A special gripper for a robot that can dismantle and throw aluminum wire waste blocks into a heating furnace

Abstract

The utility model relates to the technical field of aluminum wire waste recycling, and in particular to a robot-specific gripper for disassembling and throwing aluminum wire waste blocks into a heating furnace, comprising a mounting top plate, a fixing frame welded on the top of the mounting top plate, a damping mechanism fixedly connected to the top of the fixing frame, the damping mechanism comprising a fixing box, four corners of the inner cavity of the fixing box are fixedly connected to support vertical rods, a surface sliding sleeve of the support vertical rod is provided with a movable horizontal plate, the top and bottom of the movable horizontal plate are fixedly connected to damping springs and dampers, and the middle of the left side of the mounting top plate is bolted to a driving motor. Since the shaking of the aluminum wire waste block generates a large amplitude of vibration, the vibration energy is transmitted to the movable horizontal plate through the support frame and the support vertical plate, so that the movable horizontal plate moves up and down to compress the damping springs on the upper and lower sides, and the damping springs can offset the impact energy during the compression process, avoiding the kinetic energy from being transmitted to the robot arm, and providing damping protection for the robot arm.

Description

Technical Field

[0001] The utility model relates to the technical field of aluminum wire waste recycling, in particular to a special gripper for a robot for disassembling aluminum wire waste blocks and throwing them into a heating furnace. Background Art

[0002] During the recycling process, aluminum wire waste needs to be squeezed into blocks to save storage space for transportation. When the aluminum wire waste blocks are melted at high temperature, a special robot gripper is needed to replace manual labor to destacker the aluminum wire waste blocks and put them into the heating furnace.

[0003] After searching, the announcement number is CN211761624U, and the name is a robot gripper for depalletizing boxes, including a horizontal connecting frame with a laterally slidable connecting frame at the bottom. Through research and analysis, it is found that although the boxes can be stably and reliably adsorbed, grasped and placed to avoid damage to the boxes from falling, and the excessive weight of the boxes from causing damage to the vacuum suction cups, the following defects still exist to a certain extent.

[0004] For example, it does not have a shock-absorbing function. When the robot gripper grabs materials for transfer, the shaking of the materials will cause vibrations to the robot arm. Such long-term vibrations will cause the components on the robot arm to loosen and cause failures, increasing the cost of maintenance and replacement. In addition, the gripper cannot be properly adjusted according to the size of the object, and its practicality is poor. In order to solve the above technical problems, we have designed a special gripper for the robot to destacker and throw aluminum wire waste blocks into the heating furnace. Utility Model Content

[0005] The purpose of the utility model is to provide a special gripper for a robot for dismantling aluminum wire waste blocks and throwing them into a heating furnace. The gripper has a shock-absorbing function, can provide shock-absorbing protection for the robot arm, reduce the failure rate, can adjust the gripper, and improve practicality. It solves the problems of lack of shock-absorbing function, resulting in looseness of robot arm parts causing failures, increasing maintenance and replacement costs, and being unable to adjust the gripper, resulting in poor practicality.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a special gripper for a robot for disassembling and throwing aluminum wire waste blocks into a heating furnace, comprising an installation top plate, a fixing frame welded on the top of the installation top plate, a damping mechanism fixedly connected to the top of the fixing frame, the damping mechanism comprising a fixing box, four corners of the inner cavity of the fixing box are fixedly connected to supporting vertical rods, a surface sliding sleeve of the supporting vertical rod is provided with a movable horizontal plate, the top and bottom of the movable horizontal plate are fixedly connected with damping springs and dampers, the middle part of the left side of the installation top plate is bolted to a driving motor, the output end of the driving motor is fixedly connected to a driving screw, the left and right sides of the surface of the driving screw are threadedly sleeved with side plates, the bottom of the side plate is penetrated by a sliding vertical plate connected thereto, the bottom of the opposite side of the left and right sliding vertical plates are welded with a supporting bottom plate, and the outer side of the side plate is bolted to a first electric push rod.

[0007] Preferably, sliding openings are provided on the left and right sides and the bottom of the inner cavity of the fixed box, and support frames are fixedly connected to the left and right sides of the movable horizontal plate. The side of the support frame away from the movable horizontal plate passes through the sliding opening and is fixedly connected to the fixed frame.

[0008] Preferably, support vertical plates are welded to both left and right sides of the bottom of the movable horizontal plate, and the bottom of the support vertical plates passes through the sliding opening of the bottom and is fixedly connected to the fixing frame.

[0009] Preferably, a second electric push rod is fixedly connected through both the front and rear sides of the top of the mounting top plate, and a pressure plate is connected to the bottom of the second electric push rod via bolts.

[0010] Preferably, installation openings are provided on both left and right sides of the middle portion of the top of the installation top plate, and the right side of the driving screw rod sequentially passes through the installation openings on both sides and is movably connected through bearings.

[0011] Preferably, left-handed threads and right-handed threads are respectively provided on the left and right sides of the surface of the driving screw, and a connecting plate is connected to the top of the fixing frame by bolts.

[0012] Preferably, installation grooves are provided on the front and rear sides of the bottom of the installation top plate, the inner cavity of the installation groove is fixedly connected to a support slide rod, and connecting blocks are slidably sleeved on the left and right sides of the surface of the support slide rod, and the bottom of the connecting block is fixedly connected to the side plate.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0014] 1. Due to the shaking of the aluminum wire waste block, a large amplitude vibration is generated. The vibration energy is transmitted to the movable horizontal plate through the support frame and the supporting vertical plate, so that the movable horizontal plate moves up and down to compress the shock-absorbing springs on the upper and lower sides. The shock-absorbing springs can offset the impact energy during the compression process, avoid the kinetic energy from being transferred to the robot arm, and provide shock-absorbing protection for it.

[0015] 2. Adjust the sliding vertical plates on both sides according to the height of the aluminum wire waste blocks, and control the first electric push rods on both sides to push the sliding vertical plates downward, which can change the height of the side plates on both sides, and can dismantle and grab aluminum wire waste blocks of different heights to improve practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an axonometric drawing of the structure of the utility model;

[0017] Figure 2 It is a top axonometric view of the local structure of the utility model;

[0018] Figure 3 A bottom-up axonometric view of the top plate of the utility model;

[0019] Figure 4 This is a main sectional isometric view of the shock absorbing mechanism of the utility model;

[0020] Figure 5 It is a top view and a sectional isometric view of the shock absorbing mechanism of the utility model.

[0021] In the figure: 1. Install the top plate; 2. Drive motor; 3. Side plate; 4. Sliding vertical plate; 5. Pressing plate; 6. Support bottom plate; 7. First electric push rod; 8. Fixed frame; 9. Shock-absorbing mechanism; 10. Second electric push rod; 11. Connecting plate; 12. Drive screw rod; 13. Support slide rod; 14. Connecting block; 15. Support frame; 16. Support vertical rod; 17. Fixed box; 18. Support vertical plate; 19. Shock-absorbing spring; 20. Damper; 21. Movable horizontal plate; 22. Sliding opening; 23. Mounting slot; 24. Mounting opening. DETAILED DESCRIPTION

[0022] See also Figure 1-Figure 5A robot gripper for disassembling and throwing aluminum wire waste blocks into a heating furnace comprises a mounting top plate 1, a fixing frame 8 is welded on the top of the mounting top plate 1, a damping mechanism 9 is fixedly connected to the top of the fixing frame 8, and the damping mechanism 9 comprises a fixing box 17, and the four corners of the inner cavity of the fixing box 17 are fixedly connected to support vertical rods 16. By setting the support vertical rods 16, the movable horizontal plate 21 can be guided and limited to slide up and down, and the surface of the support vertical rod 16 is slidingly sleeved with a movable horizontal plate 21, and the top and bottom of the movable horizontal plate 21 are fixedly connected with damping springs 19 and damping springs 19. The damper 20 can provide movement resistance and dissipate movement energy by setting the damper 20, so as to avoid unnecessary vibration of the gripper during the shock absorption process. The middle part of the left side of the mounting top plate 1 is connected with a driving motor 2 by bolts, and the output end of the driving motor 2 is fixedly connected with a driving screw 12. The left and right sides of the surface of the driving screw 12 are threadedly sleeved with side plates 3, and the bottom of the side plate 3 is penetrated and slidably connected with a sliding vertical plate 4. The bottoms of the opposite sides of the left and right sliding vertical plates 4 are welded with a supporting bottom plate 6, and the outer side of the side plate 3 is connected with a first electric push rod 7 by bolts;

[0023] See also Figure 4 The left and right sides and the bottom of the inner cavity of the fixed box 17 are provided with sliding openings 22. By providing the sliding openings 22, the support frame 15 can be moved up and down inside the fixed box 17. The left and right sides of the movable horizontal plate 21 are fixedly connected with the support frame 15. The side of the support frame 15 away from the movable horizontal plate 21 passes through the sliding opening 22 and is fixedly connected to the fixed frame 8.

[0024] See also Figure 4 , the left and right sides of the bottom of the movable horizontal plate 21 are welded with support vertical plates 18, and the bottom of the support vertical plates 18 passes through the sliding opening 22 at the bottom and is fixedly connected to the fixing frame 8;

[0025] See also Figure 1 The front and rear sides of the top of the installation top plate 1 are both penetrated and fixedly connected with a second electric push rod 10. By setting the second electric push rod 10, the pressing plate 5 can be pushed to move downward to clamp and fix the grasped materials to avoid displacement and falling. The bottom of the second electric push rod 10 is connected to the pressing plate 5 by bolts;

[0026] See also Figure 3 , installation openings 24 are provided on both sides of the middle of the top of the installation top plate 1. By providing the installation openings 24, the drive screw 12 can be easily installed. The right side of the drive screw 12 passes through the installation openings 24 on both sides in sequence and is movably connected through the bearing;

[0027] See also Figure 2 , left-handed threads and right-handed threads are respectively provided on the left and right sides of the surface of the driving screw 12, and a connecting plate 11 is connected to the top of the fixing frame 8 by bolts;

[0028] See also Figure 3 The front and rear sides of the bottom of the top plate 1 are provided with mounting grooves 23. By providing the mounting grooves 23, the support slide bar 13 can be easily installed. The inner cavity of the mounting groove 23 is fixedly connected with the support slide bar 13. By providing the support slide bar 13, the side plate 3 can be guided and limited, so that it is more stable during the left and right movement. The left and right sides of the surface of the support slide bar 13 are slidably sleeved with connecting blocks 14, and the bottom of the connecting block 14 is fixedly connected to the side plate 3.

[0029] When in use, the device is installed and fixed to the robot arm, and connected to an external power supply and a controller. The personnel adjust the sliding vertical plates 4 on both sides according to the height of the aluminum wire waste block, and control the first electric push rods 7 on both sides to push the sliding vertical plates 4 to move downward, which can change the height of the side plates 3 on both sides, and can be used to destacker and grab aluminum wire waste blocks of different heights. After the height adjustment is completed, the gripper is controlled to move to the surface of the aluminum wire waste block so that the side plates 3 on both sides are located on both sides of the aluminum wire waste block, and then the driving motor 2 is controlled to work to drive the driving screw 12 to rotate forward so that the side plates 3 on both sides of the surface move relatively and contact the two sides of the aluminum wire waste block. At the same time, the supporting bottom plate 6 at the bottom is inserted into the bottom of the aluminum wire waste block to hold the aluminum wire. The two sides and the bottom of the waste block are clamped and fixed, and the robot arm rises and rotates to transfer the aluminum wire waste block to the top of the heating furnace. At this time, the drive motor 2 is controlled to reverse the side panels 3 on both sides and move the aluminum wire waste block in opposite directions, and the aluminum wire waste block falls into the furnace. When the robot arm drives the aluminum wire waste block inside the gripper to move, the shaking of the aluminum wire waste block will generate a large amplitude vibration. At this time, the vibration is transmitted to the movable horizontal plate 21 through the support frames 15 on both sides and the bottom support vertical plate 18. The transmitted kinetic energy causes the movable horizontal plate 21 to move up and down to compress the shock-absorbing springs 19 on the upper and lower sides. The shock-absorbing springs 19 can offset the impact energy during the compression process to avoid the kinetic energy being transmitted to the robot arm, thereby providing shock-absorbing protection for it.

[0030] To sum up: the special gripper of the robot for dismantling and throwing aluminum wire waste blocks into the heating furnace solves the problems of lack of shock-absorbing function, resulting in looseness of machine arm parts causing malfunctions, increasing maintenance and replacement costs, inability to adjust the gripper, and poor practicality by installing the top plate 1, driving motor 2, side plate 3, sliding vertical plate 4, first electric push rod 7, shock-absorbing mechanism 9 and driving screw 12.

Claims

1. A robot gripper for removing aluminum wire waste blocks and placing them into a heating furnace, comprising a mounting top plate (1), characterized in that: A fixing frame (8) is welded to the top of the mounting top plate (1), and a damping mechanism (9) is fixedly connected to the top of the fixing frame (8). The damping mechanism (9) comprises a fixing box (17), and the four corners of the inner cavity of the fixing box (17) are fixedly connected to support vertical rods (16). The surface of the support vertical rod (16) is slidably sleeved with a movable horizontal plate (21), and the top and bottom of the movable horizontal plate (21) are fixedly connected to damping springs (19) and dampers (20). A driving motor (2) is connected to the middle of the left side of the top plate (1) by bolts, and a driving screw (12) is fixedly connected to the output end of the driving motor (2), and side plates (3) are threadedly sleeved on the left and right sides of the surface of the driving screw (12), and a sliding vertical plate (4) is slidably connected to the bottom of the side plate (3), and a supporting bottom plate (6) is welded to the bottom of the opposite side of the left and right sliding vertical plates (4), and a first electric push rod (7) is connected to the outer side of the side plate (3) by bolts.

2. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 1 is characterized in that: The left and right sides and the bottom of the inner cavity of the fixed box (17) are provided with sliding openings (22), the left and right sides of the movable horizontal plate (21) are fixedly connected to the support frame (15), and the side of the support frame (15) away from the movable horizontal plate (21) passes through the sliding opening (22) and is fixedly connected to the fixed frame (8).

3. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 2 is characterized in that: Support vertical plates (18) are welded to the left and right sides of the bottom of the movable horizontal plate (21), and the bottom of the support vertical plate (18) passes through the sliding opening (22) at the bottom and is fixedly connected to the fixing frame (8).

4. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 1 is characterized in that: A second electric push rod (10) is fixedly connected to both the front and rear sides of the top of the mounting top plate (1), and the bottom of the second electric push rod (10) is connected to a pressure plate (5) via bolts.

5. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 1 is characterized in that: The left and right sides of the middle of the top of the mounting top plate (1) are both provided with mounting openings (24), and the right side of the driving screw rod (12) passes through the mounting openings (24) on both sides in sequence and is movably connected via bearings.

6. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 1 is characterized in that: The left and right sides of the surface of the driving screw rod (12) are respectively provided with left-hand threads and right-hand threads, and the top of the fixing frame (8) is connected to a connecting plate (11) via bolts.

7. The robot-specific gripper for removing and throwing aluminum wire waste blocks into a heating furnace according to claim 1 is characterized in that: The front and rear sides of the bottom of the mounting top plate (1) are both provided with mounting grooves (23), the inner cavity of the mounting groove (23) is fixedly connected to a support slide bar (13), the left and right sides of the surface of the support slide bar (13) are both slidably sleeved with connection blocks (14), and the bottom of the connection block (14) is fixedly connected to the side plate (3).

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