Grabbing manipulator device

Abstract

The grabbing manipulator device comprises a strip-shaped positioning column, positioning grooves are formed in the outer walls of the two sides of the two ends of the bottom of the strip-shaped positioning column, rotating rods are movably connected to the inner walls of the two ends of each positioning groove through open holes and bearings, and clamping jaws are fixedly arranged on the outer walls of the rotating rods. Fixing openings distributed at equal intervals are formed in the outer wall of the strip-shaped positioning column, a vertical downward synchronous pneumatic push rod is installed on the inner wall of each fixing opening, and an arc-shaped positioning plate is fixedly arranged at the output end of each synchronous pneumatic push rod. An output shaft of a hydraulic push rod ascends, a clamping jaw starts to tighten to shovel up a steel pipe, the clamping jaw does not clamp the steel pipe, an output shaft of a synchronous pneumatic push rod is pushed out to drive an arc-shaped positioning plate to move downwards, and a silica gel protection pad arranged at the bottom of the arc-shaped positioning plate extrudes the steel pipe on the inner wall of the clamping jaw; and the steel pipes are attracted through cooperation with electromagnets, slipping of the steel pipes in the steel pipe grabbing process can be avoided, meanwhile, the outer walls of the steel pipes cannot be damaged, and the using effect is good.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically to a gripping robotic arm device. Background Technology

[0002] In the current steel pipe processing and production process, heavy steel pipes need to be fixed by overhead cranes or robotic arms during transportation. However, the existing robotic arms can easily cause deformation and damage to the outer wall of the steel pipe by directly gripping it with mechanical claws. In addition, the steel pipe is prone to slipping and falling off during transportation. Therefore, we propose a gripping robotic arm device. Utility Model Content

[0003] The purpose of this invention is to provide a gripping robotic arm device to address the aforementioned shortcomings in the technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a gripping manipulator device, comprising a strip-shaped positioning column, positioning grooves on the outer walls of both ends of the bottom of the strip-shaped positioning column, rotating rods being movably connected to the inner walls of both ends of the positioning grooves via bearings through openings, grippers being fixedly provided on the outer walls of the rotating rods, fixing openings evenly distributed on the outer walls of the strip-shaped positioning column, vertically downward synchronous pneumatic push rods being installed on the inner walls of the fixing openings, an arc-shaped positioning plate being fixedly provided at the output end of the synchronous pneumatic push rods, and an electromagnet being fixedly provided on the bottom outer wall of the arc-shaped positioning plate.

[0005] Preferably, the strip-shaped positioning post has a transmission gear groove inside, the transmission gear groove is located on both sides of the positioning groove, and gears are fixed on the outer walls of both ends of the rotating rod, the gears being located inside the transmission gear groove.

[0006] Preferably, the top two sides of the strip-shaped positioning post have four vertically downward slots, which are located between adjacent gears. The inner wall of the slot is fitted with a vertically downward insert rod, and the outer walls of the insert rod are fixed with racks that mesh with the gears.

[0007] Preferably, a lifting rod is fixedly provided on the top outer wall of the adjacent insertion rod, and two hydraulic push rods are fixedly provided on the top outer wall of the strip positioning column through an opening. The output ends of the hydraulic push rods are respectively fixedly connected to the bottom outer wall of the lifting rod. The lifting rod is driven to rise and fall through the output shaft of the hydraulic push rod. The lifting rod drives the rack to rise and fall through the insertion rod, thereby controlling the gear to rotate and controlling the opening and closing of the gripper.

[0008] Preferably, a silicone pad is adhered to the bottom outer wall of the electromagnet, and the silicone pad has a thickness of 2mm.

[0009] Preferably, the bottom outer wall of the gripper is fitted with a rubber sleeve to prevent damage to the outer wall of the steel pipe when the gripper strikes the steel pipe.

[0010] Preferably, the top two ends of the strip positioning column are fixedly provided with fixing plates, and one end of the top of the two fixing plates is fixedly provided with a lifting ring, which facilitates connection with the steel rope of the crane.

[0011] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0012] As the output shaft of the hydraulic push rod rises, the grippers begin to tighten and lift the steel pipe. The grippers do not hold the steel pipe. In conjunction with the output shaft of the synchronous pneumatic push rod, the arc-shaped positioning plate moves downward. The silicone pad at the bottom of the arc-shaped positioning plate squeezes the steel pipe against the inner wall of the grippers. Combined with the electromagnet adsorbing the steel pipe, this prevents the steel pipe from slipping during the gripping process and does not damage the outer wall of the steel pipe, resulting in good performance. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0014] Figure 1 This is a three-dimensional structural diagram of a gripping robotic arm device according to the present invention;

[0015] Figure 2 This is a schematic diagram of the cross-sectional structure of a strip positioning column of a gripping robotic arm device according to the present invention;

[0016] Figure 3 This is a schematic diagram of the gripper structure of a gripping robotic arm device according to the present invention;

[0017] Figure 4 This is a schematic diagram of the synchronous pneumatic push rod structure of a gripping manipulator according to the present invention.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1. Strip positioning column, 2. Positioning groove, 3. Rotating rod, 4. Clamping claw, 5. Rubber sheath, 6. Transmission gear groove, 7. Gear, 8. Slot, 9. Insert rod, 10. Rack, 11. Lifting rod, 12. Hydraulic push rod, 13. Fixing port, 14. Synchronous pneumatic push rod, 15. Arc-shaped positioning plate, 16. Electromagnet, 17. Silicone pad, 18. Fixing plate, 19. Lifting ring. Detailed Implementation

[0020] The following drawings will disclose several embodiments of this utility model. For clarity, many physical details will be described in the following description. However, it should be understood that these physical details should not be used to limit this utility model. That is, in some embodiments of this utility model, these physical details are not essential. In addition, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0021] Furthermore, in this utility model, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the utility model. They are merely used to distinguish components or operations described with the same technical terminology and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0022] Example 1

[0023] Refer to the instruction manual appendix Figure 1-4 A gripping manipulator includes a strip-shaped positioning post 1. Positioning grooves 2 are formed on the outer walls of both ends of the bottom of the strip-shaped positioning post 1. Rotating rods 3 are movably connected to the inner walls of both ends of the positioning grooves 2 through openings using bearings. Grippers 4 are fixedly provided on the outer walls of the rotating rods 3. Fixing openings 13 are evenly distributed on the outer walls of the strip-shaped positioning post 1. Vertically downward synchronous pneumatic push rods 14 are installed on the inner walls of the fixing openings 13. Arc-shaped positioning plates 15 are fixedly provided at the output ends of the synchronous pneumatic push rods 14. Electromagnets 16 are fixedly provided on the bottom outer walls of the arc-shaped positioning plates 15.

[0024] Example 2

[0025] Based on Embodiment 1, the strip-shaped positioning post 1 has a transmission gear groove 6 inside, which is located on both sides of the positioning groove 2. Gears 7 are fixed to the outer walls of both ends of the rotating rod 3, and the gears 7 are located inside the transmission gear groove 6. Four vertically downward slots 8 are opened on both sides of the top of the strip-shaped positioning post 1, and the slots 8 are located between adjacent gears 7. Vertically downward insert rods 9 are inserted into the inner walls of the slots 8. Racks 10 are fixed to the outer walls of both sides of the insert rods 9, and the racks 10 mesh with the gears 7. The tops of adjacent insert rods 9... A lifting rod 11 is fixedly installed on the outer wall of the part. Two hydraulic push rods 12 are fixedly installed on the top outer wall of the strip positioning column 1 through an opening. The output ends of the hydraulic push rods 12 are fixedly connected to the bottom outer wall of the lifting rod 11. The lifting rod 11 is driven to rise and fall through the output shaft of the hydraulic push rod 12. The lifting rod 11 drives the rack 10 to rise and fall through the insert rod 9, thereby controlling the rotation of the gear 7 and controlling the opening and closing of the gripper 4. A silicone pad 17 with a thickness of 2mm is adhered to the bottom outer wall of the electromagnet 16.

[0026] Example 3

[0027] Based on Embodiment 1, a rubber sleeve 5 is fitted onto the bottom outer wall of the gripper 4. The rubber sleeve 5 can prevent the gripper 4 from damaging the outer wall of the steel pipe when it scrapes against the steel pipe. Fixing plates 18 are fixed at both ends of the top of the strip positioning column 1. A lifting ring 19 is fixed at one end of the top of the two fixing plates 18. The lifting ring 19 facilitates connection with the steel rope of the crane.

[0028] Working principle of this utility model:

[0029] Refer to the instruction manual appendix Figure 1-4In use, this utility model is connected to the hoisting rope of the gantry crane via the lifting ring 19 on the fixing plate 18. The gantry crane controls the movement of this utility model. When clamping large-diameter steel pipes, the gantry crane controls the movement of this utility model, opening the grippers 4 to their respective sides on the steel pipe. At this time, the output shaft of the hydraulic push rod 12 rises, driving the lifting rod 11 to rise. The lifting rod 11 drives the rack 10 on the outer wall of the insertion rod 9 to rise. The gear 7 drives the rotating rod 3 to rotate, and the rotating rod 3 drives the grippers 4 to tighten, holding the steel pipe between the grippers 4. The grippers 4 do not clamp the steel pipe. This is coordinated with synchronous air... The output shaft of the push rod 14 extends, causing the arc-shaped positioning plate 15 to move downwards. The silicone pad 17 at the bottom of the arc-shaped positioning plate 15 squeezes the steel pipe against the inner wall of the gripper 4. This, combined with the electromagnet 16, attracts the steel pipe, preventing slippage during gripping and avoiding damage to the outer wall of the steel pipe. The effect is good. After the steel pipe is clamped, the device is moved to the designated position for the steel pipe by the gantry crane. At this time, the electromagnet 16 is turned off, and the output shaft of the pneumatic push rod 14 begins to retract, stopping the clamping of the steel pipe. Then, the output shaft of the hydraulic push rod 12 descends to open the gripper 4 and lower the steel pipe.

[0030] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A gripping robotic arm device, comprising a strip-shaped positioning post (1), characterized in that: The bottom ends of the strip positioning column (1) are provided with positioning grooves (2) on both outer walls. The inner walls of the two ends of the positioning groove (2) are connected to the rotating rod (3) by bearings through openings. The outer wall of the rotating rod (3) is fixedly provided with a gripper (4). The outer wall of the strip positioning column (1) is provided with fixed openings (13) distributed at equal intervals. The inner wall of the fixed opening (13) is provided with a vertically downward synchronous pneumatic push rod (14). The output end of the synchronous pneumatic push rod (14) is fixedly provided with an arc-shaped positioning plate (15). The bottom outer wall of the arc-shaped positioning plate (15) is fixedly provided with an electromagnet (16).

2. The gripping robotic arm device according to claim 1, characterized in that: The strip-shaped positioning column (1) has a transmission gear groove (6) inside. The transmission gear groove (6) is located on both sides of the positioning groove (2). Gears (7) are fixed on the outer walls of both ends of the rotating rod (3). The gears (7) are located inside the transmission gear groove (6).

3. The gripping robotic arm device according to claim 2, characterized in that: The top two sides of the strip positioning post (1) have four vertically downward slots (8), which are located between adjacent gears (7). The inner wall of the slot (8) is fitted with a vertically downward insert rod (9), and the outer walls of the insert rod (9) are fixed with racks (10), which mesh with the gears (7).

4. The gripping robotic arm device according to claim 3, characterized in that: A lifting rod (11) is fixedly provided on the top outer wall of the adjacent insertion rod (9), and two hydraulic push rods (12) are fixedly provided on the top outer wall of the strip positioning column (1) through an opening. The output ends of the hydraulic push rods (12) are respectively fixedly connected to the bottom outer wall of the lifting rod (11).

5. The gripping robotic arm device according to claim 1, characterized in that: The bottom outer wall of the electromagnet (16) is bonded with a silicone pad (17), and the silicone pad (17) is 2mm thick.

6. The gripping robotic arm device according to claim 1, characterized in that: The bottom outer wall of the gripper (4) is fitted with a rubber sleeve (5).

7. The gripping robotic arm device according to claim 1, characterized in that: The top two ends of the strip positioning column (1) are fixed with fixing plates (18), and one end of the top of the two fixing plates (18) is fixed with a lifting ring (19).

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