Truss manipulator clamp for clamping high-temperature ring piece

Abstract

The utility model discloses a truss manipulator clamp for clamping a high-temperature ring piece, which relates to the technical field of manipulators and comprises a working sleeve, the surface of the working sleeve is fixedly connected with a connecting frame, a power mechanism is arranged in the middle of the working sleeve and comprises a sliding block in sliding connection with the working sleeve, and the connecting frame is fixedly connected with the working sleeve. The truss manipulator clamp comprises a working sleeve, clamping mechanisms which are circumferentially arranged are arranged on the surface of the working sleeve, each clamping mechanism comprises a clamping cantilever and a tooth plate, the bottom of each clamping cantilever is fixedly connected with a fixed finger, and a detection device is arranged in each clamping cantilever. The sliding block is limited through the working sleeve, so that the sliding block can only slide up and down, the tooth plate is driven to move up and down through the sliding block, then the clamping cantilever is controlled to be close to or away from each other, the circular ring workpiece is fixedly clamped, the lower pressing plate device is detected through the pressure sensor, and the state of the workpiece in the clamp is confirmed in real time.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator fixture technical field, specifically a kind of manipulator fixture of clamping high-temperature ring piece. BACKGROUND

[0002] Manipulator is a kind of can imitate the action function of hand and arm, to grasp, transport object or operate tool according to fixed program, automatic operation device of various expected work is completed by programming, it has the respective advantages of man and mechanical cell machine in structure and performance, it can replace the heavy labor of person to realize the mechanization and automation of production.

[0003] In the utility model discloses a kind of truss manipulator convenient to replace clamp, related truss manipulator technical field, the truss manipulator convenient to replace clamp, including truss, Z-axis is provided on the transverse guide rail of truss, the lower end of the Z-axis is fixedly connected with mounting head, the truss manipulator convenient to replace clamp, simplify the operation difficulty of staff when replacing clamp, effectively solve the problem that existing truss manipulator is not replaced conveniently, guarantee the practicality and use value of the device.

[0004] In the metal processing time, in order to facilitate the movement of metal workpiece will use to truss manipulator, the manipulator in the above patent, although convenient to replace clamp, but when clamping high-temperature ring-shaped workpiece, high-temperature radiation is easy to cause nearby electrical equipment damage, increase the use cost of truss manipulator;For this reason, we provide a kind of truss manipulator clamp for clamping high-temperature ring piece to solve the above problems. SUMMARY

[0005] The utility model aims at providing a kind of truss manipulator clamp for clamping high-temperature ring piece, to solve the problems in prior art.

[0006] To achieve the above object, the utility model provides the following technical scheme: a kind of truss manipulator clamp for clamping high-temperature ring piece, including working sleeve, the surface of the working sleeve is fixedly connected with connecting frame, the middle part of the working sleeve is provided with power mechanism, the power mechanism includes the sliding block of sliding connection with working sleeve, the surface of the working sleeve is provided with the clamping mechanism of circumferential arrangement, the clamping mechanism includes clamping cantilever and toothed plate, and toothed plate is fixedly connected with sliding block, the bottom of the clamping cantilever is fixedly connected with fixed finger, the inside of the clamping cantilever is provided with detection device, and the detection device includes lower plate and pressure sensor.

[0007] Preferably, the surface of the working sleeve is fixedly connected with an electric cylinder, and the output end of the electric cylinder is fixedly connected with the sliding block, the top end of the electric cylinder is fixedly connected with a planetary reducer, the inside screw rod of the electric cylinder is rotated to drive the telescopic end to slide the sliding block up and down.

[0008] Preferably, the top end of the connecting frame is fixedly connected with a servo motor, the output end of the servo motor is fixedly connected with the input end of the planetary reducer, and the output end of the planetary reducer is fixedly connected with the electric cylinder, the output of the servo motor is decelerated and the output torque is increased through the planetary reducer.

[0009] Preferably, the surface of the working sleeve is rotatably connected with a first connecting gear, the first connecting gear is meshingly connected with the toothed plate, the middle portion of the first connecting gear is fixedly connected with a first connecting cantilever, and the first connecting cantilever is rotatably connected with the clamping cantilever, the first connecting gear is rotated to drive the first connecting cantilever to rotate through the up-and-down movement of the toothed plate, and the clamping cantilevers are controlled to approach or move away from each other.

[0010] Preferably, the surface of the working sleeve is rotatably connected with a second connecting gear, the second connecting gear is meshingly connected with the toothed plate, the middle portion of the second connecting gear is fixedly connected with a second connecting cantilever, and the second connecting cantilever is rotatably connected with the clamping cantilever, the second connecting gear is rotated to drive the second connecting cantilever to rotate through the up-and-down movement of the toothed plate, and the clamping cantilevers are controlled to approach or move away from each other.

[0011] Preferably, the bottom of the clamping cantilever is rotatably connected with a fixed shaft, and the lower pressing plate is fixedly connected with the fixed shaft, the surface of the fixed shaft is fixedly connected with a heat insulation connecting plate, and the surface of the heat insulation connecting plate is hingedly connected with a connecting sliding rod, the connecting sliding rod and the fixed shaft are connected together through the heat insulation connecting plate, and the heat source is isolated, so that the transmission of high temperature is effectively reduced.

[0012] Preferably, the top end of the connecting sliding rod is hingedly connected with a sliding push rod, and the sliding push rod is slidably connected with the clamping cantilever, the top end of the clamping cantilever is fixedly connected with a buffer plate, and the pressure sensor is fixedly arranged in the clamping cantilever, the sliding push rod is controlled to move upward through the connecting sliding rod, the buffer plate is contacted with the pressure sensor, and the pressure sensor generates a signal.

[0013] Preferably, the buffer plate is located directly below the pressure sensor, the outside of the sliding push rod is sleeved with a telescopic spring, and the two ends of the telescopic spring are fixedly connected with the buffer plate and the clamping cantilever, respectively, the buffer plate is provided with a downward pulling force through the telescopic spring, and the buffer plate is prevented from being contacted with the pressure sensor in the case that the lower pressing plate is not forced.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] 1、The application limits the sliding block through the working sleeve, so that the sliding block can only slide up and down, improves the stability of the sliding block sliding, drives the toothed plate to move up and down through the sliding block, and then controls the clamping cantilever to be close to or away from, so that the clamping cantilever drives the fixed finger to fix and clamp the circular ring workpiece, detects the position of the pressing plate through the pressure sensor, and confirms the state of the workpiece in the clamp in real time, avoids loosening and falling of the workpiece in the process of transportation due to insecure clamping, and improves the stability and safety of the clamp in clamping and transporting the circular ring workpiece.

[0016] 2、The application drives the sliding block to slide up and down through the rotation of the screw rod in the electric cylinder, controls the rotation of the screw rod in the electric cylinder through the servo motor, reduces the output of the servo motor and increases the output torque through the planetary reducer, drives the first connecting cantilever to rotate through the first connecting gear moving up and down, and then controls the clamping cantilevers to be close to or away from each other, drives the second connecting cantilever to rotate through the second connecting gear moving up and down, and then controls the clamping cantilevers to be close to or away from each other, and the clamping cantilevers always keep a vertical state through the two groups of connecting cantilevers, improves the stability and firmness of the clamping cantilever in clamping the annular workpiece, and fixes and positions the pressing plate through the fixed shaft.

[0017] 3、The application connects the connecting slide rod and the fixed shaft together through the heat insulation connecting plate, and effectively reduces the transmission of high temperature through the isolation of the heat source, improves the stability of the sensor operation, controls the sliding push rod to move up through the connecting slide rod when the pressing plate is pressed down, makes the pressure sensor generate a signal through the contact between the buffer plate and the pressure sensor, and sends the signal to the controller outside, and then confirms the state of the workpiece in the clamp, provides a downward pulling force to the buffer plate through the extension spring, avoids the contact between the buffer plate and the pressure sensor in the case that the pressing plate is not forced, and improves the stability of the pressure sensor operation. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the truss mechanical hand clamp for clamping high-temperature ring pieces.

[0019] Figure 2 It is a sliding block connection structure schematic view of the truss mechanical hand clamp for clamping high-temperature ring pieces.

[0020] Figure 3 It is a clamping cantilever power structure schematic view of the truss mechanical hand clamp for clamping high-temperature ring pieces.

[0021] Figure 4 It is a detection device structure schematic view of the truss mechanical hand clamp for clamping high-temperature ring pieces.

[0022] The figure label: 1, working sleeve; 2, connecting frame; 3, power mechanism; 301, sliding block; 302, electric cylinder; 303, servo motor; 304, planetary reducer; 4, clamping mechanism; 401, clamping cantilever; 402, fixed finger; 403, gear plate; 404, first connecting gear; 405, first connecting cantilever; 406, second connecting gear; 407, second connecting cantilever; 5, detection device; 501, lower pressing plate; 502, fixed shaft; 503, heat insulation connecting plate; 504, connecting sliding rod; 505, sliding push rod; 506, pressure sensor; 507, buffer plate; 508, extension spring. DETAILED DESCRIPTION

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

[0024] As shown in Figure 1 Figure 4 The utility model provides a kind of technical scheme of truss manipulator clamp for clamping high temperature ring piece, including working sleeve 1, the surface of working sleeve 1 is fixedly connected with connecting frame 2, the middle part of working sleeve 1 is provided with power mechanism 3, power mechanism 3 includes sliding block 301 slidingly connected with working sleeve 1, sliding block 301 is limited by working sleeve 1, so that sliding block 301 can only slide up and down, improve the stability of sliding block 301 sliding, clamp is fixed together with truss manipulator by connecting frame 2.

[0025] The surface of working sleeve 1 is fixedly connected with electric cylinder 302, and the output end of electric cylinder 302 is fixedly connected with sliding block 301, and the main structure in electric cylinder 302 has rotating screw and adjusting sliding rod, rotating control adjusting sliding rod moves up and down by rotating screw, and the top end of electric cylinder 302 is fixedly connected with planetary reducer 304, rotating screw in electric cylinder 302 is rotated, so that telescopic end drives sliding block 301 to slide up and down.

[0026] The top end of connecting frame 2 is fixedly connected with servo motor 303, and the output end of servo motor 303 is fixedly connected with the input end of planetary reducer 304, and the output end of planetary reducer 304 is fixedly connected with electric cylinder 302, rotating screw in electric cylinder 302 is controlled by servo motor 303, and the output of servo motor 303 is decelerated and its output torque is increased by planetary reducer 304.

[0027] ​The surface of the working sleeve 1 is provided with a circumferential arrangement of clamping mechanisms 4, the clamping mechanisms 4 include clamping cantilever arms 401 and toothed plates 403, and the toothed plates 403 are fixedly connected with sliding blocks 301, the bottom of the clamping cantilever arms 401 is fixedly connected with fixed fingers 402, the toothed plates 403 are driven to move up and down through the sliding blocks 301, and then the clamping cantilever arms 401 are controlled to approach or move away, so that the clamping cantilever arms 401 drive the fixed fingers 402 to fixedly clamp the annular workpiece.

[0028] The surface of the working sleeve 1 is rotatably connected with a first connecting gear 404, and the first connecting gear 404 is meshingly connected with the toothed plates 403, the middle part of the first connecting gear 404 is fixedly connected with a first connecting cantilever arm 405, and the first connecting cantilever arm 405 is rotatably connected with the clamping cantilever arms 401, the first connecting gear 404 drives the first connecting cantilever arm 405 to rotate through the up-and-down movement of the toothed plates 403, and then the clamping cantilever arms 401 are controlled to approach or move away from each other.

[0029] The surface of the working sleeve 1 is rotatably connected with a second connecting gear 406, and the second connecting gear 406 is meshingly connected with the toothed plates 403, the middle part of the second connecting gear 406 is fixedly connected with a second connecting cantilever arm 407, and the second connecting cantilever arm 407 is rotatably connected with the clamping cantilever arms 401, the second connecting gear 406 drives the second connecting cantilever arm 407 to rotate through the up-and-down movement of the toothed plates 403, and then the clamping cantilever arms 401 are controlled to approach or move away from each other.

[0030] Through the two groups of connecting cantilever arms, the clamping cantilever arms 401 always maintain a vertical state, the stability and firmness of the clamping cantilever arms 401 clamping the annular workpiece are improved, the surface temperature of the annular workpiece is above 600 DEG C, and the surface of the clamping cantilever arms 401 is a heat insulation material, so that high temperature can be isolated.

[0031] The inside of the clamping cantilever arms 401 is provided with a detection device 5, the detection device 5 includes a lower pressing plate 501 and a pressure sensor 506, when the annular workpiece is attached to the fixed fingers 402, the lower pressing plate 501 is controlled to flip down, the position of the lower pressing plate 501 is detected through the pressure sensor 506, the annular workpiece is prevented from loosening due to unfirm clamping during the transportation of the workpiece, and the stability and safety of the clamp clamping and transporting the annular workpiece are improved.

[0032] The bottom of the clamping cantilever 401 is rotationally connected with a fixing shaft 502, and the lower pressing plate 501 is fixedly connected with the fixing shaft 502. The surface of the fixing shaft 502 is fixedly connected with a heat insulation connecting plate 503, and the surface of the heat insulation connecting plate 503 is hingedly connected with a connecting sliding rod 504. The lower pressing plate 501 is fixed and positioned through the fixing shaft 502, and the connecting sliding rod 504 is connected with the fixing shaft 502 through the heat insulation connecting plate 503. The heat insulation connecting plate 503 effectively reduces the transmission of high temperature and improves the stability of the sensor operation.

[0033] The top end of the connecting sliding rod 504 is hingedly connected with a sliding push rod 505, and the sliding push rod 505 is slidingly connected with the clamping cantilever 401. The top end of the clamping cantilever 401 is fixedly connected with a buffer plate 507. The pressure sensor 506 is fixed in the clamping cantilever 401. When the lower pressing plate 501 is pressed, the sliding push rod 505 is controlled to move upward through the connecting sliding rod 504. The buffer plate 507 contacts the pressure sensor 506, so that the pressure sensor 506 generates a signal and transmits the signal to the controller outside, thereby confirming the state of the workpiece in the clamp.

[0034] The buffer plate 507 is located directly below the pressure sensor 506. The outer portion of the sliding push rod 505 is sleeved with a telescopic spring 508, and the two ends of the telescopic spring 508 are fixedly connected with the buffer plate 507 and the clamping cantilever 401, respectively. The telescopic spring 508 provides a downward pulling force to the buffer plate 507. In the case that the lower pressing plate 501 is not under stress, the buffer plate 507 is prevented from contacting the pressure sensor 506, thereby improving the stability of the operation of the pressure sensor 506.

[0035] The electric cylinder 302, the servo motor 303, the planetary reducer 304 and the pressure sensor 506 are prior art, and the detailed parameters and models thereof will not be described in detail.

[0036] In use, the gantry robot is first moved above the annular workpiece. The servo motor 303 rotates, causing the electric cylinder 302 to control the sliding block 301 and the toothed plate 403 to move downwards. Through the first connecting gear 404 and the second connecting gear 406, the first connecting cantilever 405 and the second connecting cantilever 407 rotate synchronously, causing the clamping cantilever 401 to open and the clamp to move downwards, positioning it around the annular workpiece. Then, the servo motor 303 rotates in the opposite direction, controlling the clamping cantilever 401 to clamp the annular workpiece. Finally, the clamp is lifted upwards, and the annular workpiece... The lower pressure plate 501 moves downward, and the sliding push rod 505 moves upward via the connecting slide rod 504, causing the buffer plate 507 to contact the pressure sensor 506. The pressure sensor 506 transmits a signal to the controller, allowing the control room to confirm the status of the workpiece inside the fixture in real time, thus improving the stability and safety of the fixture in holding and transporting the ring-shaped workpiece. Through the above device, the high-temperature ring-shaped workpiece is kept away from the electrical control equipment, improving the safety and stability of the equipment operation. Furthermore, the sensor can monitor the status of the fixture holding the workpiece in real time, improving the efficiency of the fixture in transporting the workpiece.

[0037] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A gantry robot gripper for clamping high-temperature ring components, comprising a working sleeve (1), characterized in that: A connecting frame (2) is fixedly connected to the surface of the working sleeve (1). A power mechanism (3) is provided in the middle of the working sleeve (1). The power mechanism (3) includes a sliding block (301) that is slidably connected to the working sleeve (1). A clamping mechanism (4) arranged in a circle is provided on the surface of the working sleeve (1). The clamping mechanism (4) includes a clamping cantilever (401) and a toothed plate (403). The toothed plate (403) is fixedly connected to the sliding block (301). A fixed finger (402) is fixedly connected to the bottom of the clamping cantilever (401). A detection device (5) is provided inside the clamping cantilever (401). The detection device (5) includes a lower pressure plate (501) and a pressure sensor (506).

2. The gantry robot gripper for clamping high-temperature ring components according to claim 1, characterized in that: An electric cylinder (302) is fixedly connected to the surface of the working sleeve (1), and the output end of the electric cylinder (302) is fixedly connected to the sliding block (301). A planetary reducer (304) is fixedly connected to the top of the electric cylinder (302).

3. The gantry robot gripper for clamping high-temperature ring components according to claim 2, characterized in that: The top of the connecting frame (2) is fixedly connected to a servo motor (303), and the output end of the servo motor (303) is fixedly connected to the input end of the planetary reducer (304), and the output end of the planetary reducer (304) is fixedly connected to the electric cylinder (302).

4. The gantry robot gripper for clamping high-temperature ring components according to claim 1, characterized in that: The surface of the working sleeve (1) is rotatably connected to a first connecting gear (404), and the first connecting gear (404) is meshed with a toothed plate (403). The middle part of the first connecting gear (404) is fixedly connected to a first connecting cantilever (405), and the first connecting cantilever (405) is rotatably connected to a clamping cantilever (401).

5. The gantry robot gripper for clamping high-temperature ring components according to claim 1, characterized in that: The surface of the working sleeve (1) is rotatably connected to a second connecting gear (406), and the second connecting gear (406) is meshed with a toothed plate (403). The middle part of the second connecting gear (406) is fixedly connected to a second connecting cantilever (407), and the second connecting cantilever (407) is rotatably connected to a clamping cantilever (401).

6. The gantry robot gripper for clamping high-temperature ring components according to claim 1, characterized in that: The bottom of the clamping cantilever (401) is rotatably connected to a fixed shaft (502), and the lower pressure plate (501) is fixedly connected to the fixed shaft (502). A heat insulation connecting plate (503) is fixedly connected to the surface of the fixed shaft (502), and a connecting slide rod (504) is hinged to the surface of the heat insulation connecting plate (503).

7. The gantry robot gripper for clamping high-temperature ring components according to claim 6, characterized in that: The top end of the connecting slide rod (504) is hinged to a sliding push rod (505), and the sliding push rod (505) is slidably connected to the clamping cantilever (401). The top end of the clamping cantilever (401) is fixedly connected to a buffer plate (507), and the pressure sensor (506) is fixed inside the clamping cantilever (401).

8. The gantry robot gripper for clamping high-temperature ring components according to claim 7, characterized in that: The buffer plate (507) is located directly below the pressure sensor (506). The sliding push rod (505) is fitted with a telescopic spring (508), and the two ends of the telescopic spring (508) are fixedly connected to the buffer plate (507) and the clamping cantilever (401) respectively.

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