared with the existing cannon clay transfer device with an opening and closing structure, no additional movement space is required, and the cannon clay can be accurately clamped and grasped in a cannon clay box where the cannon clay is piled up in a messy manner;

[0021] 2. Use a single driving source to drive multiple pick-and-place parts to rotate synchronously to achieve rapid grabbing of cannon mud. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the action of the existing cannon mud grabbing structure.

[0023] Figure 2 It is a structural schematic diagram of the grabbing mechanism of the utility model.

[0024] Figure 3 It is a schematic diagram of the internal structure of the driving chamber of the utility model.

[0025] Figure 4 It is a schematic diagram of the drive shaft structure of the utility model.

[0026] Figure 5 It is a schematic diagram of the cooperation between the driving gear and the driven gear of the utility model.

[0027] Figure 6 This is a schematic diagram of the structure of the pick-up and place part of the utility model Figure 1 .

[0028] Figure 7 This is a schematic diagram of the structure of the pick-up and place part of the utility model Figure 2 .

[0029] Figure 8 This is a schematic diagram of the structure of the pick-up and place part of the utility model Figure 3 .

[0030] Fig. 9 It is a schematic diagram of the position of the downward pressure cylinder and the downward pressure part of the utility model.

[0031] Fig.10 It is a schematic diagram of the structure of the mounting plate of the utility model.

[0032] Fig.11 This is a schematic diagram of the structure of the grabbing device of the utility model. Figure 1 .

[0033] Fig.12 This is a schematic diagram of the structure of the grabbing device of the utility model. Figure 2 .

[0034] In the figure, 1. pick-and-place part; 2. drive motor; 3. drive chamber; 4. driving gear; 5. drive shaft channel; 6. drive shaft; 7. driven gear; 8. anti-slip plate; 9. synchronous belt; 10. spiral groove; 11. spiral plate; 12. spiral column; 13. mounting plate; 14. mounting column; 15. moving mechanism; 16. downward pressure cylinder; 17. downward pressure part. DETAILED DESCRIPTION

[0035] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two components; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0037] Embodiment 1

[0038] like Figure 2 As shown, the utility model provides a grabbing mechanism, including a pick-up and release part 1 for grabbing and releasing cannon mud and a driving motor 2 for driving the pick-up and release part 1 to rotate forward and reversely, and the driving motor 2 drives the pick-up and release parts 1 to rotate through a linkage; Figure 3As shown, the linkage comprises a driving cavity 3 of a square cavity structure, a driving motor 2 is arranged on the upper side of the driving cavity 3, a motor shaft of the driving motor 2 extends downward into the interior of the driving cavity 3 and is key-connected with a driving gear 4; four driving shaft channels 5 (several, four are used as an example in this embodiment) are arranged on the lower side of the driving cavity 3, a driving shaft 6 is rotatably matched in the driving cavity 3; a driving shaft channel 5 extends from the lower side of the driving shaft 6 and is connected to the pick-and-place portion 1; a driven gear 7 is arranged on the driving shaft 6; the driving gear 4 cooperates with the driven gear 7; as shown in FIG. Figure 4 As shown, the drive shaft 6 is provided with an anti-slip plate 8 to prevent the drive shaft 6 from slipping out of the drive shaft channel 5; the drive motor 2 rotates forward and reversely to drive the four pick-up and placement parts 1 to rotate forward and reverse, and the pick-up and placement parts 1 rotate in and out of the gun mud to achieve rapid grasping and release of the gun mud; through the synchronous rotation and downward movement of several pick-up and placement parts 1, the pick-up and placement parts 1 are engaged and embedded in the gun mud, and the interaction between the spiral structure of the pick-up and placement parts 1 and the gun mud lifts the gun mud; compared with the existing gun mud transfer device with an opening and closing structure, no additional movement space is required, and the gun mud can be accurately clamped and grasped in a gun mud box where the gun mud is cluttered.

[0039] The driving gear 4 cooperates with the driven gear 7, and the driven gear 7 is driven to rotate by the driving gear 4. Figure 5 As shown, one implementation mode is that the driving gear 4 is in contact with the driving gear 4, that is, the driving gear 4 is meshed with the driven gear 7, which has higher transmission efficiency, is suitable for transmitting larger torque and power, and has a constant transmission ratio and high precision; the second implementation mode is that the driving gear 4 is non-contact with the driving gear 4, the driving gear 4 and the driven gear 7 adopt the existing pulley structure and are connected by the synchronous belt 9; the non-contact cooperation of the synchronous belt 9 realizes long-distance transmission.

[0040] The pick-and-place part 1 is rotated in and out of the taphole mud to realize the rapid grabbing and releasing of the taphole mud. Figure 6 As shown in the figure, the first embodiment of the pick-and-place part 1 adopts an inwardly concave pick-and-place part 1, and a spiral groove 10 is formed on the drill rod of the pick-and-place part 1; the pick-and-place part 1 is spirally screwed into the cannon mud, and the spiral groove 10 interacts with the cannon mud, thereby increasing the gripping force of the pick-and-place part 1; when the cannon mud needs to be put down, the pick-and-place part 1 only needs to be rotated in the opposite direction at the same time, so that the spiral groove 10 of the pick-and-place part 1 can be quickly separated from the cannon mud, thereby putting down the cannon mud; as shown in FIG. Figure 7 As shown, the second embodiment of the pick-and-place part 1 adopts an outward convex pick-and-place part 1, a spiral plate 11 with an external spiral structure is arranged on the drill rod of the pick-and-place part 1, the pick-and-place part 1 is spirally screwed into the cannon mud, and the spiral plate 11 interacts with the cannon mud; the cannon mud will harden after long-term storage or low temperature, so the strength of the pick-and-place part 1 must be ensured; the spiral plate 11 on the outer side of the pick-and-place part 1 can adopt a conical structure, which combines the spiral structure and the conical structure; the spiral structure is used for screwing in and out; the conical structure is used to overcome the strength of the cannon mud and improve the rigidity of the overall pick-and-place part 1; as shown Figure 8 As shown, the third embodiment of the pick-up and placement part 1 adopts a spiral column 12 structure; the spiral column 12 is screwed into the cannon clay, and the gripping is achieved through the interaction between the spiral groove 10 and the cannon clay. Although the structural strength of the spiral column 12 is relatively low, its special structure makes it difficult for the cannon clay to stick to the pick-up and placement part 1.

[0041] The taphole mud filling port of the mud bubble machine is a 20x27cm square inlet structure with a small inlet size. When the taphole mud is lowered, it may be blocked at the taphole mud filling port due to its posture. In order to solve this problem, Fig. 9 As shown, a downward pressure cylinder 16 is vertically provided on the lower side of the driving chamber 3, and a downward pressure portion 17 is provided on the pushing head of the downward pressure cylinder 16; when the gun mud blocks the gun mud filling port, the downward pressure cylinder 16 extends, and the downward pressure portion 17 exceeds the lower end surface of the pick-up and placement portion 1, contacts the gun mud and presses downward into the gun mud filling port, thereby solving the problem of the gun mud filling port being blocked; of course, the downward pressure cylinder 16 can also be arranged at the side of the driving chamber 3, and the downward pressure cylinder 16 and the pick-up and placement portion 1 are straight and intersecting at an angle of 90 degrees. The device is arranged in a wrong manner, so that after the pick-up and placement part 1 transfers the gun mud to the gun mud filling port, if it is blocked, the device can be flipped 90 degrees by adjusting the posture, so that the downward pressure cylinder 16 is opposite to the gun mud filling port, thereby solving the problem of blockage of the gun mud filling port; or the downward pressure cylinder 16 is fixed to the driving chamber 3 through a mounting part, and the downward pressure cylinder 16 and the pick-up and placement part 1 are staggered at any angle. When the pick-up and placement part 1 performs an action, the downward pressure cylinder 16 and the downward pressure part 17 will not interfere with the mud bubble machine.

[0042] Considering the installation issues of the gripping mechanism and external mobile devices, such as Fig.10 As shown, four mounting columns 14 are vertically provided on the upper side of the driving cavity 3 , and a mounting plate 13 is provided at the upper end of the mounting column 14 , and the mounting plate 13 is used to be connected to the moving device.

[0043] Embodiment 2

[0044] like Figure 11-12 As shown, the second aspect of the present application proposes a grasping device, including the grasping mechanism of the above-mentioned embodiment, and also including a moving mechanism 15. The grasping mechanism is connected to the execution end of the moving mechanism 15. The moving mechanism 15 is used to drive the grasping mechanism to move in the six-axis direction. The moving mechanism 15 can be any type of mechanical arm and a gripping robot, or it can be other devices that drive the grasping mechanism to move in the six-axis direction.

[0045] If the fixing method is not separately introduced above, the general technical means used by technicians in the industry are used, such as welding, nesting, or threaded fixing.

[0046] The following points need to be explained:

[0047] (1) The drawings of the embodiments of the present utility model only relate to the structures related to the embodiments of the present utility model, and other structures may refer to the conventional designs.

[0048] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is enlarged or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be an intermediate element.

[0049] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0050] The above are only specific implementation methods of the present utility model, but the protection scope of the present utility model is not limited thereto. The protection scope of the present utility model shall be based on the protection scope of the claims.

Claims

1. A gripping mechanism, characterized in that: The invention comprises a pick-up and release part (1) for grabbing and releasing cannon mud and a driving motor (2) for driving the pick-up and release part (1) to rotate forward and reversely. The driving motor (2) drives a plurality of pick-up and release parts (1) to rotate through a linkage. The driving motor (2) is arranged on the upper side of a driving cavity (3). The motor shaft of the driving motor (2) extends downward into the interior of the driving cavity (3) and is key-connected with a driving gear (4). The driving shaft (6) is rotationally engaged in the driving cavity (3). The lower side of the driving shaft (6) extends out of the driving cavity (3) and is connected with the pick-up and release part (1). A driven gear (7) is arranged on the driving shaft (6). The driving gear (4) cooperates with the driven gear (7).

2. A gripping mechanism according to claim 1, characterized in that: A drive shaft channel (5) is provided on the lower side of the drive cavity (3), and a drive shaft (6) is rotatably fitted in the drive shaft channel (5).

3. A gripping mechanism according to claim 1, characterized in that: The driving gear (4) is in contact with and fits with the driving gear (4).

4. A gripping mechanism according to claim 1, characterized in that: The driving gear (4) is matched with the driving gear (4) in a non-contact manner.

5. A gripping mechanism according to claim 1, characterized in that: The pick-and-place portion (1) is an inwardly concave pick-and-place portion (1), and a spiral groove (10) is formed on the drill rod of the pick-and-place portion (1).

6. A gripping mechanism according to claim 1, characterized in that: The pick-and-place part (1) is an outwardly convex pick-and-place part (1), and a spiral plate (11) with an external spiral structure is arranged on the drill rod of the pick-and-place part (1).

7. A gripping mechanism according to claim 1, characterized in that: The taking and placing portion (1) adopts a spiral column (12) structure.

8. A gripping mechanism according to claim 1, characterized in that: Four mounting columns (14) are vertically arranged on the upper side of the driving cavity (3), and mounting plates (13) are arranged at the upper ends of the mounting columns (14).

9. A gripping mechanism according to claim 1, characterized in that: The driving chamber (3) is provided with a downward pressing cylinder (16), and a downward pressing portion (17) is provided on the pushing head of the downward pressing cylinder (16); the downward pressing portion (17) is used to press the cannon mud into the cannon mud filling port.

10. A gripping device, characterized in that: It comprises the grasping mechanism as claimed in claim 1, and also comprises a moving mechanism (15), the grasping mechanism is connected to the execution end of the moving mechanism (15), and the moving mechanism (15) is used to drive the grasping mechanism to move in six-axis directions.

Images