Hardware fitting carrying device

Abstract

The utility model relates to the technical field of electric power fitting carrying, and provides a fitting carrying device which is characterized in that a clamping device is moved to the position above a fitting through a mechanical arm, after the fitting is grabbed through the clamping device, the mechanical arm drives the clamping device and the fitting to move to a fitting placing point, the clamping device loosens the fitting, and then the fitting is carried out. The clamping device comprises a mounting plate, a driving device and a fitting clamping jaw, the driving device drives a screw rod to rotate through a motor, the screw rod drives an upper clamping jaw to reciprocate along the screw rod, and the upper clamping jaw slides up and down along a connecting rod under the limitation of the connecting rod, so that opening and closing of the upper clamping jaw and a lower clamping jaw are realized; the fitting clamping jaw can conveniently clamp objects with small sizes, the adaptability to various fittings is enhanced, and the warehouse-in and warehouse-out efficiency of the electric power fittings is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling of electric power fittings, in particular to a fitting handling device. Background Art

[0002] Electric power fittings are connection and support devices used in the power system, and are widely applied to the construction and maintenance of transmission lines, distribution lines and substations. Generally, they include connecting fittings, suspension fittings, fixing fittings, protection fittings, guy fittings and connectors, which are respectively used for connecting conductors, supporting and fixing cables, protection and connection between devices. They are a kind of commonly used electric power materials. Therefore, the distribution network warehouse often needs to carry out the outbound and inbound of electric power fittings. However, there are many types of electric power fittings, and they are all metal components with heavy weights, making manual handling rather difficult and affecting the efficiency of the outbound and inbound of electric power fittings.

[0003] Therefore, there is an urgent need for a fitting handling device to solve the deficiencies in the prior art. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the deficiencies in the prior art and provide a fitting handling device to improve the efficiency of the outbound and inbound of electric power fittings.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A fitting handling device includes a robotic arm and a clamping device; the clamping device is detachably connected to the end of the robotic arm through a connecting flange; the clamping device includes a mounting plate detachably connected to the connecting flange, a driving device fixed above one side of the mounting plate, a fitting jaw placed below the driving device, a control board and a battery fixed on the other side of the mounting plate;

[0007] The driving device includes a motor, a lead screw and a coupling connecting the output shaft of the motor and the lead screw; the free end of the lead screw is sleeved with the bottom of the mounting plate. The fitting jaw includes a lower jaw fixed to the bottom of the mounting plate, a connecting rod parallel to the lead screw, and an upper jaw sleeved with the lead screw and slidably connected to the connecting rod. An internal thread matching the thread of the lead screw is provided at the position where the upper jaw is sleeved with the lead screw; the end of the lower jaw bends upward, and the end of the upper jaw bends downward.

[0008] Preferably, a first mounting block, a second mounting block and a third mounting block are sequentially arranged from bottom to top on the right side of the mounting plate. The lower part of the first mounting block is fixedly connected to the lower jaw, and the upper part of the first mounting block is sleeved with the lower end of the lead screw. Connecting rods are respectively arranged on both sides of the lead screw. The connecting rods are arranged between the first mounting block and the second mounting block. The upper end of the lead screw passes through the second mounting block and is connected to the coupling. The lead screw is sleeved with the second mounting block. The third mounting block is fixedly connected to the motor.

[0009] Preferably, a battery mounting base is provided on the left side of the mounting plate. The inside of the battery mounting base is snap-connected to the battery, and a control board is fixed above the battery.

[0010] Preferably, a mounting bracket is provided on the left side of the mounting plate. The side of the mounting bracket away from the fitting jaw is higher than the side close to the fitting jaw; a visual recognition module is provided on the mounting bracket.

[0011] Preferably, at least two claw portions are provided at the end of the upper jaw, and at least one claw portion is provided at the end of the lower jaw. The claw portions of the upper jaw and the claw portions of the lower jaw are arranged staggeredly.

[0012] Preferably, two claw portions are provided at the end of the upper jaw, and one claw portion is provided at the end of the lower jaw. The claw portion of the lower jaw is placed between the two claw portions of the upper jaw.

[0013] Preferably, a travel switch is provided between the second mounting block and the first mounting block.

[0014] Preferably, a first housing is provided outside the driving device, and a second housing is provided outside the control board.

[0015] The utility model discloses a fitting handling device, which has the following beneficial effects.

[0016] In the utility model, the manipulator moves the clamping device above the fitting. After the fitting is grabbed by the clamping device, the manipulator drives the clamping device and the fitting to move to the fitting placement point, and then the clamping device releases the fitting. The clamping device includes a mounting plate, a driving device, and a fitting jaw. The driving device drives the lead screw to rotate through a motor, and the lead screw drives the upper jaw to reciprocate along the lead screw. Under the restriction of the connecting rod, the upper jaw slides up and down along the connecting rod, so as to realize the opening and closing of the upper jaw and the lower jaw. By arranging the claw portions of the upper jaw and the claw portions of the lower jaw staggeredly, it is convenient for the fitting jaw to clamp objects with a small volume, enhances the adaptability to various fittings, and improves the efficiency of the incoming and outgoing of electrical fittings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the overall structure of the clamping device of the utility model.

[0019] Figure 3 It is a schematic diagram of the overall structure of the clamping device of the utility model after removing the first housing and the second housing.

[0020] Figure 4 It is another schematic diagram of the overall structure of the clamping device of the utility model after removing the first housing and the second housing.

[0021] In the attached drawings: 1. Robotic arm; 2. Connecting flange; 3. Gripping device; 31. Mounting plate; 311. First mounting block; 312. Second mounting block; 313. Third mounting block; 314. Mounting bracket; 315. Battery mounting seat; 32. Hardware gripper; 321. Lower gripper; 322. Connecting rod; 323. Upper gripper; 33. Driving device; 331. Motor; 332. Coupling; 333. Lead screw; 34. Battery; 35. Control board; 36. Travel switch; 37. Visual recognition module; 38. First housing; 39. Second housing. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Embodiment 1

[0024] Refer to Figure 1 , a hardware handling device, comprising: a robotic arm 1 and a gripping device 3; the gripping device 3 is detachably connected to the end of the robotic arm 1 through a connecting flange 2, and both the connecting flange 2 and the robotic arm 1 and the gripping device 3 are connected by bolts. The robotic arm 1 has multiple degrees of freedom, and a four-axis robotic arm 1, a five-axis robotic arm 1 or a six-axis robotic arm 1 can be selected according to the actual warehouse budget and actual needs. In this embodiment, the robotic arm 1 adopts a GCR20-1400 robotic arm 1, its effective load is 20 kg, it has 6 rotational degrees of freedom, and the single-arm horizontal working space is 1400 mm.

[0025] Refer to Figure 3 And Figure 4, the gripping device 3 includes a mounting plate 31 detachably connected to the connecting flange 2 by bolts, a driving device 33 fixed above one side of the mounting plate 31, a fitting jaw 32 placed below the driving device 33, a control board 35 fixed on the other side of the mounting plate 31, and a battery 34. The driving device 33 is used to drive the fitting jaw 32 to grip and release the fitting, the battery 34 supplies power to the driving device 33, and the control board 35 controls the start and stop of the driving device 33. Specifically, the driving device 33 includes a motor 331, a lead screw 333, and a coupling 332 connecting the output shaft of the motor 331 and the lead screw 333; the free end of the lead screw 333 is sleeved with the bottom of the mounting plate 31, and the free end of the lead screw 333 is sleeved with the bottom of the mounting plate 31 through a bearing. The fitting jaw 32 includes a lower jaw 321 fixed to the bottom of the mounting plate 31 by bolts, a connecting rod 322 parallel to the lead screw 333, and an upper jaw 323 sleeved with the lead screw 333 and slidably connected to the connecting rod 322. The upper jaw 323 is provided with an internal thread that matches the thread of the lead screw 333 at the sleeved position with the lead screw 333; the upper jaw 323 slides along the connecting rod 322 under the drive of the lead screw 333. The end of the lower jaw 321 bends upward, and the end of the upper jaw 323 bends downward. When the lower jaw 321 slides downward, the ends of the lower jaw 321 and the upper jaw 323 gradually close. In this embodiment, preferably, the end of the upper jaw 323 is provided with at least two claw parts, the end of the lower jaw 321 is provided with at least one claw part, and the claw parts of the upper jaw 323 and the claw parts of the lower jaw 321 are arranged alternately, which can facilitate the gripping of smaller objects by the fitting jaw 32 and enhance the adaptability to various fittings. Optionally, the end of the upper jaw 323 is provided with two claw parts, the end of the lower jaw 321 is provided with one claw part, and the claw part of the lower jaw 321 is placed between the two claw parts of the upper jaw 323.

[0026] Refer to Figure 3 and Figure 4 , on the right side of the mounting plate 31, a first mounting block 311, a second mounting block 312, and a third mounting block 313 are arranged in sequence from bottom to top. The lower part of the first mounting block 311 is connected to the lower jaw 321 by bolts, the upper part of the first mounting block 311 is sleeved with the lower end of the lead screw 333 through a bearing. Connecting rods 322 are arranged on both sides of the lead screw 333, and the connecting rods 322 are installed between the first mounting block 311 and the second mounting block 312 by bolts. The upper end of the lead screw 333 passes through the second mounting block 312 and is connected to the coupling 332, and the lead screw 333 is sleeved with the second mounting block 312 through a bearing. The third mounting block 313 is connected to the motor 331 by bolts. On the left side of the mounting plate 31, there is a battery mounting seat 315, the inside of the battery mounting seat 315 is snap-connected to the battery 34, and a control board 35 is fixed above the battery 34. A travel switch 36 is arranged between the second mounting block 312 and the first mounting block 311, and the travel switch 36 is arranged on one side. When the upper jaw 323 contacts the travel switch 36, the motor 331 is powered off. Embodiment 2

[0027] Referring to Figure 4 ,based on Embodiment 1, a fitting handling device further includes a control terminal. The control terminal is connected to the robotic arm 1 through a signal line, and the control terminal is connected to the control board 35 wirelessly. The control terminal obtains the spatial information of the fitting, plans the movement path of the robotic arm 1, and simultaneously controls the clamping and releasing of the clamping device 3. There is an installation frame 314 on the left side of the mounting plate 31. The side of the installation frame 314 away from the fitting jaw 32 is higher than the side close to the fitting jaw 32; a visual recognition module 37 is provided on the installation frame 314. The shooting direction of the camera in the visual recognition module 37 faces the ends of the lower jaw 321 and the upper jaw 323. The visual recognition module 37 locates the fitting to be grasped through vision and sends the obtained spatial information of the fitting to the control terminal. The control terminal controls the robotic arm 1 and the clamping device 3 to handle the fitting. Referring to Figure 2 ,in order to protect the driving device 33 and the control board 35, a first housing 38 is installed outside the driving device 33, and a second housing 39 is installed outside the control board 35.

[0028] The above are only the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution can be the substitution of partial structures, devices, and method steps, or a complete technical solution. Any equivalent substitution or change made according to the technical solution of the present invention and its inventive concept should be covered within the protection scope of the present invention.

Claims

1. A fitting handling device, characterized in that, It includes a robotic arm (1) and a gripping device (3); the gripping device (3) is detachably connected to the end of the robotic arm (1) through a connecting flange (2); the gripping device (3) includes a mounting plate (31) detachably connected to the connecting flange (2), a driving device (33) fixed above one side of the mounting plate (31), a fitting jaw (32) placed below the driving device (33), a control board (35) fixed to the other side of the mounting plate (31), and a battery (34). The driving device (33) includes a motor (331), a lead screw (333), and a coupling (332) connecting the output shaft of the motor (331) and the lead screw (333); the free end of the lead screw (333) is sleeved at the bottom of the mounting plate (31), the fitting jaw (32) includes a lower jaw (321) fixed to the bottom of the mounting plate (31), a connecting rod (322) parallel to the lead screw (333), and an upper jaw (323) sleeved on the lead screw (333) and slidably connected to the connecting rod (322), and an internal thread matching the thread of the lead screw (333) is provided at the sleeved position of the upper jaw (323) and the lead screw (333); the end of the lower jaw (321) bends upward, and the end of the upper jaw (323) bends downward.

2. The fitting handling device according to claim 1, wherein On the right side of the mounting plate (31), a first mounting block (311), a second mounting block (312), and a third mounting block (313) are arranged in sequence from bottom to top. The lower part of the first mounting block (311) is fixedly connected to the lower jaw (321), and the upper part of the first mounting block (311) is sleeved with the lower end of the lead screw (333). Connecting rods (322) are respectively arranged on both sides of the lead screw (333). The connecting rods (322) are arranged between the first mounting block (311) and the second mounting block (312). The upper end of the lead screw (333) passes through the second mounting block (312) and is connected to the coupling (332). The lead screw (333) is sleeved with the second mounting block (312), and the third mounting block (313) is fixedly connected to the motor (331).

3. The fitting handling device according to claim 2, characterized in that, On the left side of the mounting plate (31), there is a battery mounting seat (315). The inside of the battery mounting seat (315) is snap-connected to the battery (34), and a control board (35) is fixed above the battery (34).

4. The fitting handling device according to claim 1, characterized in that, On the left side of the mounting plate (31), there is a mounting frame (314). The side of the mounting frame (314) away from the fitting jaw (32) is higher than the side close to the fitting jaw (32); a visual recognition module (37) is provided on the mounting frame (314).

5. A fitting handling device according to claim 1, wherein At least two claw parts are provided at the end of the upper jaw (323), at least one claw part is provided at the end of the lower jaw (321), and the claw parts of the upper jaw (323) and the claw parts of the lower jaw (321) are arranged alternately.

6. The fitting handling device according to claim 5, characterized in that, Two claw parts are provided at the end of the upper jaw (323), one claw part is provided at the end of the lower jaw (321), and the claw part of the lower jaw (321) is placed between the two claw parts of the upper jaw (323).

7. The fitting handling device according to claim 2, wherein A travel switch (36) is provided between the second mounting block (312) and the first mounting block (311).

8. A fitting handling device according to claim 1, characterized in that, A first housing (38) is provided outside the drive device (33), and a second housing (39) is provided outside the control board (35).

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