Nut grabbing and storing device

Abstract

The utility model provides a nut grabbing storage device, which relates to the technical field of bolt dismounting, and comprises a first storage device, the first storage device comprises a storage tail end which is vertically arranged and is used for storing nuts, the side wall of the upper end of the storage tail end is provided with a first passing window for the nuts to pass through, and a second passing window is arranged on the side wall of the lower end of the storage tail end. A first grabbing device is installed on the inner side of the first passing window, and the first grabbing device stretches into the nut to grab the nut. The grabbing device comprises a grabbing body, a connecting rod and a grabbing cam, the grabbing cam is fixed to the first end of the connecting rod, and the grabbing body controls the connecting rod to move in the axis direction and rotate around the axis. According to the automatic nut grabbing and storing device, automatic grabbing and storing of nuts are achieved, manual picking is replaced, and the efficiency of bolt disassembling action is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bolt disassembly, in particular to a nut grasping and storing device. Background Art

[0002] The lining plate of the ball mill is relatively heavy, and large-sized bolts are required for disassembly and installation. The nuts on the surface of this type of bolt need to be disassembled and installed through a bolt punch. Due to the large mass of the bolt punch, the traditional bolt punch for disassembling and installing bolts is semi-automatically operated by workers holding the bolt punch by hand.

[0003] By designing an automatic bolt-disassembling robot, the position of the bolt punch can be automatically adjusted, and it can automatically align with the nuts on the surface of the ball mill to achieve automatic disassembly and assembly. There is no need for workers to hold the bolt punch by hand, which improves the efficiency and stability of the bolt-disassembling work. However, limited by the structure at the end of the bolt punch, it is difficult to store multiple nuts. After a single nut is removed, workers need to manually reach into the impact end of the bolt punch to take out the single nut; as a result, the efficiency of the bolt-disassembling work is still limited, and full automation cannot be achieved. Summary of the Utility Model

[0004] In view of the above problems, the utility model provides a nut grasping and storing device, which realizes the automatic grasping and storing of nuts, replaces manual picking, and improves the efficiency of the bolt-disassembling operation.

[0005] To solve the above problems, the technical solution adopted by the utility model is:

[0006] A nut grasping and storing device includes a first storage device. The first storage device includes a storage end arranged vertically for storing nuts. A first through window for the nut to pass through is opened on the upper side wall of the storage end. A first grasping device is installed inside the first through window. The grasping device extends into the nut to grasp it. The grasping device includes a grasping main body, a connecting rod, and a grasping cam. The grasping cam is fixed to the first end of the connecting rod. The grasping main body controls the connecting rod to move along the axial direction and rotate around the axis, controls the grasping cam to rotate to the first state and extend into the nut, and controls the grasping cam to rotate to the second state and abut against the inner top wall of the nut to complete the grasping of the nut.

[0007] Preferably, a threaded groove is opened on the convex side of the grasping cam, and the threaded groove is adapted to the inner wall of the nut.

[0008] Preferably, a second through window for the nut to pass through is opened on the lower side wall of the first storage device, and a second grasping device is installed inside the second through window.

[0009] Preferably, it further includes a second storage device adapted to the second passing window, and the nuts are directionally conveyed into the second storage device by the second grasping device for centralized storage.

[0010] Preferably, a position control device is further arranged in the second storage device, and the nuts in the second storage device are controlled to move directionally by the position control device.

[0011] Preferably, a jacking device is further installed at the lower end of the storage end, and the nuts are controlled to move between the first passing window and the second passing window by the jacking device.

[0012] Preferably, the first storage device further includes a power rotating shaft for controlling the deflection of the storage end, and the power rotating shaft is fixedly connected to the storage end through a connecting platform.

[0013] The beneficial effects of the present utility model are as follows:

[0014] Compared with the prior art, through the above structural design, during the process of automatically removing bolts, it is only necessary to control the punching bolt end to be opposite to the first passing window, and the nuts can be automatically grasped and stored through the grasping device inside the first passing window, realizing the automatic grasping and storage of nuts, replacing manual picking, and improving the efficiency of the bolt removal operation; at the same time, through the combination of the grasping main body, the connecting rod, and the grasping cam structure, while realizing the efficient grasping of nuts, the accuracy and stability of nut grasping are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a bolt removal robot in the prior art.

[0016] Figure 2 It is a schematic diagram of the avoidance position of the first storage device of the present utility model.

[0017] Figure 3 It is a schematic diagram of the nut-taking position of the first storage device of the present utility model.

[0018] Figure 4 It is a three-dimensional structural schematic diagram of the first storage device of the present utility model.

[0019] Figure 5 It is a three-dimensional structural schematic diagram of the first storage device and the second storage device of the present utility model.

[0020] Figure 6 It is a three-dimensional structural schematic diagram of the grasping device of the present utility model.

[0021] Figure 7 For the present utility model Figure 6 front view structural schematic diagram.

[0022] Figure 8This is a schematic diagram of the first state of the grasping cam of the present utility model.

[0023] Figure 9 This is a schematic diagram of the second state of the grasping cam of the present utility model.

[0024] In the figure: 100, traveling body; 200, position control robotic arm; 210, rotating body; 220, mounting body; 230, movable body; 300, bolt punch; 310, power unit; 320, connecting portion; 330, bolt punch end; 400, first storage device; 410, connecting platform; 420, power rotating shaft; 430, storage end; 431, first through window; 432, second through window; 500, grasping device; 510, grasping body; 520, connecting rod; 530, grasping cam; 531, thread groove; 600, lifting device; 700, second storage device; 800, nut. Detailed implementation manners

[0025] The present utility model will be further described below with reference to the accompanying drawings and embodiments.

[0026] The lining plate can protect the inner wall of the ball mill and reduce the wear of the grinding balls on the ball mill body. After working for a certain period of time, the lining plate needs to be disassembled and replaced. The ball mill lining plate is installed on the surface of the ball mill through bolts.

[0027] The ball mill lining plate is relatively heavy and requires large-sized bolts for disassembly and installation. The nuts on the surface of this type of bolt need to be disassembled and installed through a bolt punch. Due to the large mass of the bolt punch, the traditional method of disassembling and installing bolts with a bolt punch is a semi-automatic operation with the operator holding the bolt punch by hand.

[0028] By designing an automatic bolt-removing robot, the position of the bolt punch can be automatically adjusted, and it can automatically align with the nuts on the surface of the ball mill to achieve automatic disassembly and assembly, eliminating the need for manual holding of the bolt punch, thereby improving the efficiency and stability of the bolt-removing work. However, limited by the structure of the bolt punch end, it is difficult to store multiple nuts. After removing a single nut, the operator needs to manually reach into the impact end of the bolt punch to take out the single nut, resulting in the work efficiency of bolt removal still being limited and full automation not being achievable.

[0029] Specifically referring to the attached Figures 1-9 , to solve the above problems, an automatic bolt-removing robot includes a traveling body 100, a position control robotic arm 200 and a bolt punch 300 are installed on the upper end of the traveling body 100. The bolt punch 300 can be controlled by the position control robotic arm 200 to be located at different positions to remove or install bolts at predetermined positions.

[0030] The position-controlled robotic arm 200 here includes a rotating body 210, a mounting body 220, and a movable body 230. The bolt punch 300 is detachably mounted at the lower end of the mounting body 220. The overall deflection of the movable body 230 and the bolt punch 300 can be controlled through the rotating body 210, and the position between the bolt punch 300 and the bolt can be adjusted through the movable body 230.

[0031] The bolt punch 300 here includes a power unit 310, a connecting part 320, and a punch bolt end 330. The rotation of the punch bolt end 330 along a predetermined trajectory can be controlled through the power unit 310 and the connecting part 320 to achieve the removal of a predetermined bolt; the inner diameter of the punch bolt end 330 here can be adjusted and replaced according to the nut to be removed.

[0032] In order to automatically collect the nuts removed by the bolt punch 300, a first storage device 400 is also installed outside the bolt punch 300. The removed nuts are orderly collected through the first storage device 400 without manual operation by the staff, realizing the complete automation of bolt removal.

[0033] The first storage device 400 here is rotatably connected to the bolt punch 300. The first storage device 400 has an avoidance position shown in Figure 2 and a nut-taking position shown in Figure 3 . During the process of the bolt punch 300 removing the bolt, the first storage device 400 is controlled to be in the posture shown in Figure 2 to avoid interference between the first storage device 400 and the ball mill; after the bolt punch 300 finishes removing the nuts 800 on the surface of the ball mill, the first storage device 400 is controlled to rotate to the position shown in Figure 3 . At this time, the first storage device 400 is located outside the bolt punch 300. The nut 800 inside the punch bolt end 330 can be taken out through the first storage device 400, realizing the complete automation of nut 800 removal and blanking, and greatly improving the work efficiency of the staff.

[0034] The first storage device 400 here includes a connecting platform 410, a power rotating shaft 420, and a storage end 430. The connecting platform 410 is used to connect the power rotating shaft 420 and the storage end 430. The deflection of the storage end 430 around a predetermined axis can be adjusted through the power rotating shaft 420 to achieve position control.

[0035] A first passing window 431 is formed on one side of the storage end 430 close to the connection platform 410. After the storage end 430 rotates to the outside of the punching bolt end 330, the first passing window 431 can be opposite to the punching bolt end 330. A grasping device 500 is also installed outside the first passing window 431. Through the grasping device 500, the nut 800 inside the punching bolt end 330 can be taken out, and the taken-out nut 800 is automatically placed inside the storage end 430 for storage.

[0036] A second passing window 432 is formed at the lower end of the storage end 430. Another grasping device 500 is arranged outside the second passing window 432. Through the grasping device 500, the nut 800 moved to the bottom can be pushed out and pushed to the outside for centralized storage.

[0037] A second storage device 700 can be installed outside the second passing window 432. Through the second storage device 700, the pushed nuts 800 are stored centrally and orderly, which increases the number of nuts 800 stored at one time, also avoids the excessive mass caused by too many nuts 800 stored in the first storage device 400, reduces the burden of deflection of the first storage device 400 and avoids the deformation of the first storage device 400.

[0038] In order to reduce the pressure on the grasping device 500 corresponding to the second passing window 432, a position control device for controlling the directional movement of the nut 800 can be installed inside the second storage device 700. Through the position control device, the nut 800 inside the second storage device 700 can be driven to move directionally, which ensures the orderly arrangement of multiple nuts 800 and reduces the burden of the grasping device 500 for pushing multiple nuts 800 at the same time.

[0039] The position control device here can be selected as an existing conveyor belt. The conveyor belt is installed at the bottom of the second storage device 700. After the grasping device 500 pushes the nut 800 out of the second passing window 432, the bolt drops onto the surface of the conveyor belt, which can carry and convey the bolt directionally.

[0040] The position control device can also be selected as a directionally rotating threaded rod. And the inner diameter size of the second storage device 700 is designed to be adapted to the outer diameter of the lifting device 600 and is provided with a guiding structure. Through the grasping device 500, the nut 800 can be pushed to be opposite to the threaded rod. When the threaded rod rotates directionally in the first direction, the nut 800 can be captured. At the same time, the nut 800 slides relative to the inner wall of the second storage device 700. At this time, the nut 800 moves directionally under the action of the threaded rod to achieve orderly storage.

[0041] The threaded rod can orderly accommodate the nut 800 and can avoid the shaking of the bolt; however, it should be noted that the outer diameter of the threaded rod needs to be adapted to the inner diameter of the nut 800.

[0042] Installing a position control device in the second storage device 700 can also control the nut 800 to move in the opposite direction to the second passing window 432, thereby realizing the reverse loading of the nut 800; a matching jacking device 600 also needs to be installed at the bottom of the storage end 430, and the jacking device 600 can lift the nut 800 that enters the second passing window 432 in the opposite direction to the first passing window 431, and finally push the nut 800 out through the grasping device 500 opposite to the first passing window 431, and push it into the punch end 330, completing the loading of the nut 800 in the reverse direction, completing the automatic feeding of the nut 800 installation, realizing the automation of the installation of the nut 800, and improving the efficiency of the disassembly and installation of the nut 800.

[0043] The lifting device 600 here can be selected as an existing electric telescopic rod, which can control the lifting of the nut 800. During the lifting process, the plane of the nut 800 needs to be adjusted to be located downward to ensure the stability of the bolt during the lifting and moving process.

[0044] One nut 800 is placed at a time in the storage terminal 430 to avoid the inconvenience caused by simultaneous lifting of multiple nuts 800.

[0045] The gripping device 500 here can be an existing mature clamping device, which can be inserted into the bolt punch 300 to remove the nut 800.

[0046] The present application provides a more preferred grasping device 500 structure, specifically; the grasping device 500 includes a grasping body 510, a connecting rod 520 and a grasping cam 530, and the grasping body 510 can control the directional rotation and extension of the connecting rod 520; the grasping cam 530 is installed at the end of the connecting rod 520, and the connecting rod 520 can extend into the nut 800 and cooperate with the inner wall of the nut 800 to achieve stable grasping of the nut 800.

[0047] After the grabbing cam 530 grabs the nut 800 and stabilizes it, the connecting rod 520 is controlled to retract into the first passing window 431 or the second passing window 432, and then the grabbing cam 530 is adjusted to disengage from the nut 800. After the grabbing cam 530 and the nut 800 are disengaged, the connecting rod 520 is controlled again to drive the grabbing cam 530 to retract, and the nut 800 is controlled to be completely offset from the grabbing cam 530, thereby preventing the nut 800 from being lifted and moved normally afterwards.

[0048] Please refer to the attached Figure 8 And attached Figure 9 The grabbing device 500 is eccentrically mounted relative to the plunger end 330. Figure 8 In the state shown, the grab cam 530 can freely enter and exit the nut 800, and the grab cam 530 is controlled to rotate to the adjacentFigure 9 In the state shown, the protruding part of the gripping cam 530 can abut against the inner wall of the nut 800. Under the action of gravity, the inner wall of the nut 800 can closely fit with the upper end of the gripping cam 530. During the movement of the gripping cam 530, the nut 800 can be driven to move synchronously, realizing the loading and unloading control of the nut 800.

[0049] It should be noted that a reasonable gap needs to be designed between the inner diameter of the punch bolt end 330 and the nut 800, which can ensure the normal disassembly and assembly of the nut 800 while ensuring that the nut 800 can be taken out normally after being lifted. The size of the protrusion on the surface of the gripping cam 530 should be adapted to avoid the outer wall of the nut 800 abutting against the inner wall of the punch bolt end 330 and being unable to be taken out due to an over-large protrusion.

[0050] A threaded groove 531 can be formed on the protruding side of the gripping cam 530. The threaded groove 531 can be adapted to the inner wall of the nut 800, and the two can be in a biting state, further ensuring the structural stability of the nut 800 during the linear movement of the gripping cam 530.

[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A nut grasping and storing device, comprising a first storage device (400), the first storage device (400) including a storage end (430) vertically arranged for storing nuts (800), and a first through window (431) is formed on the upper side wall of the storage end (430) for the nut (800) to pass through. It is characterized in that: A first grasping device (500) is installed inside the first through window (431), and the grasping device (500) extends into the nut (800) to grasp it; the grasping device (500) includes a grasping body (510), a connecting rod (520) and a grasping cam (530). The grasping cam (530) is fixed to the first end of the connecting rod (520). The grasping body (510) controls the connecting rod (520) to move along the axial direction and rotate around the axis, controls the grasping cam (530) to rotate to the first state and extend into the nut (800) internally, and controls the grasping cam (530) to rotate to the second state and abut against the inner top wall of the nut (800) to complete the grasping of the nut (800).

2. The nut grasping and storing device according to claim 1, characterized in that, A threaded groove (531) is formed on the convex side of the grasping cam (530), and the threaded groove (531) is adapted to the inner wall of the nut (800).

3. The nut grasping and storing device according to claim 1, characterized in that, A second through window (432) for the nut (800) to pass through is formed on the lower side wall of the first storage device (400), and a second grasping device (500) is installed inside the second through window (432).

4. The nut grasping and storing device according to claim 3, wherein, It further includes a second storage device (700) adapted to the second through window (432), and the second grasping device (500) conveys the nut (800) directionally into the second storage device (700) for centralized storage.

5. A nut grasping and storing device according to claim 4, wherein, A position control device is further arranged inside the second storage device (700), and the position control device controls the directional movement of the nut (800) inside the second storage device (700).

6. A nut grasping and storing device according to claim 5, characterized in that, A jacking device (600) is further installed at the lower end of the storage end (430), and the jacking device (600) controls the movement of the nut (800) between the first through window (431) and the second through window (432).

7. A nut grasping and storing device according to claim 1, characterized in that, The first storage device (400) further includes a power rotating shaft (420) for controlling the deflection of the storage end (430), and the power rotating shaft (420) is fixedly connected to the storage end (430) through a connecting platform (410).

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