Mechanical gripper device for crucible stacking

Abstract

The utility model relates to a crucible stacking mechanical gripper device which comprises a mechanical arm, a gripper frame, a gripper air cylinder, a bent connecting plate, a rectangular rotating plate, a clamping plate and sliding block assemblies, an installing plate is installed at the upper end of the gripper frame, the rectangular rotating plate is installed at the upper end of the installing plate, and the four side edges of the rectangular rotating plate are each provided with one sliding block assembly. The lower end of the sliding block assembly penetrates through the mounting plate and then is connected with a clamping plate, the four corners of the rectangular rotating plate are each rotationally connected with one end of a bent connecting plate, and the other end of each bent connecting plate is rotationally connected with the upper end of the sliding block assembly. The front end of the gripper air cylinder is connected with the upper end of the sliding block assembly, and the rear end of the gripper air cylinder is connected with the upper end of the sliding block assembly on the opposite side of the sliding block assembly. The mechanical arm has the advantages that the design is ingenious, the structure is reasonable and compact, the four sliding block assemblies control the clamping blocks installed and connected below to synchronously perform clamping action towards the middle or expanding and loosening action towards the periphery from four directions, clamping is stable, the requirement for automatically clamping a crucible by the mechanical arm is met, and slipping is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of alumina sintering production line, concretely relates to a crucible stacking mechanical gripper device. BACKGROUND

[0002] Alumina sintering is through the alumina is loaded into the crucible, is sent into the kiln and is sintered, the crucible that the present adoption is rectangular body structure, including rectangular cover body and rectangular groove body, the rectangular cover body is covered on the rectangular groove body, the crucible is sent into the kiln through the conveying line body, the crucible stacking is placed on the conveying line body, and it is time -consuming and labor -intensive, and the efficiency is low, cannot satisfy the alumina sintering production line demand. SUMMARY

[0003] In order to solve the above technical problem, the utility model provides a kind of crucible stacking mechanical gripper device, design is ingenious, and structure is reasonable compact, can be automatically clamped crucible and be stacked, satisfy production demand.

[0004] The technical scheme of the utility model:

[0005] Crucible stacking mechanical gripper device, it includes mechanical arm, gripper frame, gripper cylinder, curved connecting plate, rectangular rotary plate, clamping plate, sliding block assembly, gripper frame is designed into rectangular frame, rectangular frame middle hollow design forms rectangular groove, installation plate is installed on the upper end of rectangular frame, rotatable rectangular rotary plate is installed in the middle of the upper end of installation plate, the front and rear left and right four side edges of rectangular rotary plate are respectively installed with a sliding block assembly, the lower end of sliding block assembly is connected with a clamping plate after penetrating installation plate, the four corner positions of rectangular rotary plate are respectively rotatably connected with one end of curved connecting plate, the other end of curved connecting plate is rotatably connected with the upper end of the sliding block assembly of corresponding side, the upper end of any sliding block assembly is connected with the front telescopic end of gripper cylinder, and the upper end of the sliding block assembly on the opposite side of the sliding block assembly is connected with the rear end of gripper cylinder;Four clamping plates are located in the rectangular groove of rectangular frame;The upper end of installation plate is also installed with connecting plate, and connecting plate is installed on the upper surface of installation plate through connecting column four corners lower end and connecting plate is located above rectangular rotary plate, and the driving end of mechanical arm is connected with the upper surface of connecting plate.

[0006] The curved connecting plate is designed as a V-shaped plate.

[0007] The clamping plate is designed as a vertical rectangular plate, and a protective pad is installed on the inner side of the clamping plate.

[0008] The protective pad is a polyurethane pad.

[0009] The slider assembly comprises a cross plate, an I-shaped slider, and guide wheels, one end of the cross plate is installed at the upper end of the I-shaped slider, the other end of the cross plate is rotatably connected to one end of a bent connecting plate, the upper ends of the two cross plates installed at will are respectively connected to the two ends of a gripper cylinder, four sliding grooves are formed on the upper surface of the mounting plate for the four I-shaped sliders to slide, two guide wheels are respectively installed at the two sides of the upper end of the I-shaped slider and roll on the upper surface of the mounting plate, and two guide wheels are respectively installed at the two sides of the lower end of the I-shaped slider and roll on the lower surface of the mounting plate; the lower end of the I-shaped slider is connected to the outer middle position of the clamping block.

[0010] Two guide rods are respectively installed at the two ends of the outer side of the clamping plate, and the four side frames of the gripper frame are respectively connected with corresponding guide sleeves.

[0011] The utility model discloses the advantages are: clever design, compact structure, through the mechanical arm drive gripper assembly automatic clamping crucible is stacked, and the gripper cylinder telescopic action controls the slider assembly of both sides, and the slider assembly of both sides is through corresponding bent connecting plate linkage control middle position's rectangular rotary plate rotary action to rectangular rotary plate again through corresponding bent connecting plate with remaining two sides' slider assembly synchronous telescopic action, and four slider assemblies control the clamping block of installation connection below synchronous from four directions to the middle clamping action or to the four opening action, and clamping is stable, satisfies the mechanical arm automatic clamping crucible demand, and will not slip, safe and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the schematic diagram of the utility model.

[0013] Figure 2 It is the local enlarged view of the gripper frame of the utility model.

[0014] Figure 3 It is Figure 2 The schematic diagram of the connecting plate in hidden.

[0015] Figure 4 It is Figure 3 The schematic diagram of the gripper frame of one side frame in hidden.

[0016] Figure 5 It is Figure 4 The bottom view schematic diagram in DETAILED DESCRIPTION

[0017] Referring to the drawings Figures 1-5The crucible stacking mechanical gripper device comprises a mechanical arm 601, a gripper frame 602, a gripper cylinder 603, a bent connecting plate 604, a rectangular rotating plate 605, a clamping plate 606 and a sliding block assembly 607. The gripper frame 602 is designed as a rectangular frame, the middle of the rectangular frame is hollowed out to form a rectangular groove, the upper end of the rectangular frame is provided with a mounting plate 608, the middle of the upper end of the mounting plate 608 is provided with a rotatable rectangular rotating plate 605, the front and back and left and right four sides of the rectangular rotating plate 605 are respectively provided with a sliding block assembly 607, the lower end of the sliding block assembly 607 penetrates through the mounting plate 608 and is connected with a clamping plate 606, the four corners of the rectangular rotating plate 605 are respectively rotatably connected with one end of a bent connecting plate 604, the other end of the bent connecting plate 604 is rotatably connected with the upper end of the sliding block assembly 607 on the corresponding side, the front end of the gripper cylinder 603 is connected with the upper end of any sliding block assembly 607, and the rear end of the gripper cylinder 603 is connected with the upper end of the sliding block assembly 607 on the opposite side of the sliding block assembly 607; the four clamping plates 606 are located in the rectangular groove of the rectangular frame; the upper end of the mounting plate 608 is further provided with a connecting plate 609, the connecting plate 609 is installed on the upper surface of the mounting plate 608 through connecting columns at the lower ends of the four corners and is located above the rectangular rotating plate 605, and the driving end of the mechanical arm 601 is connected with the upper surface of the connecting plate 609.

[0018] The bent connecting plate 604 is designed as a V-shaped plate. The structure of the bent connecting plate can save space during stretching and contraction, and can realize synchronous driving of the sliding block assemblies on the four sides in cooperation with the middle rectangular rotating plate, so that stable clamping is ensured.

[0019] The clamping plate 606 is designed as a vertical rectangular plate, and a protective pad 6061 is arranged on the inner side of the clamping plate 606. The protective pad 6061 is a polyurethane pad. The protective pad can increase the friction and reduce the damage to the crucible.

[0020] The sliding block assembly 607 comprises a horizontal plate 6071, an I-shaped sliding block 6072 and a guide wheel 6073. One end of the horizontal plate 6071 is arranged on the upper end of the I-shaped sliding block 6072, the other end of the horizontal plate 6071 is rotatably connected with one end of the bent connecting plate 604, the upper ends of any two horizontally arranged horizontal plates 6071 are respectively connected with the two ends of the gripper cylinder 603, four sliding grooves 6010 are formed in the upper surface of the mounting plate 608 for sliding of the four I-shaped sliding blocks 6072, two guide wheels 6073 are arranged on the upper end of the I-shaped sliding block 6072 on the two sides and roll on the upper surface of the mounting plate 608, two guide wheels 6073 are also arranged on the lower end of the I-shaped sliding block 6072 on the two sides and roll on the lower surface of the mounting plate 608, and the lower end of the I-shaped sliding block 6072 is connected with the middle position of the outer side of the clamping block. The lower end of the I-shaped sliding block is connected with the middle position of the outer side of the clamping block through a triangular body connector, which is prior art and is simply described herein.

[0021] The clamping plate 606 is further provided with a guide rod 6062 at each outer end, and the four edge frames of the gripper frame 602 are respectively provided with corresponding guide sleeves 6063, and the guide rod 6062 is slidingly installed in the guide sleeve 6063.

[0022] In use, the mechanical arm clamps the crucible conveyed by the conveying line of the previous process one by one through the device, and places the crucible on the conveying line of the next process to stack six crucibles; the mechanical arm controls the gripping frame to be above the crucible, the grabbing cylinder extends, the sliding assemblies on both sides extend synchronously, the rectangular rotating seat is synchronously connected with the sliding assemblies on four sides through four curved connecting plates, the sliding assemblies on both sides act on the middle rectangular rotating plate, the rectangular rotating plate controls the synchronous extension of the other two sliding assemblies, the four sliding assemblies synchronously drive the clamps below to open outward, the mechanical arm controls the gripping frame to be buckled above the outside of the crucible, and the clamps are located around the crucible; the clamping starts, the grabbing cylinder retracts, the sliding assemblies around retract synchronously, the clamps clamp the middle synchronously, the guide rod and the guide sleeve cooperate to stably clamp the front movement of the clamps, prevent the clamping jaw from deviating to cause jamming, the clamping block is provided with a polyurethane pad, which increases the friction and reduces the damage to the crucible; after clamping, the mechanical arm controls the device to move to the specified stacking position, and repeats the above extension action to place the stable crucible. The four edges of the device are clamped synchronously, the clamping force is good, and the clamping precision is accurate and efficient.

Claims

1. A crucible stacking machine gripper device, characterized by, It includes mechanical arm, gripper frame, gripper cylinder, curved connecting plate, rectangular rotating plate, clamping plate, slider assembly, the gripper frame is designed into rectangular frame, the middle of the rectangular frame is hollowed out to form a rectangular slot, the upper end of the rectangular frame is provided with a mounting plate, the middle of the upper end of the mounting plate is provided with a rotatable rectangular rotating plate, the front and rear and left and right four sides of the rectangular rotating plate are respectively provided with a slider assembly, the lower end of the slider assembly penetrates through the rear of the mounting plate and is connected with a clamping plate, one end of a curved connecting plate is rotatably connected with the four corner positions of the rectangular rotating plate, the other end of the curved connecting plate is rotatably connected with the upper end of the slider assembly on the corresponding side, the front end of the gripper cylinder is connected with the upper end of any slider assembly, and the rear end of the gripper cylinder is connected with the upper end of the slider assembly on the opposite side of the slider assembly; the four clamping plates are located in the rectangular slot of the rectangular frame; the upper end of the mounting plate is further provided with a connecting plate, the connecting plate is installed on the upper surface of the mounting plate through connecting columns and located above the rectangular rotating plate, and the driving end of the mechanical arm is connected with the upper surface of the connecting plate.

2. The crucible palletizing machine gripper apparatus of claim 1, wherein, The curved connecting plate is designed as a V-shaped plate.

3. The crucible palletizing machine gripper apparatus of claim 1 wherein, The clamping plate is designed as a vertical rectangular plate, and a protective pad is installed on the inner side of the clamping plate.

4. The crucible palletizing machine gripper apparatus of claim 3, wherein, The protective pad is a polyurethane pad.

5. The crucible palletizing machine gripper apparatus as defined in claim 1 wherein, The slider assembly comprises a horizontal plate, an I-shaped slider and a guide wheel, one end of the horizontal plate is installed on the upper end of the I-shaped slider, the other end of the horizontal plate is rotatably connected with one end of the curved connecting plate, and the upper ends of any two horizontally installed horizontal plates are respectively connected with the two ends of the gripper cylinder, four sliding grooves are formed in the upper surface of the mounting plate for sliding of the four I-shaped sliders, two guide wheels are respectively installed on the two sides of the upper end of the I-shaped slider and roll on the upper surface of the mounting plate, and two guide wheels are respectively installed on the two sides of the lower end of the I-shaped slider and roll on the lower surface of the mounting plate; the lower end of the I-shaped slider is connected with the middle position of the outer side of the clamping block.

6. The crucible palletizing machine gripper apparatus as defined in claim 1 wherein, The outer sides of the two ends of the clamping plate are respectively provided with a guide rod, and the four frame edges of the gripper frame are respectively provided with corresponding guide sleeves, and the guide rods are slidingly installed in the guide sleeves.

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