Gas tank transferring and clamping manipulator

Abstract

The utility model relates to a fuel gas tank transfer clamping manipulator which comprises a main machine, a mechanical arm rotationally connected to the main machine and a pick-and-place gripper rotationally connected to the mechanical arm, the pick-and-place gripper comprises a rectangular air cylinder frame and two pairs of grippers arranged on the two sides of the air cylinder frame, and two pairs of air cylinder sets are symmetrically arranged on the two long side edges of the air cylinder frame. The inner side end of each gripper is fixed on a cylinder group; l-shaped strip-shaped plates are arranged on the outer sides of the grabhooks, and through holes used for clamping the outer wall of the gas tank are formed in the planes of the grabhooks. The gas tank transferring and clamping manipulator overcomes the defect that manual transferring and butt-joint or advanced spot welding are needed in the current two-end type gas tank welding and feeding process, an upper tank body part and a lower tank body part can be aligned and integrally transferred at the same time, stable alignment of the parts is kept in the transferring process, on the premise that manpower and procedures are saved, the production efficiency is improved, and the production cost is reduced. And the stability of component transferring is improved, the precision of joints is kept, and then the machining efficiency and the machining quality are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to gas tank production and manufacturing equipment technical field, concretely relates to a kind of gas tank transfer clamping manipulator. BACKGROUND

[0002] Gas tank is a kind of high-pressure liquid storage tank, the production and manufacturing process of two-section gas tank is, first manufacture two-end tank body, stamping valve hole in one section, then two-section tank body is welded into one, the feeding mode of current welding machine is that two tank bodies are transferred to welding machine clamp by artificial and are laid flat, after seam welding, the two tank body components are clamped by the clamp from both sides, at least two people are needed to operate in the process, or the two tank body welds are spot-welded before feeding, and then fed horizontally, not only consume a lot of manpower, increase intermediate process, but also difficult to avoid the occurrence of uneven weld caused by human factors. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the defects of current two-end gas tank welding feeding needing artificial transfer and pre-welding, and to provide a kind of gas tank transfer clamping manipulator, which can simultaneously align and integrally transfer upper and lower tank body components, and maintain the stable alignment of components during the transfer process, improve the stability of component transfer, maintain the accuracy of joint, and thus improve the processing efficiency and processing quality under the premise of saving manpower and process.

[0004] The gas tank transfer clamping manipulator comprises a host computer, a mechanical arm rotatably connected to the host computer, and a taking and placing gripper rotatably connected to the mechanical arm, wherein the taking and placing gripper comprises a rectangular cylinder frame and two pairs of gripper claws arranged on both sides of the cylinder frame, two pairs of cylinder groups are symmetrically arranged on both long sides of the cylinder frame, and each gripper claw is fixed on one cylinder group at the inner end of the gripper claw.

[0005] Further, the cylinder group comprises two cylinders, and the cylinder rods of the two cylinders are fixed on the diagonal lines of the inner side plane of the gripper claw.

[0006] Specifically, the mechanical arm comprises a front long arm and a rear long arm connected by a third servo motor, the third servo motor is fixed at the rear end of the front long arm, and the output shaft of the third servo motor is connected to the front end of the rear long arm.

[0007] Further, the front long arm is provided with a motor slot, a fifth servo motor is rotatably connected in the motor slot, a fourth servo motor is fixed outside the motor slot, the output shaft of the fourth servo motor penetrates the motor slot and is fixed on the body of the fifth servo motor, and the output shaft of the fifth servo motor is connected to the back side of the cylinder frame.

[0008] Specifically, the host computer includes a base, a control box fixed on the base, a mechanical arm seat rotatably connected to the base, a PLC programmable controller and a first servo motor are arranged in the base, and a second servo motor is arranged on the mechanical arm seat.

[0009] Further, the output shaft of the first servo motor is fixedly connected to the bottom of the mechanical arm seat, and the output shaft of the second servo motor is connected to the rear end of the rear long arm.

[0010] The utility model discloses a gas tank transfer clamping manipulator, overcome the defect that the two end formula gas tank welding feeding needs manual transfer and to the splicing or early spot welding, it can simultaneously with the upper and lower tank body component alignment integral transfer to the stability of component transfer, the accuracy of joint is kept, and the processing efficiency and processing quality are improved under the premise of saving manpower and procedure. BRIEF DESCRIPTION OF DRAWINGS

[0011] The utility model discloses a gas tank transfer clamping manipulator, overcome the defect that the two end formula gas tank welding feeding needs manual transfer and to the splicing or early spot welding, it can simultaneously with the upper and lower tank body component alignment integral transfer to the stability of component transfer, the accuracy of joint is kept, and the processing efficiency and processing quality are improved under the premise of saving manpower and procedure.

[0012] Figure 1 It is the plane structure schematic diagram of the gas tank transfer clamping manipulator of the utility model;

[0013] Figure 2 It is Figure 1 The utility model discloses a gas tank transfer clamping manipulator, overcome the defect that the two end formula gas tank welding feeding needs manual transfer and to the splicing or early spot welding, it can simultaneously with the upper and lower tank body component alignment integral transfer to the stability of component transfer, the accuracy of joint is kept, and the processing efficiency and processing quality are improved under the premise of saving manpower and procedure.

[0014] Figure 3 It is Figure 2 The utility model discloses a gas tank transfer clamping manipulator, overcome the defect that the two end formula gas tank welding feeding needs manual transfer and to the splicing or early spot welding, it can simultaneously with the upper and lower tank body component alignment integral transfer to the stability of component transfer, the accuracy of joint is kept, and the processing efficiency and processing quality are improved under the premise of saving manpower and procedure.

[0015] Figure 4 It is the use state action 1 reference drawing (from the clamping gas tank of conveyer) of the gas tank transfer clamping manipulator of the utility model;

[0016] Figure 5 It is the use state action 2 reference drawing (sends the gas tank to welding machine) of the gas tank transfer clamping manipulator of the utility model.

[0017] In the drawing:

[0018] 0-gas tank, 1-host computer, 2-mechanical arm, 3-take and place gripper, 4-third servo motor, 5-fifth servo motor, 6-fourth servo motor, 7-first servo motor, 8-second servo motor, 10-PLC programmable controller;

[0019] 11-base, 12-control box, 13-mechanical arm seat; 21-front long arm, 22-rear long arm; 31-cylinder frame, 32-grabbing claw;

[0020] 211-motor slot; 311-cylinder group, 321-through hole. DETAILED DESCRIPTION

[0021] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; they can refer to direct connection or indirect connection through an intermediate medium; they can refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0022] In the description of the present invention, it should be understood that the terms "left", "right", "front", "back", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0023] The technical solution of the present invention is further described below with specific embodiments, but the protection scope of the present invention is not limited to the following embodiments.

[0024] Implementation method 1: Figures 1 to 3 As shown, the gas tank transfer and clamping robot includes a main unit 1, a robot arm 2 rotatably connected to the main unit 1, and a pick-and-place gripper 3 rotatably connected to the robot arm 2, wherein the pick-and-place gripper 3 includes a rectangular cylinder frame 31 and two pairs of grippers 32 arranged on both sides of the cylinder frame 31, and two pairs of cylinder groups 311 are symmetrically provided on the two long sides of the cylinder frame 31, and the inner end of each gripper 32 is fixed on a cylinder group 311; the outer side of the gripper 32 is an L-shaped strip plate, and a through hole 321 for clamping the outer wall of the gas tank 0 is opened on the plane of the gripper 32.

[0025] Implementation method 2: Figure 2 、 3 As shown, the cylinder assembly 311 of this gas cylinder transfer and gripping robot comprises two cylinders, the rod ends of which are fixed diagonally to the inner plane of the gripper 32. This provides a more secure gripper and ensures its stable shape during retraction and extension. The remaining structure and components are as described in Embodiment 1 and will not be repeated here.

[0026] Implementation method 3: Figure 2 、 3As shown, the mechanical arm 2 of the gas tank transfer clamping manipulator includes a front long arm 21 and a rear long arm 22 connected by a third servo motor 4, the third servo motor 4 is fixed at the rear end of the front long arm 21, and the output shaft of the third servo motor 4 is connected and fixed to the front end of the rear long arm 22. The front end of the front long arm 21 is provided with a motor groove 211, the fifth servo motor 5 is rotatably connected in the motor groove 211, the fourth servo motor 6 is fixed outside the motor groove 211, the output shaft of the fourth servo motor 6 penetrates the motor groove 211 and is fixed on the body of the fifth servo motor 5, and the output shaft of the fifth servo motor 5 is connected and fixed to the back side of the cylinder frame 31. The remaining structures and components are as described in embodiment 1 and will not be described again.

[0027] Embodiment 3: as shown in Figure 2 , 3 As shown, the main machine 1 of the gas tank transfer clamping manipulator includes a base 11, a control box 12 fixed on the base 11, and a mechanical arm seat 13 rotatably connected to the base 11, and a PLC programmable controller 10 and a first servo motor 7 are arranged in the base 11, and a second servo motor 8 is arranged on the mechanical arm seat 13. The output shaft of the first servo motor 7 is fixedly connected to the bottom of the mechanical arm seat 13, and the output shaft of the second servo motor 8 is connected to the rear end of the rear long arm 22. The remaining structures and components are as described in embodiment 1 and will not be described again.

[0028] When running: place the finished gas tank to be processed on the conveyor, and perform sequential actions under the control of the PLC programmable controller. Action one: the second and third servo motors drive the mechanical arm to retract, the cylinder group drives the claws to open outward, the first servo motor drives the mechanical arm seat to turn to the direction of the conveyor, the second and third servo motors drive the mechanical arm to stretch forward, the fourth and fifth servo motors drive the pick-and-place gripper to be vertical, and the cylinder group drives the two sets of claws to retract while clamping the upper and lower tank bodies of the gas tank, as shown in Figure 4 Action one: the second and third servo motors drive the mechanical arm to retract, the first servo motor drives the mechanical arm seat to turn to the direction of the welding machine, the fourth and fifth servo motors drive the pick-and-place gripper to be horizontal, the second and third servo motors drive the mechanical arm to stretch forward, and the fourth and fifth servo motors drive the pick-and-place gripper to be horizontal, as shown in Figure 5 When the welding machine completes the inward pushing and clamping of the gas tank from the horizontal two sides, the cylinder group drives the claws to open outward, the second and third servo motors drive the mechanical arm to retract, the first servo motor drives the mechanical arm seat to turn to the direction of the conveyor again, and the next round of gas tank conveying is performed.

[0029] The gas tank transfer clamping mechanical hand overcomes the defects of manual transfer and early spot welding of the current two-end type gas tank welding feeding, can simultaneously transfer the upper and lower tank body parts to be aligned, maintains the stability of the parts during the transfer process, saves manpower and process, improves the stability of the part transfer, maintains the accuracy of the joint, and improves the processing efficiency and processing quality.

[0030] The above description shows the main features, basic principles and advantages of the present application. It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments or examples, and can be realized in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, the above embodiments or examples should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims.

[0031] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A gas tank transfer gripping manipulator, characterized by: The invention comprises a main machine (1), a mechanical arm (2) rotatably connected to the main machine (1), and a pick-and-place gripper (3) rotatably connected to the mechanical arm (2), wherein: The pick-and-place gripper (3) comprises a rectangular cylinder frame (31) and two pairs of grippers (32) arranged on both sides of the cylinder frame (31); two pairs of cylinder groups (311) are symmetrically provided on the two long sides of the cylinder frame (31); the inner end of each gripper (32) is fixed to a cylinder group (311); the outer side of the gripper (32) is an L-shaped strip plate, and a through hole (321) for clamping the outer wall of the gas tank (0) is opened on the plane of the gripper (32).

2. The gas tank transfer and gripping manipulator according to claim 1 is characterized in that: The cylinder group (311) includes two cylinders, and the ends of the cylinder rods of the two cylinders are fixed obliquely on the diagonal line of the inner plane of the gripper (32).

3. The gas tank transfer and gripping manipulator according to claim 2 is characterized in that: The mechanical arm (2) comprises a front long arm (21) and a rear long arm (22) connected via a third servo motor (4); the third servo motor (4) is fixed to the rear end of the front long arm (21); and an output shaft of the third servo motor (4) is connected and fixed to the front end of the rear long arm (22).

4. The gas tank transfer and gripping manipulator according to claim 3 is characterized by: The front end of the front long arm (21) is provided with a motor slot (211), a fifth servo motor (5) is rotatably connected in the motor slot (211), a fourth servo motor (6) is fixed outside the motor slot (211), an output shaft of the fourth servo motor (6) passes through the motor slot (211) and is fixed to the body of the fifth servo motor (5), and an output shaft of the fifth servo motor (5) is connected and fixed to the back side of the cylinder frame (31).

5. The gas tank transfer and gripping manipulator according to claim 4 is characterized in that: The host (1) comprises a base (11), a control box (12) fixed on the base (11), and a mechanical arm base (13) rotatably connected to the base (11); a PLC programmable controller (10) and a first servo motor (7) are provided in the base (11); and a second servo motor (8) is provided on the mechanical arm base (13).

6. The gas tank transfer and gripping manipulator according to claim 5 is characterized by: The output shaft of the first servo motor (7) is fixedly connected to the bottom of the mechanical arm seat (13), and the output shaft of the second servo motor (8) is connected to the rear end of the rear long arm (22).

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