Steel scrap grabbing manipulator

Abstract

The utility model relates to a steel scrap grabbing manipulator, and belongs to the technical field of manipulators, the steel scrap grabbing manipulator comprises a mounting frame and a claw part connected to the mounting frame, the claw part comprises a first bending plate, a second bending plate and a third bending plate which are hinged to one another, and a connecting structure is further arranged outside the claw part; the connecting structure comprises a triangular plate rotationally installed between the first bent plate and the second bent plate. According to the steel scrap grabbing manipulator, the grabbing part formed by continuously hinging a first bending plate, a second bending plate and a third bending plate is arranged, and a triangular plate, an extrusion rod and a traction rod are connected to assist linkage of the first bending plate and the third bending plate, so that synchronous control over a multi-section structure can be achieved only through one driving source; and in addition, the electromagnet is arranged to assist in adsorbing small scrap iron, the grabbing efficiency of the manipulator is improved, and the practicability of the device is improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a steel waste grabbing manipulator. Background Art

[0002] The scrap steel manipulator is a mechanical device used to handle and move scrap steel materials. It usually consists of a robotic arm, a clamp and a control system, which can transfer scrap steel materials from one location to another, thereby improving production efficiency and reducing labor costs.

[0003] The robot is widely used in the scrap steel recycling and reuse industry. After searching the utility model with the announcement number CN209812356U, a scrap steel grabbing robot is found, comprising a first support plate, a first groove is arranged on the top central outer wall of the first support plate, and the circumferential inner wall of the first groove is connected to a vertically arranged second support column through a bearing, and the circumferential middle outer wall of the second support column is connected to an annular support block through a bearing sleeve, and the top outer wall of one side of the circumference of the second support column is connected to two adjacent horizontally arranged support rods by bolts, and the outer walls of the other ends of the two support rods are both connected to the same vertically arranged rotating motor by bolts. The utility model proposes a scrap steel grabbing robot, which is provided with a rotating motor, and the rotating motor can drive the transmission belt and the annular support block to rotate, and then drive the first support arm and the second support arm to rotate, which can effectively avoid the first support arm and the second support arm from getting stuck in the scrap steel, and improve the smoothness of grabbing.

[0004] The above-mentioned robot gripping structure grasps through the driving method of double-sided multi-cylinders, which has high requirements on the control system, increases the complexity of the control system, and makes it difficult to control the cost in waste recycling. In this regard, a steel waste gripping robot is proposed to solve the above-mentioned problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the present application provides a steel scrap grabbing robot with the advantages of linkage control and reduced application costs of drive equipment.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A steel scrap grabbing manipulator, comprising a mounting frame and a claw connected to the mounting frame, the claw comprising a first bending plate, a second bending plate and a third bending plate hinged to each other, and a connecting structure is also provided on the outside of the claw;

[0007] The connection structure includes a triangular plate rotatably mounted between the first bending plate and the second bending plate, an extrusion rod and a traction rod connected to the triangular plate, and a traction device for controlling the claw is also mounted on the mounting frame.

[0008] Furthermore, the top of the mounting frame is a circular plate structure, a connecting seat is fixedly mounted on the surface of the circular plate, and the first bending plate is rotatably connected to the connecting seat.

[0009] Furthermore, the traction rod includes a first support rod and a second support rod which are rotatably connected to each other, one end of the first support rod is rotatably connected to the connecting seat, and one end of the second support rod is rotatably mounted on the triangular plate.

[0010] Furthermore, the traction device includes a driving member fixedly mounted on the mounting frame and a movable member connected between a power end of the driving member and the connecting structure.

[0011] Furthermore, the movable part includes a slide plate slidably mounted on the mounting frame and a top rod rotatably connected between the slide plate and the traction rod, and the slide plate is fixedly connected to the power end of the driving part.

[0012] Furthermore, a guide tube is fixedly installed through the slide plate, and the guide tube is slidably connected with the shaft portion of the mounting frame.

[0013] Furthermore, a magnetic attraction structure for assisting the adsorption of small scrap iron is also provided on the top of the mounting frame, and the magnetic attraction structure includes a threaded tube threadedly mounted on the top of the mounting frame and an electromagnet fixedly mounted on the upper end of the threaded tube, wherein a mounting hole is provided on the other end of the threaded tube, and a power supply located in the mounting hole is fixedly mounted in the threaded tube.

[0014] Furthermore, a nut is installed on the external thread of the threaded pipe, and the nut abuts against the top end of the mounting frame.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0016] The steel scrap grabbing robot is provided with a grasping part composed of a first bending plate, a second bending plate and a third bending plate which are continuously hinged, and the linkage of the first bending plate and the third bending plate is assisted by a triangular plate, an extrusion rod and a traction rod, so that the synchronous control of the multi-segment structure can be achieved only by one driving source, so that the control cost of the claw grasping is effectively reduced. In addition, the electromagnet is provided to assist in the adsorption of small scrap iron, which helps to improve the grasping efficiency of the robot and improve the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of this application;

[0018] Figure 2 This is a schematic diagram of the structure of the claw portion of the present application after bending;

[0019] Figure 3This is a structural stereogram of the electromagnet of this application.

[0020] In the figure: 1. mounting frame; 2. connecting seat; 3. first bending plate; 4. second bending plate; 5. third bending plate; 6. triangular plate; 7. extrusion rod; 8. traction rod; 81. first support rod; 82. second support rod; 9. push rod; 10. driving member; 11. slide plate; 12. guide tube; 13. threaded tube; 14. electromagnet; 15. mounting hole; 16. power supply; 17. nut. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] See also Figure 1-3 A steel scrap grabbing robot in this embodiment includes a mounting frame 1 and a claw connected to the mounting frame 1, wherein the claw has at least three on the mounting frame 1 to reduce the instability of the steel scrap caused by grabbing.

[0023] In this embodiment, the claw portion includes a first bending plate 3, a second bending plate 4 and a third bending plate 5 which are hinged to each other. The first bending plate 3, the second bending plate 4 and the third bending plate 5 are connected by a hinge axis, so that the claw portion can be divided into three sections with two joints for bending and grasping, thereby improving the grasping effect.

[0024] It is additionally explained that the top of the mounting frame 1 is a circular plate structure, a connecting seat 2 is fixedly mounted on the surface of the circular plate, and the first bending plate 3 is rotatably connected to the connecting seat 2 so that the claw portion can be connected to the mounting frame 1 .

[0025] It should be noted that a connecting structure is also provided on the outside of the claw part for simultaneously controlling the first bending plate 3, the second bending plate 4 and the third bending plate 5. The connecting structure includes a triangular plate 6 rotatably installed between the first bending plate 3 and the second bending plate 4, an extrusion rod 7 connected to the triangular plate 6, and a traction rod 8.

[0026] It can be understood that one end of the extrusion rod 7 is rotatably connected to the third bending plate 5, and one end of the traction rod 8 is rotatably connected to the first bending plate 3. The first bending plate 3 and the third bending plate 5 are transmitted through the triangular plate 6, so that the traction rod 8 can extrude the first bending plate 3, the second bending plate 4 and the third bending plate 5 and bend them toward the middle of the mounting frame 1 at the same time.

[0027] The traction rod 8 in this embodiment includes a first support rod 81 and a second support rod 82 rotatably connected to each other. One end of the first support rod 81 is rotatably connected to the connecting seat 2, and one end of the second support rod 82 is rotatably installed on the triangular plate 6.

[0028] This design enables the first support rod 81 to withstand the thrust and then rotate relative to the second support rod 82 . At this time, the second support rod 82 can provide a bending space for the first bending rod 3 relative to the second bending plate 4 while rotating.

[0029] In this embodiment, a traction device for controlling the claw part is also installed on the mounting frame 1, and the traction device includes a driving member 10 fixedly mounted on the mounting frame 1 and a movable member connected between the power end of the driving member 10 and the connecting structure, wherein the driving member 10 selects an adapter element according to the actual clamping force required for the steel scrap, and specifically a cylinder or an electric push rod can be selected.

[0030] Furthermore, the movable part includes a slide plate 11 slidably mounted on the mounting frame 1 and a top rod 9 rotatably connected between the slide plate 11 and the traction rod 8 , and the slide plate 11 is fixedly connected to the power end of the driving member 10 .

[0031] Preferably, a guide tube 12 is fixedly installed through the slide plate 11 , and the guide tube 12 is slidably connected to the shaft portion of the mounting frame 1 , so that the sliding stability of the slide plate 11 relative to the mounting frame 1 is improved.

[0032] It should be noted that one end of the push rod 9 is rotatably connected to the first support rod 81 at a position close to the second support rod 82 .

[0033] Such a design enables the slide plate 11 to be lifted up to drive the push rod 9 to squeeze the first support rod 81, thereby forcing the second support rod 82 to rotate and bend.

[0034] The top of the mounting frame 1 in this embodiment is also provided with a magnetic attraction structure for assisting in the adsorption of small scrap iron, the magnetic attraction structure includes a threaded tube 13 threadedly mounted on the top of the mounting frame 1 and an electromagnet 14 fixedly mounted on the upper end of the threaded tube 13, wherein a mounting hole 15 is provided on the other end of the threaded tube 13, a power supply 16 located in the mounting hole 15 is fixedly mounted in the threaded tube 13, and the electromagnet 14 is powered by the power supply 16, so that magnetic force can be generated by the electromagnet 14.

[0035] In this embodiment, a nut 17 is installed on the external thread of the threaded tube 13 , and the nut 17 abuts against the top of the mounting frame 1 to fix the position of the threaded tube 13 .

[0036] The working principle of the above embodiment is:

[0037] Through a single control driving member 10, the power end of the driving member 10 drives the fixedly connected slide plate 11 to slide relative to the mounting frame 1. At this time, the top rod 9 connected between the mounting frame 1 and the first support rod 81 can bend and squeeze the first support rod 81. At this time, the first support rod 81 is rotated and bent relative to the second support rod 82, so that the second support rod 82 forces the rotating connected triangular plate 6 to rotate and the first bending plate 3 to rotate relative to the connecting seat 2. The triangular plate 6 rotates, so that the extrusion rod 7 connected to the triangular plate 6 pushes the connected third bending plate 5. At the same time, through the mutual hinge between the third bending plate 5 and the second bending plate 4, the first bending plate 3, the second bending plate 4 and the third bending plate 5 are forced to move synchronously to complete the bending process, thereby reducing the use of driving sources and reducing control costs. In addition, the power supply 16 can cooperate with the electromagnet 14 to generate magnetic force to assist in the adsorption of small scrap iron, thereby improving the convenience of grasping.

[0038] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A steel scrap grabbing manipulator, comprising a mounting frame (1) and a claw connected to the mounting frame (1), characterized in that: The claw portion comprises a first bending plate (3), a second bending plate (4) and a third bending plate (5) which are hinged to each other, and a connecting structure is also provided on the outside of the claw portion; The connection structure comprises a triangular plate (6) rotatably mounted between the first bending plate (3) and the second bending plate (4), an extrusion rod (7) and a traction rod (8) connected to the triangular plate (6), and a traction device for controlling the claw portion is also mounted on the mounting frame (1).

2. A steel scrap grabbing manipulator according to claim 1, characterized in that: The top of the mounting frame (1) is a circular plate structure, a connecting seat (2) is fixedly mounted on the surface of the circular plate, and the first bent plate (3) is rotatably connected to the connecting seat (2).

3. A steel scrap grabbing manipulator according to claim 2, characterized in that: The traction rod (8) comprises a first support rod (81) and a second support rod (82) which are rotatably connected to each other, one end of the first support rod (81) being rotatably connected to the connecting seat (2), and one end of the second support rod (82) being rotatably mounted on the triangular plate (6).

4. The steel scrap grabbing manipulator according to claim 1, characterized in that: The traction device comprises a driving member (10) fixedly mounted on the mounting frame (1) and a movable member connected between a power end of the driving member (10) and the connecting structure.

5. The steel scrap grabbing manipulator according to claim 4, characterized in that: The movable member comprises a slide plate (11) slidably mounted on the mounting frame (1) and a top rod (9) rotatably connected between the slide plate (11) and the traction rod (8); the slide plate (11) is fixedly connected to the power end of the driving member (10).

6. A steel scrap grabbing manipulator according to claim 5, characterized in that: A guide tube (12) is fixedly mounted through the slide plate (11), and the guide tube (12) is slidably connected to the shaft portion of the mounting frame (1).

7. The steel scrap grabbing manipulator according to claim 1, characterized in that: The top of the mounting frame (1) is also provided with a magnetic attraction structure for assisting in the absorption of small scrap iron, the magnetic attraction structure comprising a threaded tube (13) threadedly mounted on the top of the mounting frame (1) and an electromagnet (14) fixedly mounted on the upper end of the threaded tube (13), wherein a mounting hole (15) is provided on the other end of the threaded tube (13), and a power source (16) located in the mounting hole (15) is fixedly mounted in the threaded tube (13).

8. The steel scrap grabbing manipulator according to claim 7, characterized in that: The external thread of the threaded tube (13) is equipped with a nut (17), and the nut (17) abuts against the top end of the mounting frame (1).

Images