Carrying cantilever

Abstract

The utility model provides a carrying cantilever which is applied to a carrying robot for carrying barrel materials and comprises a cantilever body and a carrying assembly, and the carrying assembly is connected with the cantilever body and can axially slide relative to the cantilever body. The carrying assembly comprises a moving mechanism and a clamping mechanism, the clamping mechanism comprises a base and a telescopic part, the base is connected with the moving mechanism, and the telescopic part has a first state of being clamped into a clamping groove formed in the end of the barrel material and a second state of being separated from the clamping groove formed in the end of the barrel material. And the barrel material can be driven to move to the cantilever body. According to the carrying cantilever, the telescopic part is clamped into the clamping groove in the end of the barrel to clamp the barrel, the cantilever does not need to move, the cantilever does not need to be designed in a customized mode depending on the specific size of the inner wall of the barrel, the carrying cantilever can adapt to the clamping grooves in the ends of the barrels of different sizes to clamp the barrel, and the carrying efficiency is improved. And the universality and the flexibility of the cantilever are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic transportation technical field, in particular to a kind of for carrying cantilever. BACKGROUND

[0002] In the modern industrial automation process, the automatic loading and unloading and carrying of the cylinder material are important links in the production process. In order to improve the efficiency and reduce the manual intervention, the cantilever robot is designed to realize the automatic clamping and placing of the cylinder material. However, the existing cylinder carrying cantilever installed on the cantilever robot usually adopts the structure of extending into the cylinder, that is, a part or all of the clamp is extended into the inner wall of the cylinder, and the telescopic mechanism is used to support the hollow inner wall of the cylinder to realize stable grabbing. However, such carrying cantilever has obvious limitations: they often need to be customized according to the specific size of the cylinder, which greatly reduces the universality and adaptability of the system, and different specifications of the cylinder may require different carrying cantilevers or adjustment of the existing equipment, which is particularly inconvenient for enterprises that need to frequently change the production line configuration. SUMMARY

[0003] In view of the deficiencies of the prior art, the purpose of the utility model is to provide a carrying cantilever, which solves the problem of poor universality of the existing carrying cantilever when clamping the cylinder.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme:

[0005] A carrying cantilever applied to a carrying robot for carrying a cylinder material, comprising a cantilever body and a carrying assembly, the carrying assembly is connected with the cantilever body and can axially slide relative to the cantilever body; the carrying assembly comprises a moving mechanism and a clamping mechanism, the clamping mechanism comprises a base and a telescopic part, the base is connected with the moving mechanism, the telescopic part has a first state of being clamped into a clamping groove provided at the end of the cylinder and a second state of being separated from the clamping groove provided at the end of the cylinder, and when the telescopic part is in the first state, it can drive the cylinder to move to the cantilever body.

[0006] Further, the telescopic part comprises a housing and a telescopic unit, the telescopic unit can be relatively close to or away from the clamping groove provided at the end of the cylinder, so that the telescopic part can be switched between the first state and the second state.

[0007] Further, the housing is movably connected with the base, and can drive the telescopic unit to move to the clamping groove provided at the end of the cylinder.

[0008] Further, the number of telescopic units is at least two, and the telescopic units are arranged in parallel at intervals.

[0009] Further, the telescopic unit comprises a telescopic rod and a spring, one end of the spring is in abutment with the telescopic rod, and the other end is in abutment with the shell, and based on the acting force of the spring, the telescopic rod can be retracted towards the shell.

[0010] The telescopic rods are extended out of the shell and have the same extension length.

[0011] The telescopic rods are extended out of the shell, the extension lengths of at least part of the telescopic rods are different, and the extension lengths of the telescopic rods located at both ends of the arrangement direction of the telescopic rods are the longest.

[0012] Further, the top end of the telescopic rod is wrapped with rubber.

[0013] Further, the telescopic part is located below the cantilever body, and the telescopic part can move up and down relative to the base.

[0014] Further, the moving mechanism comprises a power source, a gear and a rack, the gear is arranged on the output shaft of the power source, the power source is fixedly connected with the base, the rack is arranged on the surface of the cantilever body in the axial direction of the cantilever body, and the gear is adapted to engage with the rack, so that under the driving of the power source, the gear rotates along the rack and drives the base to move in the axial direction of the cantilever body.

[0015] Further, the moving mechanism further comprises a guide rail and a sliding block, the sliding block is fixedly connected with the base, and the guide rail is arranged on the cantilever body in the axial direction.

[0016] Further, the guide rail is arranged on both sides of the cantilever body in the axial direction.

[0017] Compared with the prior art, the utility model has at least the following beneficial effects:

[0018] The utility model provides a kind of carrying cantilever, it is applied to carrying robot of carrying cylinder material, including cantilever body and carrying assembly, the carrying assembly with the cantilever body is connected and can be axially slipped relative to the cantilever body;The carrying assembly includes moving mechanism and clamping mechanism, the clamping mechanism includes base and telescopic part, the base is connected with the moving mechanism, can be axially slipped relative to the cantilever body under the action of the moving mechanism, and the telescopic part has the first state of being inserted into the clamping groove of cylinder material end part arrangement and the second state of being separated from the clamping groove of cylinder material end part arrangement, when the telescopic part is in the first state, the moving mechanism can drive entire carrying assembly whole to axially slip back along the cantilever body, to simultaneously pull cylinder material, make it move to cantilever body.The carrying cantilever of the utility model uses telescopic part and inserts into the mode of cylinder material end part clamping groove to clamp cylinder material, compared with the mode that traditional cantilever moves into cylinder material inner wall and is supported to clamp, cantilever itself does not need to move, and it does not need to rely on the specific size of cylinder material inner wall to customize design cantilever, can adapt to the clamping groove of cylinder material end part of different sizes to clamp cylinder material, effectively improve the versatility and flexibility of cantilever. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the drawings needed to be used in the specific embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0020] Figure 1 The structure schematic view of the carrying cantilever provided in one embodiment of the utility model.

[0021] Figure 2 The schematic view when carrying cantilever carries cylinder material provided in one embodiment of the utility model.

[0022] Figure 3 The schematic view of clamping mechanism provided in one embodiment of the utility model.

[0023] Figure 4 The enlarged schematic view of moving mechanism provided in one embodiment of the utility model.

[0024] Explanation of reference signs:

[0025] 1, cantilever body;

[0026] 2, moving mechanism;21, power source;22, gear;23, rack;24, guide rail;25, sliding block;

[0027] 3, clamping mechanism; 31, base; 311, side plate; 312, bottom plate; 313, connecting seat; 32, telescopic part; 321, shell; 322, telescopic unit; 3221, telescopic rod; 3222, spring;

[0028] 4, barrel; 41, clamping groove. DETAILED DESCRIPTION

[0029] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0030] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0032] As shown in FIGS. 1-3, the clamping mechanism 3 comprises a base 31, a telescopic part 32 and a clamping mechanism 4. Figure 1 , FIG. 2 shows the clamping mechanism 3 in the extended state. Figure 2 , FIG. 3 shows the clamping mechanism 3 in the retracted state. Figure 4As shown, a kind of carrying cantilever is applied to carrying barrel material 4 carrying robot, including cantilever body 1 and carrying assembly, carrying assembly is connected with cantilever body 1 and can be axially slipped relative to cantilever body 1.Carrying assembly includes moving mechanism 2 and clamping mechanism 3, clamping mechanism 3 includes base 31 and telescopic part 32, base 31 is connected with moving mechanism 2, can be axially slipped relative to cantilever body 1 under the action of moving mechanism 2, and telescopic part 32 is connected with base 31, ensure that moving mechanism 2 drives telescopic part 32 synchronous movement along the axis.And, telescopic part 32 has the first state of being inserted into the clamping groove 41 set in the end of barrel material 4 and the second state of being separated from the clamping groove 41 set in the end of barrel material 4, when telescopic part 32 is in the first state, it can drive barrel material 4 to move to cantilever body 1, improve the operation convenience of carrying cantilever carrying barrel material 4.

[0033] In some embodiments, the number of clamping grooves 41 is multiple, and is circumferentially spaced apart at the end of barrel material 4, and in other embodiments, the number of clamping grooves 41 is one, corresponding to the position of telescopic part 32.Further, telescopic part 32 can be flexibly arranged at any position around clamping groove 41, in some embodiments, telescopic part 32 is located below cantilever body 1, corresponding to the clamping groove 41 below the end of barrel material 4, by up and down movement adjustment height, so that telescopic part 32 can accurately align and be inserted into the clamping groove 41 below the end of barrel material 4;In other embodiments, telescopic part 32 is located on one side or both sides of cantilever body 1, corresponding to the clamping groove 41 on the side of the end of barrel material 4, by horizontal movement, so that telescopic part 32 can accurately align and be inserted into the clamping groove 41 on the side of the end of barrel material 4;In other embodiments, telescopic part 32 is located at the inclined angle position of cantilever body 1, corresponding to the clamping groove 41 obliquely arranged at the end of barrel material 4, by telescopic part 32 obliquely moving within a certain range, accurately inserted into the clamping groove 41 on the oblique side of the end of barrel material 4.

[0034] After reaching the first state, the moving mechanism 2 can drive the entire conveying assembly to slide back along the cantilever body 1 axially, thereby simultaneously pulling the cylinder material 4 and moving it onto the cantilever body 1. The timing of the telescopic part 32 switching from the first state to the second state can be set by the user. Specifically, in some embodiments, after completing this step, the telescopic part 32 moves to the initial position relative to the base 31, changing to the second state of being separated from the slot 41. After the conveying cantilever moves to the position of the cylinder material storage arm and docks with it, the moving mechanism 2 restarts and pushes the base 31 to move axially along the cantilever body 1 toward the cylinder material storage arm, so as to push the cylinder material 4 onto the cylinder material storage arm. In other embodiments, after completing this step, after the conveying cantilever moves to the position of the cylinder material storage arm and docks with it, the moving mechanism 2 restarts and pushes the base 31 to move axially along the cantilever body 1 toward the cylinder material storage arm, so as to push the telescopic part 32 to move the cylinder material 4 onto the cylinder material storage arm. After the handover is completed, the telescopic part 32 moves to the initial position relative to the base 31, changing to the second state of being removed from the slot 41.

[0035] The handling cantilever of this utility model uses the telescopic part 32 to engage with the end slot 41 of the cylindrical material 4 to clamp the cylindrical material 4. Compared with the traditional method of moving the cantilever into the inner wall of the cylindrical material 4 and supporting it for clamping, this method not only eliminates the need for the cantilever itself to move, reducing the complexity of the overall mechanical structure, but also eliminates the need to customize the design of the cantilever based on the specific dimensions of the inner wall of the cylindrical material 4. It only needs to adapt to the end slot 41 of the cylindrical material 4 to clamp the cylindrical material 4, effectively improving the versatility and flexibility of the handling cantilever.

[0036] In some embodiments of this utility model, as shown in the appendix Figure 1 and attached Figure 3 As shown, the telescopic part 32 includes a housing 321 and a telescopic unit 322. The telescopic unit 322 can move relatively close to or away from the slot 41 provided at the end of the cylindrical material 4, so that the telescopic part 32 can switch between a first state and a second state. Specifically, in some embodiments, the housing 321 is fixed, and the telescopic unit 322 can extend and retract independently to engage with or disengage from the slot 41. In other embodiments, the housing 321 can drive the telescopic unit 322. When it is necessary to clamp the cylindrical material 4, the housing 321 drives the telescopic unit 322 to move together until the telescopic unit 322 engages with the slot 41 at the end of the cylindrical material 4 to switch to the first state. When it is necessary to switch to the second state, the housing 321 is moved to drive the telescopic unit 322 to disengage from the slot 41.

[0037] In some embodiments of the utility model, the shell 321 is movably connected with the base 31, the shell 321 can drive the telescopic unit 322 to move to the clamping groove 41 arranged at the end of the cylinder material 4, until the telescopic unit 322 is clamped into the clamping groove 41. Specifically, when the cylinder material 4 needs to be clamped, the moving mechanism 2 pushes the base 31 to make the shell 321 move forward synchronously, then the shell 321 moves towards the clamping groove 41 relative to the base 31, at this time, the telescopic unit 322 is driven together and gradually approaches the clamping groove 41 arranged at the end of the cylinder material 4, until the top end of the telescopic unit 322 is clamped into the clamping groove 41.

[0038] In some embodiments of the utility model, in order to ensure that the telescopic unit 322 can accurately clamp the clamping groove 41 and prevent misalignment, the number of telescopic units 322 is at least two, and the plurality of telescopic units 322 are arranged in parallel at intervals, when the cylinder material 4 needs to be clamped, the telescopic unit 322 approaches the clamping groove 41 arranged at the end of the cylinder material 4, in some embodiments, each telescopic unit 322 is clamped into the plurality of clamping grooves 41 at the end of the cylinder material 4, and in other embodiments, at least one telescopic unit 322 is clamped into the clamping groove 41, and the telescopic unit 322 not clamped into the clamping groove 41 abuts against the non-clamping groove 41 area at the end of the cylinder material 4 after being compressed. The plurality of telescopic units 322 work together, which can provide multi-point contact, that is, a plurality of telescopic units 322 can more accurately align the plurality of clamping grooves 41 at the end of the cylinder material 4, ensure that at least one telescopic unit 322 is accurately clamped into the clamping groove 41 each time, adapt to the layout of the clamping groove 41 of different cylinder materials 4, significantly improve the stability and reliability of clamping the cylinder material 4, and can also share the clamping force, reduce the load of a single telescopic unit 322, and prolong the service life.

[0039] In some embodiments of the utility model, as shown in the accompanying drawings, Figure 3 The telescopic part 32 includes the shell 321 and the telescopic unit 322, the telescopic unit 322 includes the telescopic rod 3221 and the spring 3222, one end of the spring 3222 abuts against the telescopic rod 3221, the other end abuts against the shell 321, and based on the force of the spring 3222, the telescopic rod 3221 can be contracted towards the shell 321. In some embodiments, the plurality of telescopic rods 3221 protrude from the shell 321 and have the same protruding length, when the telescopic unit 322 approaches the clamping groove 41, at least one telescopic rod 3221 is clamped into the clamping groove 41, and the remaining telescopic rods 3221 not aligned with the clamping groove 41 abut against the non-clamping groove 41 area at the end of the cylinder material 4, based on the force of the spring 3222, the telescopic rod 3221 can be contracted towards the shell 321, and at least one telescopic rod 3221 can be adjusted to be compressed or clamped into the clamping groove 41 according to the actual situation, to adapt to the clamping groove 41 arranged at the end of the cylinder material 4 of different shapes and sizes; in other embodiments, as shown in the accompanying drawings, Figure 3As shown, several telescopic rods 3221 extend out of the shell 321, the extension lengths of at least some of the telescopic rods 3221 are different, and the extension lengths of the telescopic rods 3221 located at both ends of the arrangement direction of the several telescopic rods 3221 are the longest, in this case, the telescopic rods 3221 at both ends act as the main clamping points, and the lengths of the telescopic rods 3221 extending out of the shell 321 are all design values, wherein the design value refers to the ideal length of the telescopic rods 3221 extending out of the shell 321, which is set in advance according to the standard size and position of the end clamping groove 41 of the barrel material 4, so that the top end of the telescopic rod 3221 can be clamped into the clamping groove 41 after the telescopic part 32 moves, and according to the actual shape of the end of the barrel material 4, the lengths of the remaining telescopic rods 3221 extending out of the shell 321 are shorter than the design value, and it is worth noting that the middle telescopic rod 3221 can still abut against the end of the barrel material 4 under the action of the spring 3222 to provide additional support and increase the stability during movement of the barrel material.

[0040] In some embodiments of the present application, the top end of the telescopic rod 3221 is covered with rubber, which can increase the friction between the telescopic rod 3221 and the clamping groove 41 at the end of the barrel material 4, improve the stability of clamping, prevent the barrel material 4 from slipping or falling during movement to the cantilever body 1, and also avoid direct contact of the top end of the telescopic rod 3221 with the barrel material 4 to cause damage to the surface of the barrel material 4.

[0041] In some embodiments of the present application, as shown in FIG. 3, the telescopic part 32 is arranged below the cantilever body 1, and the telescopic part 32 can move up and down relative to the base 31. Figure 1 As shown, the telescopic part 32 is arranged below the cantilever body 1, and the telescopic part 32 can move up and down relative to the base 31.

[0042] In some embodiments of the present application, as shown in FIG. 3, the telescopic part 32 is arranged below the cantilever body 1, and the telescopic part 32 can move up and down relative to the base 31. Figure 1 Figure 4 ​As shown, the moving mechanism 2 comprises a power source 21, a gear 22 and a rack 23, the gear 22 is arranged on the output shaft of the power source 21, the rack 23 is arranged on the surface of the cantilever body 1 axially, and the gear 22 is adapted to engage with the rack 23. The base 31 comprises a side plate 311, a bottom plate 312 and a connecting seat 313, wherein the side plate 311 is fixedly connected with the bottom plate 312, the bottom plate 312 is fixedly connected with the connecting seat 313, the side plate 311 is fixedly connected with the gear 22, the bottom plate 312 is fixedly connected with the power source 21, and the connecting seat 313 is connected with the telescopic part 32. Through the meshing transmission of the gear 22 and the rack 23, the base 31 is driven to move axially along the cantilever body 1. When it is needed to carry the cylinder material 4, the power source 21 is started, the output shaft starts to rotate, the gear 22 is driven to rotate along the rack 23, and with the rotation of the gear 22 along the rack 23, the base 31 as a whole is driven to move axially along the cantilever body 1. The power source 21 can be a motor, an air cylinder or other forms of power device, which is not limited here.

[0043] In some embodiments of the present application, as shown in the accompanying drawings Figure 1 and the accompanying drawings Figure 4 As shown, in order to reduce the vibration and deviation in the moving process and make the movement of the base 31 and the telescopic part 32 more stable, the moving mechanism 2 further comprises a guide rail 24 and a sliding block 25, the sliding block 25 is fixedly connected with the side plate 311, and the guide rail 24 is arranged on the cantilever body 1 axially. When the gear 22 moves axially relative to the cantilever body 1, the sliding block 25 slides along the guide rail 24, that is, with the rotation of the gear 22 along the rack 23, the base 31 as a whole and the telescopic part 32 are pushed to move axially along the cantilever body 1 under the driving of the side plate 311 and the bottom plate 312, and at the same time, the sliding block 25 slides along the guide rail 24, thereby ensuring the stability and straightness of the moving process.

[0044] In some embodiments of the present application, in order to avoid the problems of deflection or uneven stress caused by the unilateral guide rail 24 and ensure the stable movement of the base 31 along the straight path, the guide rails 24 are arranged symmetrically on both sides of the cantilever body 1 axially.

[0045] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall fall within the scope of protection of the present application.

Claims

1. A handling cantilever, used in a handling robot for handling cylindrical materials, characterized in that, The crane includes a cantilever body and a carrying assembly connected with the cantilever body and capable of axially sliding relative to the cantilever body. The carrying assembly includes a moving mechanism and a clamping mechanism, the clamping mechanism includes a base connected with the moving mechanism and a telescopic part having a first state of being clamped into a clamping groove provided at an end of a cylinder and a second state of being separated from the clamping groove provided at the end of the cylinder, and the telescopic part in the first state is capable of moving the cylinder to the cantilever body.

2. The handling jib of claim 1, wherein, The telescopic part includes a housing and telescopic units capable of moving towards or away from the clamping groove provided at the end of the cylinder to switch the telescopic part between the first state and the second state.

3. The handling jib of claim 2, wherein, The housing is movably connected with the base and capable of moving the telescopic units towards the clamping groove provided at the end of the cylinder.

4. The handling jib of claim 2, wherein, The number of the telescopic units is at least two, and the telescopic units are arranged in parallel at intervals.

5. A handling jib as claimed in claim 2 or 3 or 4 wherein, The telescopic unit includes a telescopic rod and a spring, one end of the spring is in abutment with the telescopic rod, and the other end of the spring is in abutment with the housing, and based on the force of the spring, the telescopic rod is capable of being retracted towards the housing. The telescopic rods are retracted from the housing by the same length. The telescopic rods are retracted from the housing, and the retracted lengths of at least some of the telescopic rods are different, and the retracted lengths of the telescopic rods located at both ends of the arrangement direction of the telescopic rods are the longest.

6. The handling jib of claim 5, wherein, The top end of the telescopic rod is covered with rubber.

7. The handling jib of claim 1, wherein, The telescopic part is located below the cantilever body, and the telescopic part is capable of moving up and down relative to the base.

8. The handling jib of claim 1, wherein, The moving mechanism includes a power source, a gear and a rack, the gear is provided on an output shaft of the power source, the power source is fixedly connected with the base, the rack is axially arranged on the surface of the cantilever body, and the gear is adapted to engage with the rack to rotate along the rack under the drive of the power source and move the base axially along the cantilever body.

9. The handling jib of claim 8, wherein, The moving mechanism further includes a guide rail and a sliding block, the sliding block is fixedly connected with the base, and the guide rail is axially arranged on the cantilever body, and the sliding block slides along the guide rail when the gear moves axially relative to the cantilever body.

10. The handling jib of claim 9, wherein, The guide rail is axially arranged on both sides of the cantilever body.

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