Synchronous butt-clamping wire coil clamp based on truss robot
By designing a synchronous clamping wire tray fixture, and using hooks and linkage components to achieve synchronous motion, the problem of large space occupation and complex structure in wire tray material handling is solved, and the safety and efficiency of material handling is improved.
Patent Information
- Application Number
- CN202422363380.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2024-07-02
- Filing Date
- 2024-09-27
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-09-27
AI Technical Summary
The existing wire-track material handling equipment occupies a large space, is complex in structure, is cost-effective, and has the problem of out-of-synchronization of fixtures.
A synchronous pair clamping tray clamping fixture based on truss robot is designed, using two hook claws and linkage components to achieve synchronous motion through cylinders and wire ropes, combining positioning pins and material protection pads to ensure the synchronization and stability of the clamp.
Improves the safety and efficiency of material handling, reduces space occupation, simplifies the structure, and supports higher operating speed and stability.
Smart Images
Figure CN223147166U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of material handling, and particularly relates to a synchronous clamping wire reel fixture based on a truss robot. Background Technique
[0002] Wire reel materials mainly exist in the cable industry and the steel industry. The quality of this kind of material is generally as small as six, seven, or eight kilograms and as large as two or three tons. At present, in actual production, most are manually transported by equipment such as forklifts or overhead cranes. A small number of enterprises have upgraded their logistics automation and used equipment such as truss robots and AGVs. The current more common material grasping methods are: C-shaped hooks, forklifts, L-shaped hooks, fork tines, etc. C-shaped hooks are mostly used for manual hoisting based on overhead cranes, and L-shaped hooks and fork tines are mostly used in automated logistics systems.
[0003] However, C-shaped hooks and L-shaped hooks will occupy too much space during use. When C-shaped hooks and L-shaped hooks grasp workpieces, they are inserted into the center hole of the wire reel from one side. Therefore, the space occupied by using C-shaped hooks and L-shaped hooks is at least the width of one wire reel. At the same time, using L-shaped hooks will not only cause the above problems but also make the equipment bear eccentric loads, which has high requirements for the equipment structure. Fork tines and forklifts, etc. all belong to the lower support type of fixtures, which are mainly installed on ground equipment such as AGVs, and especially on aerial equipment such as truss robots. They are mostly used in stereoscopic warehouses based on stacker cranes and truss robots. In the logistics turnover, this type of fixture will not only occupy the space on one side of the wire reel but also the space below the wire reel. At the same time, it has certain requirements for the tray structure below the wire reel, which not only reduces the space utilization rate but also increases the cost and structural complexity.
[0004] At present, a clamping type wire reel fixture is also used in the logistics system of wire reel materials based on trusses. This fixture solves some deficiencies of the above-mentioned fixtures, but due to its use of a double-drive structure, there is a small probability of asynchronous phenomenon during clamping. Content of the Utility Model
[0005] The purpose of the utility model is to solve the defects and deficiencies existing in the prior art, and design a synchronous clamping wire reel fixture based on a truss robot with a compact structure, stable and reliable performance, convenient and effective operation, improved material turnover efficiency, high efficiency and safety.
[0006] To achieve the above purpose, the technical solution adopted by the utility model is: a synchronous clamping wire reel fixture based on a truss robot, including a base, two hook claws slidably arranged below the base, a driving component for driving the two hook claws to move towards or away from each other to achieve the grasping or releasing action, and a linkage component for ensuring synchronous movement between the two hook claws. A flange plate and a solenoid valve are arranged above the base.
[0007] Preferably, the two hook claws are symmetrically distributed left and right, and are respectively in sliding fit with the wire rails arranged on the base through wire rail sliders.
[0008] Preferably, material protection pads and positioning pins are provided on the sides of the two hook claws facing each other, and the positioning pins are used for mating connection with the central holes on both sides of the material.
[0009] Preferably, the driving assembly includes two cylinders respectively connected to the two hook claws. The cylinders are connected to the hook claws through floating joints, and the cylinders are also connected with in-place sensors and speed control valves.
[0010] Preferably, the linkage assembly includes two pulley assemblies symmetrically arranged in the waist holes at the left and right ends of the base, and a steel wire rope sleeved on the two pulley assemblies. The steel wire rope is connected into a ring through a U-shaped clamp.
[0011] Preferably, the two hook claws are respectively connected to two parallel steel wire ropes between the two pulley assemblies through steel wire rope fixing blocks.
[0012] Preferably, wire rope tensioning mechanisms for adjusting the distance between the two pulley assemblies are also provided on the two pulley assemblies.
[0013] Preferably, rubber buffer blocks corresponding to the limit blocks at both ends of the base are provided on the sides of the two hook claws away from each other.
[0014] After adopting the above technical solution, a synchronous clamping wire reel fixture based on a truss robot provided by the present invention has the following beneficial effects:
[0015] The present invention adopts a synchronous clamping structure, which ensures the reliability of the clamping movement of the fixture, and avoids the asynchronous phenomenon that one side contacts the material while the other side has not yet contacted the material; at the same time, the force of the fixture is more reasonable, the load-bearing performance is improved, and the structure is more compact, solving the problem of load eccentricity; the present invention grabs the material from above, and only occupies the space for placing the hook claws on both sides, effectively reducing the occupation of the ground space; when the present invention grabs the material, it utilizes the structural characteristics of the material itself, and positions the central hole of the material through the positioning pin, so the material does not need to make additional adaptive designs, and the storage rack for the material does not need to be designed separately; in addition, the positioning pin and the clamping structure adopted by the present invention increase the stability of the material during operation, improve the safety of material handling, and at the same time support a higher operating speed. Therefore, the present invention has the advantages of compact structure, stable and reliable, convenient and effective, improving the material turnover efficiency, high efficiency and safety. Description of the Drawings
[0016] Figure 1 It is the front view of a synchronous clamping wire reel fixture based on a truss robot of the present invention;
[0017] Figure 2 The bottom view of a synchronous clamping wire reel fixture based on a truss robot according to the present utility model;
[0018] Figure 3 The top view of a synchronous clamping wire reel fixture based on a truss robot according to the present utility model;
[0019] Figure 4 is Figure 1 the sectional view taken along the line A-A in
[0020] Wherein: flange 1, solenoid valve 2, base 3, linear guide 4, linear guide slider 5, hook 6, material protection pad 7, positioning pin 8, pulley assembly 9, rubber buffer block 10, cylinder 11, floating joint 12, wire rope tensioning mechanism 13, wire rope fixing block 14, U-shaped clamp 15. Specific embodiments
[0021] The present utility model will be further clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of them. The description of at least one exemplary embodiment is actually only illustrative and in no way limits the present utility model and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts belong to the scope of protection of the present utility model.
[0022] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.
[0023] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that, for the sake of convenience in description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof in subsequent drawings is not necessary.
[0024] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Without contrary statements, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present utility model; the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.
[0025] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" can be used here to describe the spatial positional relationships of one device or feature to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.
[0026] In addition, it should be noted that the use of words such as "first", "second" to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings, and thus should not be construed as limiting the protection scope of the present utility model.
[0027] The utility model relates to a synchronous clamping wire reel fixture based on a truss robot, as Figures 1-4 shown, which includes a base 3, two claw hooks 6 slidably arranged below the base 3, a driving component for driving the two claw hooks 6 to move towards or away from each other to achieve grasping or releasing actions, and a linkage component for ensuring synchronous movement between the two claw hooks 6. Specifically, the two claw hooks 6 are symmetrically distributed left and right, and are respectively slidably matched with a wire rail 4 arranged on the base 3 through wire rail sliders 5 to ensure a good clamping guiding function. On the side where the two claw hooks 6 face each other, a material protection pad 7 and a positioning pin 8 are provided. The positioning pin 8 is used for connecting with the central holes on both sides of the material. Through the design of the positioning pin 8 and the clamping structure of the two claw hooks 6, the stability of the material during operation is increased, the safety of material handling is improved, and at the same time, a higher operating speed is supported. Specifically, on the one hand, the positioning pin 8 can limit 4 degrees of freedom of the material and bear all the weight of the material. On the other hand, the clamping mechanism limits the other 2 degrees of freedom of the material through the extrusion force and the friction force of the material protection pad 7 on the contact surface, thereby realizing the complete positioning of the material.
[0028] The driving component includes two cylinders 11 respectively connected to the two claw hooks 6. The cylinders 11 are connected to the claw hooks 6 through floating joints 12, and the cylinders 11 are also connected with in-place sensors and speed control valves. The linkage component includes two pulley assemblies 9 symmetrically arranged in the waist holes at the left and right ends of the base 3, and a steel wire rope sleeved on the two pulley assemblies 9. The steel wire rope is connected into a loop through a U-shaped clamp 15. The two claw hooks 6 are respectively connected to two parallel steel wire ropes between the two pulley assemblies 9 through steel wire rope fixing blocks 14. Further, a steel wire rope tensioning mechanism 13 for adjusting the distance between the two pulley assemblies 9 is also provided on the two pulley assemblies 9, and the steel wire rope is tensioned by adjusting the distance between the two pulley assemblies 9.
[0029] A flange 1 and a solenoid valve 2 are arranged above the base 3. The P port of the solenoid valve 2 is connected to the air source, the A port is connected to the air port after the cylinder, the B port is connected to the air port before the cylinder, and the exhaust hole is connected to a muffler.
[0030] Rubber buffer blocks 10 corresponding to the limit blocks at both ends of the base 3 are provided on the sides of the two claw hooks 6 away from each other, providing a limit buffering effect when the two claw hooks 6 move away from each other.
[0031] When the synchronous clamping wire reel fixture based on a truss robot of the present utility model is in operation, a control signal is given by the truss control system, the solenoid valve 2 operates, the cylinder 11 works to pull the claw 6 to clamp the material. At the same time, the wire rope fixing block 14 fixed on the claw 6 drives the annular wire rope to move. According to the principle that the movement directions of the lines on the opposite sides of the loop are opposite and the speed magnitudes are the same, it can be known that the wire rope fixing block 14 on the opposite side will drive the other claw 6 to make a reverse movement with the same magnitude, thus realizing synchronous movement. After the action is completed, the truss control system reads the state of the cylinder in-place sensor. When the in-place signal of the cylinder in-place sensor is received, the truss robot starts the handling action.
[0032] When placing the material of the present utility model, a signal to open the fixture is given by the truss control system, the solenoid valve 2 operates, the cylinder 11 works to push the claw 6 and the wire rope synchronization system to open, and at the same time the positioning pin 8 disengages from the central hole of the material. After the action is completed, the truss control system reads the state of the cylinder in-place sensor. When the in-place signal of the cylinder in-place sensor is received, the truss robot lifts and leaves the material placement station to prepare for or start a new cycle.
[0033] In summary, the synchronous clamping wire reel fixture based on a truss robot provided by the present utility model ensures the synchronism during clamping of the fixture, increases the stability of the material during operation, improves the safety of material handling, and at the same time supports a higher operating speed. It has the advantages of a compact structure, stability and reliability, being convenient and effective, improving the material turnover efficiency, being highly efficient and safe, etc., and has great market value and is worthy of wide promotion and application.
[0034] The above is only the preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present utility model.
Claims
1. A synchronous clamping wire reel fixture based on a truss robot, characterized in that: It includes a base (3), two claw hooks (6) slidably arranged below the base (3), a driving component for driving the two claw hooks (6) to move towards or away from each other to achieve grasping or releasing actions, and a linkage component for ensuring synchronous movement between the two claw hooks (6). A flange plate (1) and a solenoid valve (2) are arranged above the base (3).
2. The synchronous clamping wire reel fixture based on a truss robot according to claim 1, characterized in that: The two claw hooks (6) are symmetrically distributed left and right and are respectively in sliding fit with a linear guide (4) arranged on the base (3) through a linear guide slider (5).
3. The synchronous clamping wire reel fixture based on a truss robot according to claim 1, characterized in that: Material protection pads (7) and positioning pins (8) are arranged on the sides of the two claw hooks (6) facing each other. The positioning pins (8) are used for mating connection with the central holes on both sides of the material.
4. A synchronous clamping wire spool fixture based on a truss robot according to claim 1, characterized in that: The driving component includes two cylinders (11) respectively corresponding to and connected to the two claw hooks (6). The cylinders (11) are connected to the claw hooks (6) through floating joints (12), and the cylinders (11) are also connected with in-place sensors and speed control valves.
5. A synchronous clamping wire reel fixture based on a truss robot according to claim 1, characterized in that: The linkage component includes two pulley assemblies (9) symmetrically arranged in the waist-shaped holes at the left and right ends of the base (3), and a steel wire rope sleeved on the two pulley assemblies (9). The steel wire rope is connected into a loop through a U-shaped clamp (15).
6. The synchronous clamping wire reel fixture based on a truss robot according to claim 5, characterized in that: The two claw hooks (6) are respectively connected to two parallel steel wire ropes between the two pulley assemblies (9) through steel wire rope fixing blocks (14).
7. A synchronous clamping wire reel fixture based on a truss robot according to claim 5, characterized in that: Steel wire rope tensioning mechanisms (13) for adjusting the distance between the two pulley assemblies (9) are also arranged on the two pulley assemblies (9).
8. A synchronous clamping wire reel fixture based on a truss robot according to claim 1, characterized in that: Rubber buffer blocks (10) corresponding to the limit blocks at both ends of the base (3) are arranged on the sides of the two claw hooks (6) far away from each other.