Gripping device for strip-shaped asbestos

Abstract

The grabbing device comprises a linear installation beam connected to the tail end of a mechanical arm, and clamping devices installed at the two ends and the middle of the lower side of the linear installation beam can clamp the two ends and the middle of the strip-shaped asbestos respectively. The length direction of the linear mounting beam is set as the x direction, and the direction perpendicular to the x direction is set as the y direction; the clamp holders at the two ends of the lower side of the linear mounting beam are marked as a clamp holder and c clamp holder respectively, and the clamp holder in the middle of the lower side of the linear mounting beam is marked as b clamp holder; the clamping device a and the clamping device c can move in the x direction, and the clamping device b can move in the y direction; according to the clamping structure, the strip-shaped asbestos can be smoothly grabbed, the two ends and the middle of the strip-shaped asbestos are clamped, the two ends of the asbestos strip are grabbed in a twisting mode, and the grabbed asbestos strip is changed into a linear shape.

Description

Technical Field

[0001] The utility model belongs to the field of clamp holding. Background Art

[0002] In industry, strip asbestos can be used to separate two stacked components being heated and dried under a continuous high temperature environment, so as to form a gap between the two components, thereby enhancing the uniformity of heating. It can be used in the field of drying honeycomb denitration catalysts. When drying stacked honeycomb denitration catalysts, two adjacent layers can be separated by a number of straight asbestos strips.

[0003] As asbestos itself is a harmful substance, it is not convenient to manually transfer and arrange asbestos strips one by one. Therefore, a robot is required to grasp and transfer the asbestos strips during the arrangement process. The process requirement for grasping the asbestos strips is to grasp the strips in a straight line. Since the asbestos strips themselves have a non-rigid structure, the target asbestos strips may not be in a regular straight line before being grasped by the robot, but may be slightly bent to a certain extent, such as Figure 2 As shown, if you only grab the middle part of the asbestos strip, the asbestos strip will fall due to the gravity at both ends. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the utility model provides a device for grabbing strip asbestos, which can smoothly grab strip asbestos and transform the grabbed asbestos strip into a straight shape.

[0005] Technical solution: To achieve the above purpose, the utility model provides a strip asbestos grabbing device, comprising a linear mounting beam connected to the end of a mechanical arm, and clamps installed at both ends and the middle of the lower side of the linear mounting beam can respectively clamp the two ends and the middle of the strip asbestos;

[0006] Assume that the length direction along the straight mounting beam is the x direction, and the direction perpendicular to the x direction is the y direction; the clamps at both ends of the lower side of the straight mounting beam are respectively denoted as clamp a and clamp c, and the clamp in the middle of the lower side of the straight mounting beam is denoted as clamp b; clamp a and clamp c can actively displace along the x direction, and clamp b can actively displace along the y direction.

[0007] Furthermore, two a-shaped asbestos torsion restraining plates are arranged between the a clamp and the b clamp, perpendicular to the y direction and spaced apart.

[0008] Furthermore, two b-shaped asbestos torsion restraining plates are arranged between the b clamp and the c clamp, perpendicular to the y direction and spaced apart from each other.

[0009] Furthermore, a linear guide rail a and a linear guide rail c extending along the x direction are respectively arranged at both ends of the lower side of the linear mounting beam; a linear guide rail b extending along the y direction is arranged in the middle of the lower side of the linear mounting beam;

[0010] The a linear guide rail and the c linear guide rail are respectively provided with an a screw slider and a c screw slider which can be displaced along the x direction, and the b linear guide rail is provided with a b screw slider which can be displaced along the y direction; the a clamp, the b clamp and the c clamp are respectively fixed on the lower sides of the a screw slider, the b screw slider and the c screw slider.

[0011] Furthermore, the lower sides of the a clamp, the b clamp and the c clamp are respectively a pair of a clamping pieces, a pair of b clamping pieces and a pair of c clamping pieces capable of performing clamping actions.

[0012] Furthermore, when the screw rod slider a and the screw rod slider c are away from each other, the distance between the pair of a clamping pieces and the pair of c clamping pieces is greater than the length of the strip asbestos in a straight state.

[0013] Beneficial effects: The clamping structure of the utility model can smoothly grasp the strip asbestos, and clamp the two ends and the middle of the strip asbestos, grasp the two ends of the asbestos strip by twisting, and change the grasped asbestos strip into a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 This is a schematic diagram of the structure of this scheme;

[0015] Attached Figure 2 This is a schematic diagram of a strip of asbestos that is clamped in the middle and where both the left end and the right end of the strip of asbestos deviate too much from the virtual center line. DETAILED DESCRIPTION

[0016] The utility model is further described below in conjunction with the accompanying drawings.

[0017] As attached Figure 1 and 2 The device for grasping strip asbestos shown in the figure comprises a straight mounting beam 7 connected to the end of a mechanical arm 60, and clamps installed at both ends and the middle of the lower side of the straight mounting beam 7 can clamp the two ends and the middle of the strip asbestos 11 respectively; the length direction along the straight mounting beam 7 is assumed to be the x direction, and the direction perpendicular to the x direction is assumed to be the y direction; the clamps at both ends of the lower side of the straight mounting beam 7 are respectively denoted as a clamp 4.1 and c clamp 4.3, and the clamp in the middle of the lower side of the straight mounting beam 7 is denoted as b clamp 4.2; the a clamp 4.1 and the c clamp 4.3 can actively displace along the x direction, and the b clamp 4.2 can actively displace along the y direction.

[0018] Two a-shaped asbestos torsion restraint plates 5.1 are arranged between the a clamp 4.1 and the b clamp 4.2, which are perpendicular to the y direction and spaced apart; two b-shaped asbestos torsion restraint plates 5.2 are arranged between the b clamp 4.2 and the c clamp 4.3, which are perpendicular to the y direction and spaced apart; a linear guide rail a 8.1 and a c linear guide rail 8.3 extending along the x direction are arranged at both ends of the lower side of the linear mounting beam 7, respectively; a b linear guide rail 8.2 extending along the y direction is arranged in the middle of the lower side of the linear mounting beam 7.

[0019] The a linear guide rail 8.1 and the c linear guide rail 8.3 are respectively provided with an a screw slider 1 and a c screw slider 3 that can be displaced along the x direction, and the b linear guide rail 8.2 is provided with a b screw slider 2 that can be displaced along the y direction; the a clamp 4.1, the b clamp 4.2 and the c clamp 4.3 are respectively fixed on the lower sides of the a screw slider 1, the b screw slider 2 and the c screw slider 3; the lower sides of the a clamp 4.1, the b clamp 4.2 and the c clamp 4.3 are respectively a pair of a clamping pieces 6.1, a pair of b clamping pieces 6.2 and a pair of c clamping pieces 6.3 that can perform clamping actions; when the a screw slider 1 and the c screw slider 3 are away from each other, the distance between the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 is greater than the length of the strip asbestos 11 in a straight state.

[0020] The specific working principle of clamping a strip of asbestos 11 and straightening it:

[0021] A virtual center line 10 is set, and the virtual center line 10 coincides with the symmetry line of the two a-shaped asbestos torsion restraining plates 5.1 or the symmetry line of the two b-shaped asbestos torsion restraining plates 5.2;

[0022] Before clamping the strip asbestos 11, the a screw slider 1 and the c screw slider 3 are in a state of being away from each other. At this time, the distance between the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 is greater than the length of the strip asbestos 11 in a straight state, and the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 are both in an open state; the mechanical arm 60 drives the linear mounting beam 7 to move, so that the pair of b clamping pieces 6.2 perform a clamping action and first clamp the middle part of the strip asbestos 11. Since the strip asbestos 11 may not be a regular straight line at this time, but is in a certain degree of bending, such as Figure 2 As shown, the left end 11.1 and the right end 11.2 of the asbestos strip 11 clamped in the middle deviate too much from the virtual center line 10 in the y direction, causing the left end 11.1 and the right end 11.2 of the asbestos strip to deviate from the clamping interval of the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 respectively. Even if the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 move closer to each other, they cannot clamp the left end 11.1 and the right end 11.2 of the asbestos strip;

[0023] At this time, the b screw slider 2 is controlled to move back and forth along the y direction, so that the clamped middle part of the strip asbestos 11 is slowly twisted back and forth along the y direction. Under the constraints of the two a strip asbestos twisting constraint plates 5.1 and the two b strip asbestos twisting constraint plates 5.2, the back and forth twisting of the middle part of the strip asbestos 11 along the y direction is immediately transmitted to the left end 11.1 of the strip asbestos and the right end 11.2 of the strip asbestos, so that the left end 11.1 of the strip asbestos and the right end 11.2 of the strip asbestos also follow the back and forth twisting swing relative to the virtual center line 10 along the y direction. During the process of the left end 11.1 of the strip asbestos and the right end 11.2 of the strip asbestos slowly twisting back and forth along the y direction, when the left end 11.1 of the strip asbestos is twisted back and forth along the y direction, When the left end 11.1 and the right end 11.2 of the strip asbestos reach the clamping interval of a pair of a clamping pieces 6.1 and a pair of c clamping pieces 6.3 respectively, the b screw slider 2 is paused; then the a screw slider 1 and the c screw slider 3 are controlled to move closer to each other and then perform a clamping action, so that the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 clamp the left end 11.1 and the right end 11.2 of the strip asbestos respectively; finally, the a screw slider 1 and the c screw slider 3 are controlled to move away from each other, so that the pair of a clamping pieces 6.1 and the pair of c clamping pieces 6.3 in the clamping state move away from each other, and then the bent strip asbestos 11 is pulled into a straight line that meets the requirements.

[0024] The above is only 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 principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A device for grabbing strip asbestos, characterized in that: It includes a linear mounting beam connected to the end of the mechanical arm, and clamps installed at both ends and the middle of the lower side of the linear mounting beam can clamp the two ends and the middle of the strip asbestos respectively; Assume that the length direction along the straight mounting beam is the x direction, and the direction perpendicular to the x direction is the y direction; the clamps at both ends of the lower side of the straight mounting beam are respectively denoted as clamp a and clamp c, and the clamp in the middle of the lower side of the straight mounting beam is denoted as clamp b; clamp a and clamp c can actively displace along the x direction, and clamp b can actively displace along the y direction.

2. The grabbing device for strip asbestos according to claim 1, characterized in that: Two a-shaped asbestos torsion restraining plates are arranged between the a clamp and the b clamp, perpendicular to the y direction and spaced apart.

3. The grabbing device for strip asbestos according to claim 2, characterized in that: Two b-shaped asbestos torsion restraining plates are arranged between the b clamp and the c clamp, perpendicular to the y direction and spaced apart from each other.

4. The grabbing device for strip asbestos according to claim 3, characterized in that: The two ends of the lower side of the linear installation beam are respectively provided with a linear guide rail a and a linear guide rail c extending along the x direction; the middle part of the lower side of the linear installation beam is provided with a linear guide rail b extending along the y direction; The a linear guide rail and the c linear guide rail are respectively provided with an a screw slider and a c screw slider which can be displaced along the x direction, and the b linear guide rail is provided with a b screw slider which can be displaced along the y direction; the a clamp, the b clamp and the c clamp are respectively fixed on the lower sides of the a screw slider, the b screw slider and the c screw slider.

5. The grabbing device for strip asbestos according to claim 4, characterized in that: The lower sides of the a clamp, the b clamp and the c clamp are respectively a pair of a clamping pieces, a pair of b clamping pieces and a pair of c clamping pieces that can perform clamping actions.

6. The grabbing device for strip asbestos according to claim 5, characterized in that: When the a screw slider and the c screw slider are away from each other, the distance between the pair of a clamping pieces and the pair of c clamping pieces is greater than the length of the strip asbestos in a straight state.

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