Air compressor air storage tank grabbing manipulator with stable grabbing function

Abstract

The utility model relates to the technical field of grabbing manipulators, and discloses an air compressor air storage tank grabbing manipulator with a stable grabbing function, which comprises a connecting plate, a top end mounting plate is arranged at the top of the connecting plate, and an adjusting clamping device is arranged at the bottom of the connecting plate. According to the air compressor air storage tank grabbing manipulator with the stable grabbing function, by arranging a shape memory alloy wire and a memory rubber alloy material plate, the air compressor air storage tank grabbing manipulator with the stable grabbing function has certain elasticity, can adapt to the irregular shape of a tank body and has enough strength to ensure the grabbing firmness, and a groove matched with the tank body is formed in the side face of a contact pad, so that the grabbing firmness is improved. The arc-shaped limiting clamping groove is designed, the radian of the arc-shaped limiting clamping groove is consistent with that of a can body, the can body can be accurately clamped during grabbing, relative accuracy of the position is guaranteed, the elastic contact face and the limiting groove which are matched with the outline of the can body are arranged on the side face of the mechanical clamping jaw, the contact area of the mechanical clamping jaw and the can body is large, the attaching degree is high, the clamping strength is enough, and the using effect is good.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of grabbing manipulator, concretely is a kind of air compressor tank grabbing manipulator with stable grabbing function. BACKGROUND

[0002] In modern industrial production, air compressor is widely used in various industries as an important power equipment, and air tank is a key component of air compressor system, which has the important functions of storing compressed air, stabilizing air pressure, reducing frequent start of compressor and buffering air pulse. With the development of industrial automation, some enterprises use mechanical grabbing devices to handle air tanks.

[0003] The prior art discloses an air compressor tank grabbing manipulator with the announcement number CN218433683U, which comprises a grabbing device for grabbing the air tank, a handling device connected with the grabbing device for moving the grabbing device in space, a connecting frame connected to the execution end of the handling device, and a grabbing mechanism provided on the connecting frame. The grabbing mechanism forms a grabbing area, and the air tank is located in the grabbing area during grabbing. A positioning assembly is also provided on the connecting frame, facing the grabbing area. The positioning assembly cooperates with the air tank during grabbing to ensure the correct position of the grabbing mechanism relative to the air tank in the horizontal direction, so that the air tank remains stable after grabbing. The above-mentioned device has the advantages of setting the positioning assembly on the connecting frame to ensure the correct position of the grabbing mechanism, avoiding the phenomenon of the grabbing mechanism deviating to the left or right side of the air tank, and ensuring that the grabbing mechanism can stably grab the air tank.

[0004] The above-mentioned air compressor tank grabbing manipulator can ensure that the grabbing mechanism can stably grab the air tank after grabbing, and can transport the stable air tank to water under the action of the handling device, which is convenient for transporting the air tank and improves the detection efficiency. However, the mechanical gripper side of the above-mentioned device does not have an elastic contact surface and a limiting groove matched with the tank body profile, the contact area with the tank body is small, the fit degree is low, the clamping strength is insufficient, and the effect is not good during use, which needs to be improved. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an air compressor tank grabbing manipulator with stable grabbing function to solve the problems in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: an air compressor tank grabbing manipulator with stable grabbing function, comprising a connecting plate, a top end mounting plate is arranged at the top of the connecting plate, an adjusting clamping device is arranged at the bottom of the connecting plate, and a stable grabbing device is arranged at the bottom of the adjusting clamping device.

[0007] The stable grabbing device comprises a magnetic plate, a magnet plate, a side end fitting plate, a contact pad, a first spring piece, a second spring piece, a rotating shaft rod, a connecting plate, a connecting seat, a memory rubber alloy material plate, and a shape memory alloy wire, a groove is formed in the inside of the memory rubber alloy material plate, the shape memory alloy wire is fixedly connected to the inside of the memory rubber alloy material plate, the connecting seat is fixedly connected to the surface of the rotating shaft rod, the side end fitting plate is fixedly connected to the top of the connecting plate, the contact pad is fixedly connected to the side close to each other of the side end fitting plate, the first spring piece is fixedly connected to the top of the side of the side end fitting plate, and the second spring piece is fixedly connected to the bottom of the side of the side end fitting plate.

[0008] Preferably, the adjusting clamping device comprises a connecting block, a vertical block, a mounting plate, a mounting bolt, a bottom end sliding frame, a fixed plate piece, an inner bidirectional stepping motor, a threaded rod, a limiting sliding block, a threaded sleeve, a bottom end connecting block, and a mechanical clamping jaw, the connecting block is connected to the top of the connecting plate piece, the vertical block is fixedly connected to the front of the connecting block, the mounting plate is fixedly connected to the front of the vertical block, the fixed plate piece is fixedly connected to the front of the connecting plate piece, the bottom end sliding frame is fixedly connected to the bottom of the connecting block, the inner bidirectional stepping motor is fixedly connected to the inside center of the bottom end sliding frame, the threaded rod is fixedly connected to the output shaft of the inner bidirectional stepping motor, the threaded sleeve is threadedly connected to the surface of the threaded rod, the limiting sliding block is fixedly connected to the front of the threaded sleeve, a sliding groove is formed in the front of the bottom end sliding frame, the width of the sliding groove is matched with the width of the limiting sliding block, the limiting sliding block is slidingly connected to the front of the bottom end sliding frame, the bottom end connecting block is fixedly connected to the bottom of the threaded sleeve, and the mechanical clamping jaw is fixedly connected to the bottom of the bottom end connecting block.

[0009] Preferably, one end of the second spring piece away from the side of the side end fitting plate is fixedly connected to the side of the mechanical clamping jaw, and one end of the side of the first spring piece away from the side of the side end fitting plate is fixedly connected to the side of the mechanical clamping jaw.

[0010] Preferably, the connecting seat is fixedly connected to the top right side of the mechanical clamping jaw, a through groove is formed in the inside of the connecting seat, the diameter of the rotating shaft rod is matched with the diameter of the through groove, and the rotating shaft rod is slidingly connected to the inside of the connecting seat.

[0011] Preferably, the magnetic plate is fixedly connected to the side of the mechanical clamping jaw, and the memory rubber alloy material plate is fixedly connected to the bottom of the side of the mechanical clamping jaw.

[0012] Preferably, a bearing piece is fixedly connected to the back of the connecting seat, and the rotating shaft rod is fixedly connected to the inner ring of the bearing piece, so that the rotating shaft rod can smoothly rotate and be limited at the front and back ends during rotation, thereby avoiding the front and back sliding of the rotating shaft rod from affecting the normal pressing use of the side end fitting plate and the contact pad.

[0013] Preferably, a connecting ring plate is fixedly connected to the top of the mounting plate, and the inner ring of the connecting ring plate has an internal thread groove. The top of the fixing plate has a connecting screw hole that matches the diameter of the internal thread groove. The mounting bolt is threaded into the internal thread groove and the connecting screw hole. The mounting bolt is screwed into the mounting plate and the fixing plate to install the bottom sliding bracket. The above structure serves to position and install the clamping assembly.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This air compressor tank gripping robot, equipped with shape memory alloy wires and shape memory rubber alloy plates, possesses a certain degree of elasticity to adapt to the irregular shape of the tank while maintaining sufficient strength to ensure a firm grip. Furthermore, the side of the contact pad has grooves adapted to the tank body, and an arc-shaped limiting groove is designed with an arc consistent with the tank body. This ensures accurate gripping of the tank body during gripping, guaranteeing relatively accurate positioning. The mechanical gripper has elastic contact surfaces and limiting grooves on the side that match the tank body contour, resulting in a large contact area, high fit, and sufficient clamping strength, leading to excellent performance during use.

[0016] 2. This air compressor tank gripping robot with stable gripping function is equipped with an adjustable clamping device. During use, the position of the two mechanical grippers can be adjusted. When they are close to each other, they can grip; when they are far apart, they can separate. During adjustment, the internal bidirectional stepper motor is started to drive the threaded rod to rotate, which causes the threaded sleeve to slide left and right against the inside of the bottom sliding frame, and drives the bottom mechanical grippers to slide synchronously. It can perform gripping and separating placement for gripping and placing air tanks. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0018] Figure 2 This utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0019] Figure 3 This is a schematic diagram of the overall front view of the present invention;

[0020] Figure 4 This utility model Figure 3 Enlarged structural diagram at point B;

[0021] Figure 5 This utility model Figure 3 Enlarged structural diagram at point C.

[0022] In the figure: 1, connecting plate part; 2, top end mounting plate; 3, adjusting clamping device; 301, connecting block; 302, vertical block; 303, mounting plate; 304, mounting bolt; 305, bottom end sliding frame; 306, fixed plate part; 307, inner bidirectional stepping motor; 308, threaded rod; 309, limit sliding block; 310, threaded sleeve; 311, bottom end connecting block; 312, mechanical clamping jaw; 4, stable grabbing device; 401, magnetic plate; 402, magnet plate; 403, side end adhering plate; 404, contact pad; 405, first spring part; 406, second spring part; 407, rotating shaft; 408, connecting plate; 409, connecting seat; 410, memory rubber alloy material plate; 411, shape memory alloy wire. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Please refer to Figures 1-5 The present application provides the following technical solutions:

[0025] The air compressor tank grabbing manipulator with stable grabbing function comprises a connecting plate part 1, the top of the connecting plate part 1 is provided with a top end mounting plate 2, the bottom of the connecting plate part 1 is provided with an adjusting clamping device 3, and the bottom of the adjusting clamping device 3 is provided with a stable grabbing device 4.

[0026] The stable grabbing device 4 comprises a magnetic plate 401, a magnet plate 402, a side end adhering plate 403, a contact pad 404, a first spring piece 405, a second spring piece 406, a rotating shaft rod 407, a connecting plate 408, a connecting seat 409, a memory rubber alloy material plate 410 and a shape memory alloy wire 411. The memory rubber alloy material plate 410 is internally provided with a groove. The shape memory alloy wire 411 is fixedly connected to the two sides of the interior of the memory rubber alloy material plate 410. The connecting seat 409 is fixedly connected to the surface of the rotating shaft rod 407. The side end adhering plate 403 is fixedly connected to the top of the connecting plate 408. The contact pad 404 is fixedly connected to the side close to each other of the side end adhering plate 403. The first spring piece 405 is fixedly connected to the top of the side of the side end adhering plate 403. The second spring piece 406 is fixedly connected to the bottom of the side of the side end adhering plate 403. The end of the second spring piece 406 away from the side of the side end adhering plate 403 is fixedly connected to the side of the mechanical clamp jaw 312. The end of the side of the first spring piece 405 away from the side of the side end adhering plate 403 is fixedly connected to the side of the mechanical clamp jaw 312. The connecting seat 409 is fixedly connected to the top right side of the mechanical clamp jaw 312. The connecting seat 409 is internally provided with a through groove. The diameter of the rotating shaft rod 407 is matched with the diameter of the through groove. The rotating shaft rod 407 is slidingly connected to the interior of the connecting seat 409. The magnetic plate 401 is fixedly connected to the side of the mechanical clamp jaw 312. The memory rubber alloy material plate 410 is fixedly connected to the bottom of the side of the mechanical clamp jaw 312. The back of the connecting seat 409 is fixedly connected with a bearing piece. The rotating shaft rod 407 is fixedly connected to the inner ring of the bearing piece. The bearing piece is arranged to ensure that the rotating shaft rod 407 rotates smoothly and is limited at the front and back ends when rotating, so as to avoid that the rotating shaft rod 407 slips forward and backward and affects the normal pressing use of the side end adhering plate 403 and the contact pad 404.

[0027] The adjusting clamping device 3 comprises a connecting block 301, a vertical block 302, a mounting plate 303, mounting bolts 304, a bottom end sliding frame 305, a fixing plate 306, an inner bidirectional stepping motor 307, a threaded rod 308, a limiting sliding block 309, a threaded sleeve 310, a bottom end connecting block 311 and a mechanical clamping jaw 312. The connecting block 301 is connected to the top of the connecting plate 1. The vertical block 302 is fixedly connected to the front face of the connecting block 301. The mounting plate 303 is fixedly connected to the front face of the vertical block 302. The fixing plate 306 is fixedly connected to the front face of the connecting plate 1. The bottom end sliding frame 305 is fixedly connected to the bottom of the connecting block 301. The inner bidirectional stepping motor 307 is fixedly connected to the inner center of the bottom end sliding frame 305. The threaded rod 308 is fixedly connected to the output shaft of the inner bidirectional stepping motor 307. The threaded sleeve 310 is threadedly connected to the surface of the threaded rod 308. The limiting sliding block 309 is fixedly connected to the front face of the threaded sleeve 310. A sliding groove is formed in the front face of the bottom end sliding frame 305, and the width of the sliding groove is adapted to the width of the limiting sliding block 309. The limiting sliding block 309 is slidingly connected to the front face of the bottom end sliding frame 305. The bottom end connecting block 311 is fixedly connected to the bottom of the threaded sleeve 310. The mechanical clamping jaw 312 is fixedly connected to the bottom of the bottom end connecting block 311. The top of the mounting plate 303 is fixedly connected with a connecting ring plate. An inner thread groove is formed in the inner circle of the connecting ring plate. A connecting screw hole is formed in the top of the fixing plate 306, and the hole diameter of the connecting screw hole is adapted to the inner thread groove. The mounting bolts 304 are threadedly connected to the inner thread groove and the connecting screw hole. The mounting bolts 304 are screwed into the inner portions of the mounting plate 303 and the fixing plate 306, so that the bottom end sliding frame 305 is mounted. The above structure plays a role of positioning and mounting the clamping assembly.

[0028] In use, the connecting block 301 is arranged inside the connecting plate member 1, and can slide forward and backward inside the connecting plate member 1 until the mounting plate 303 slides on the top of the fixed plate member 306 and the threaded groove inside the mounting plate 303 is aligned with the connecting screw hole inside the fixed plate member 306, then the mounting bolt 304 can be screwed into the inside of the mounting plate 303 and the fixed plate member 306, thereby mounting the bottom end sliding frame 305, and the positions of the two mechanical clamping jaws 312 can be adjusted in use, and the two mechanical clamping jaws 312 can be clamped when approaching each other and can be separated when moving away from each other, and the adjustment is realized by starting the inner bidirectional stepping motor 307 to drive the threaded rod 308 to rotate, drive the threaded sleeve 310 to slide left and right along the inside of the bottom end sliding frame 305, and drive the mechanical clamping jaws 312 at the bottom to slide synchronously, so that the mechanical clamping jaws 312 can be clamped and separated, and the gas storage tank can be gripped and placed, and the stable gripping device 4 is arranged on the side of the mechanical clamping jaws 312, which plays a role of preventing falling during clamping, and the shape memory alloy wire 411 and the memory rubber alloy material plate 410 are arranged on the side and bottom of the mechanical clamping jaws 312, which have a certain elasticity to adapt to the irregular shape of the tank body and have sufficient strength to ensure the firmness of gripping, the shape memory alloy wire 411 is arranged in the inner layer of the memory rubber alloy material plate 410, and when the mechanical hand does not grip the gas storage tank, the shape memory alloy wire is in an initial state, and when the clamping jaw contacts the gas storage tank and is deformed, the shape memory alloy wire records the corresponding shape information according to the deformation, and once the gripping is completed, the shape memory alloy wire uses its memory characteristics to help the clamping jaw to maintain the best gripping shape, thereby further improving the accuracy and stability of gripping, and the first spring member 405, the second spring member 406 and the side end abutting plate 403 are arranged on the side, and in use, the top of the side end abutting plate 403 can be pulled to move towards the tank body to be clamped, so that the magnetic plate 401 is separated from the magnet plate 402, the first spring member 405 and the second spring member 406 are no longer pressed and can rebound towards the tank body until the contact pad 404 contacts the two sides of the tank body, the side of the contact pad 404 is provided with a groove matched with the tank body, and the arc-shaped limiting groove is designed, and the arc of the limiting groove is consistent with the tank body, so that the tank body can be accurately clamped during gripping, the relative accuracy of the position is ensured, the elastic contact surface and the limiting groove matched with the outline of the tank body are arranged on the side of the mechanical clamping jaw, the contact area with the tank body is large, the fit degree is high, the clamping strength is sufficient, and the effect in use is good.

[0029] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An air compressor tank grabbing manipulator with stable grabbing function, comprising a connecting plate (1), characterized in that: The top of the connecting plate (1) is provided with a top mounting plate (2), the bottom of the connecting plate (1) is provided with an adjusting clamping device (3), and the bottom of the adjusting clamping device (3) is provided with a stable grabbing device (4); The stable grabbing device (4) comprises a magnetic plate (401), a magnet plate (402), a side end adhering plate (403), a contact pad (404), a first spring piece (405), a second spring piece (406), a rotating shaft rod (407), a connecting plate (408), a connecting seat (409), a memory rubber alloy material plate (410) and a shape memory alloy wire (411). The memory rubber alloy material plate (410) is internally provided with a groove, the shape memory alloy wire (411) is fixedly connected to the inside of the memory rubber alloy material plate (410), the connecting seat (409) is fixedly connected to the surface of the rotating shaft rod (407), the side end adhering plate (403) is fixedly connected to the top of the connecting plate (408), the contact pad (404) is fixedly connected to the side close to each other of the side end adhering plate (403), the first spring piece (405) is fixedly connected to the top of the side of the side end adhering plate (403), and the second spring piece (406) is fixedly connected to the bottom of the side of the side end adhering plate (403).

2. The air compressor tank grabbing manipulator with stable grabbing function according to claim 1, characterized in that: The adjusting clamping device (3) comprises a connecting block (301), a vertical block (302), a mounting plate (303), a mounting bolt (304), a bottom sliding frame (305), a fixed plate (306), an inner bidirectional stepping motor (307), a threaded rod (308), a limiting sliding block (309), a threaded sleeve (310), a bottom connecting block (311) and a mechanical clamping jaw (312). The connecting block (301) is connected to the top of the connecting plate (1), the vertical block (302) is fixedly connected to the front face of the connecting block (301), the mounting plate (303) is fixedly connected to the front face of the vertical block (302), the fixed plate (306) is fixedly connected to the front face of the connecting plate (1), the bottom sliding frame (305) is fixedly connected to the bottom of the connecting block (301), the inner bidirectional stepping motor (307) is fixedly connected to the inside center of the bottom sliding frame (305), the threaded rod (308) is fixedly connected to the output shaft of the inner bidirectional stepping motor (307), the threaded sleeve (310) is threadedly connected to the surface of the threaded rod (308), the limiting sliding block (309) is fixedly connected to the front face of the threaded sleeve (310), the front face of the bottom sliding frame (305) is provided with a sliding groove, the width of the sliding groove is matched with the width of the limiting sliding block (309), the limiting sliding block (309) is slidingly connected to the front face of the bottom sliding frame (305), the bottom connecting block (311) is fixedly connected to the bottom of the threaded sleeve (310), and the mechanical clamping jaw (312) is fixedly connected to the bottom of the bottom connecting block (311).

3. The air compressor tank grabbing manipulator with stable grabbing function according to claim 2, characterized in that: The second spring piece (406) is fixedly connected to the side of the mechanical clamp jaw (312) at one end away from the side of the side end abutting plate (403), and the side of the first spring piece (405) is fixedly connected to the side of the mechanical clamp jaw (312) at one end away from the side of the side end abutting plate (403).

4. The air compressor tank grabbing manipulator with stable grabbing function according to claim 1, characterized in that: The connecting seat (409) is fixedly connected to the top right side of the mechanical clamp jaw (312), the connecting seat (409) is internally provided with a through groove, the diameter of the rotating shaft rod (407) is matched with the diameter of the through groove, and the rotating shaft rod (407) is slidingly connected to the inside of the connecting seat (409).

5. The air compressor tank gripping manipulator with stable gripping function according to claim 1, characterized in that: The magnetic attraction plate (401) is fixedly connected to the side of the mechanical clamp jaw (312), and the memory rubber alloy material plate (410) is fixedly connected to the bottom of the side of the mechanical clamp jaw (312).

6. The air compressor tank grabbing manipulator with stable grabbing function according to claim 1, characterized in that: The back of the connecting seat (409) is fixedly connected with a bearing piece, and the rotating shaft rod (407) is fixedly connected to the inner ring of the bearing piece.

7. The air compressor tank grabbing manipulator with stable grabbing function according to claim 2, characterized in that: The top of the mounting plate (303) is fixedly connected with a connecting ring plate, the inner ring of the connecting ring plate is provided with an internal thread groove, the top of the fixed plate piece (306) is provided with a connecting screw hole with a hole diameter matched with the internal thread groove, and the mounting bolt (304) is screwedly connected to the inside of the internal thread groove and the connecting screw hole.

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