Improved grabbing mechanism for high-boron glass tube stacker crane

Abstract

The utility model relates to the technical field of high-boron glass tube stackers, and discloses an improved grabbing mechanism for a high-boron glass tube stacker, which comprises a connecting column, the lower surface of the connecting column is fixedly connected with a fixing plate, the upper surface of the fixing plate is fixedly connected with a first hydraulic cylinder, the upper surface of the fixing plate is fixedly connected with a sliding rail, and the sliding rail is fixedly connected with a second hydraulic cylinder. A sliding seat is slidably connected to the outer wall of the sliding rail, a sliding block is fixedly connected to the upper surface of the sliding seat, a sliding plate is fixedly connected to the lower surface of the sliding block, an insertion pipe is fixedly connected to the outer wall of the sliding plate, a clamping block is arranged on one side of the sliding plate, and a fixing assembly is arranged on the outer wall of the insertion pipe and comprises a sleeve. And the inner wall of the sleeve is fixedly connected with a fixed rod. The fixing rod is installed on the inner wall of the sleeve, the first connecting rod and the second connecting rod are arranged on the inner wall of the fixing rod, and the second connecting rod is connected with the first connecting rod through the first rotating shaft.

Description

TECHNICAL FIELD

[0001] The utility model relates to high boron glass tube stacking machine technical field especially relates to an improved high boron glass tube stacking machine is with grabbing mechanism. BACKGROUND

[0002] In the automatic production and storage link of high boron glass tube, the grabbing mechanism of the stacking machine is the core component for realizing efficient transfer and accurate stacking of the glass tube. High boron glass tube has the characteristics of high temperature resistance and corrosion resistance, but also has the physical limitations of brittle and hard texture and smooth surface, which puts forward strict requirements on the stability, clamping accuracy and contact safety of the grabbing mechanism. In the existing stacking operation, the grabbing mechanism needs to frequently complete the grabbing, carrying and butt joint with the pipe of the glass tube, and the traditional grabbing scheme is difficult to balance the fixing reliability and structural adaptability when dealing with the complex stress field of the glass tube, so it is urgent to improve the operation stability through structural innovation.

[0003] At present, the high boron glass tube stacking grabbing technology commonly used in the industry is mainly based on the principle of rigid clamping or surface contact type fixing. For example, some mechanisms use multi-claw mechanical clamps to apply radial pressure to the outer wall of the glass tube to realize fixation, and the power source is mostly cylinder or electric push rod, which relies on displacement sensor feedback to control the opening and closing degree of the clamping jaw; Some devices use the method of inserting the pipe into the glass tube, and the expansion structure or elastic component at the end of the pipe contacts the inner wall of the glass tube to form fixation by friction. The core logic of these technical schemes is to constrain the position of the glass tube by external mechanical force, but the structure design does not fully consider the dynamic displacement problem caused by the contact stress of the glass tube after inserting the pipe.

[0004] The structure only relies on the static friction force of the clamping jaw or the end of the pipe to fix, and cannot adjust the contact pressure according to the real-time position of the glass tube. Since the inner wall of the high boron glass tube is smooth and the wall is thin, once the coaxiality deviation of the pipe and the glass tube causes uneven resistance, or the contact position is shifted due to external vibration, the glass tube is easy to shake or even slip on the pipe, which not only causes the breakage rate of the glass tube to increase, but also affects the stacking efficiency due to frequent shutdown and calibration. The reliability problem caused by the insufficient dynamic adaptability of the fixing mechanism has become a key bottleneck restricting the development of high boron glass tube automatic stacking technology. INVENTION CONTENTS

[0005] In order to make up for the above shortcomings, the utility model provides an improved high boron glass tube stacking machine grabbing mechanism, which aims to improve the traditional mechanism when grabbing high boron glass tube, the coaxiality deviation of the pipe and the glass tube causes uneven contact force, which causes the glass tube to shake and slip, affecting the stacking efficiency.

[0006] To achieve the above object, the utility model provides the following technical scheme: An improved high boron glass tube stacking machine is provided with a grabbing mechanism, which comprises a connecting column, a fixed plate is fixedly connected to the lower surface of the connecting column, a hydraulic cylinder one is fixedly connected to the upper surface of the fixed plate, a sliding rail is fixedly connected to the upper surface of the fixed plate, a sliding seat is slidably connected to the outer wall of the sliding rail, a sliding block is fixedly connected to the upper surface of the sliding seat, a sliding plate is fixedly connected to the lower surface of the sliding block, a pipe is fixedly connected to the outer wall of the sliding plate, a clamping block is arranged on one side of the sliding plate, and a fixing assembly is arranged on the outer wall of the pipe.

[0007] The fixing assembly comprises a sleeve, a fixed rod is fixedly connected to the inner wall of the sleeve, a connecting rod two is rotatably connected to the inner wall of the fixed rod, a rotating shaft one is rotatably connected to the inside of the connecting rod two, a connecting rod one is rotatably connected to the outer wall of the rotating shaft one, the connecting rod one is slidably connected to the inside of the fixed rod on one side of the outer wall, and a silica gel pad is rotatably connected to the outer wall of the rotating shaft one.

[0008] Further, a rotating shaft two is fixedly connected to the inner wall of the clamping block, a short rod and a long rod are rotatably connected to the outer wall of the rotating shaft two, and a connecting block is rotatably connected to one end of the short rod.

[0009] Further, a connecting plate is fixedly connected to one side of the outer wall of the sliding plate, a hydraulic cylinder two is fixedly connected to the outer wall of the sliding plate, and the output end of the hydraulic cylinder two penetrates through the connecting plate and is fixedly connected to the upper surface of the connecting block.

[0010] Further, the long rod is slidably connected to the inner wall of the connecting plate on one end.

[0011] Further, the outer wall of the sliding plate is fixedly connected to the output end of the hydraulic cylinder one.

[0012] Further, the outer wall of the pipe is sleeved with a spring, one end of the spring is fixedly connected to the outer wall of the sleeve, and the other end of the spring is fixedly connected to the outer wall of the sliding plate.

[0013] Further, the outer wall of the connecting rod one is rotatably connected to the outer wall of the pipe.

[0014] Further, the inner wall of the sleeve is slidably connected to the outer wall of the pipe.

[0015] The utility model has the advantages of:

[0016] In the utility model, the fixed rod is installed on the inner wall of the sleeve, the connecting rod one and the connecting rod two are arranged on the inner wall of the fixed rod, the connecting rod two is connected with the connecting rod one through the rotating shaft one, when the pipe is inserted into the glass tube, the silica gel pad is lifted and abuts against the inner wall of the glass tube, the high boron glass tube is fixed and cannot shake on the pipe, the glass tube is prevented from slipping and being damaged, and the practicability of the device is improved.

[0017] The utility model discloses, through the hydraulic cylinder and drive the connecting block telescopic, because the short pole is fixed in the connecting block inner wall, and the short pole one end is provided with rotary shaft no. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The utility model discloses an improved high boron glass tube stacking machine is with the three -dimensional structure schematic diagram of grasping mechanism of a kind of improvement type for the utility model proposes;

[0019] Figure 2 The utility model discloses an improved high boron glass tube stacking machine is with the sleeve partial structure schematic diagram of grasping mechanism of a kind of improvement type for the utility model proposes;

[0020] Figure 3 The utility model discloses an improved high boron glass tube stacking machine is with the fixed rod partial schematic diagram of grasping mechanism of a kind of improvement type for the utility model proposes;

[0021] Figure 4 The utility model discloses an improved high boron glass tube stacking machine is with the clamping block partial structure schematic diagram of grasping mechanism of a kind of improvement type for the utility model proposes.

[0022] LEGEND:

[0023] 1, connecting column;2, sliding plate;3, fixed plate;4, sliding block;5, rotary shaft no. 2;6, hydraulic cylinder no. 1;7, sliding base;8, slide rail;9, short pole;10, long pole;11, insert tube;12, spring;13, sleeve;14, hydraulic cylinder no. 2;15, connecting plate;16, clamping block;17, connecting block;18, silica gel pad;19, connecting rod no. 1;20, fixed rod;21, connecting rod no. 2;22, rotary shaft no. 1. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, and apparently, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the range of protection of the utility model.

[0025] REFERENCE Figures 1-4The utility model provides an improved high boron glass tube stacking machine is used snatch mechanism, including connecting post 1, connecting post 1 is used for with mechanical arm connection, and the lower surface fixed connection of connecting post 1 has fixed plate 3, and the upper surface fixed connection of fixed plate 3 has hydraulic cylinder no. 6, and hydraulic cylinder no. 6 is used for controlling sliding plate 2 to move, and the upper surface fixed connection of fixed plate 3 has slide rail 8, and the outer wall sliding connection of slide rail 8 has sliding seat 7, and the upper surface fixed connection of sliding seat 7 has sliding block 4, and sliding block 4 is used for cooperation sliding plate 2 moves, and the lower surface fixed connection of sliding block 4 has sliding plate 2, and the outer wall fixed connection of sliding plate 2 has pipe 11, and pipe 11 is used for inserting glass tube inside and lifting, and one side of sliding plate 2 is provided with clamping block 16, and clamping block 16 is used for clamping rope, and the outer wall of pipe 11 is provided with fixed assembly, and fixed assembly includes sleeve 13, and sleeve 13 is used for and glass tube one end to resist the touch, and the inner wall fixed connection of sleeve 13 has fixed link 20, and fixed link 20 is used for to connect connecting rod no. 19 and connecting rod no. 21, and the inner wall rotation of fixed link 20 is connected with connecting rod no. 21, and the rotation of connecting rod no. 21 inside is connected with rotating shaft no. 22, and the rotation of rotating shaft no. 22 outside connecting rod no. 19 is connected, and the outer wall one side of connecting rod no. 19 is connected in the inside of fixed link 20, and the rotation of rotating shaft no. 22 outside is connected with silica gel pad 18, and silica gel pad 18 is used for to prop up glass tube inner wall, and the outer wall fixed connection of sliding plate 2 is in the output of hydraulic cylinder no. 6, and the outer wall of pipe 11 is provided with spring 12, and spring 12 is used for cooperation sleeve 13 uses, and one end of spring 12 is fixedly connected in the outer wall of sleeve 13, and the other end of spring 12 is fixedly connected in the outer wall of sliding plate 2, and the outer wall one side of connecting rod no. 19 is rotatably connected in the outer wall of pipe 11, and the inner wall sliding connection of sleeve 13 is in the outer wall of pipe 11.

[0026] Refer to Figures 1-4 The inner wall of clamping block 16 is fixedly connected with rotating shaft no. 5, the outer wall of rotating shaft no. 5 is rotatably connected with short rod 9 and long rod 10, short rod 9 and long rod 10 are used for cooperatively controlling clamping block 16, one end of short rod 9 is rotatably connected with connecting block 17, one side of the outer wall of sliding plate 2 is fixedly connected with connecting plate 15, the outer wall of sliding plate 2 is fixedly connected with hydraulic cylinder no. 14, hydraulic cylinder no. 14 is used for controlling clamping block 16 to clamp and loosen, the output of hydraulic cylinder no. 14 is fixedly connected on the upper surface of connecting block 17 through connecting plate 15, and one end of long rod 10 is slidingly connected in the inner wall of connecting plate 15.

[0027] Working principle: When using this gripping mechanism to stack high borosilicate glass tubes, firstly, connect the connecting column 1 and the robotic arm. Then, the output end of hydraulic cylinder 14 passes through the connecting plate 15 and connects to the connecting block 17. At this point, short rod 9 and long rod 10 are connected via rotating shaft 5. Since one end of short rod 9 is rotatably connected to the inner wall of connecting block 17, the extension and retraction of hydraulic cylinder 14 drives long rod 10 to slide on the inner wall of connecting plate 15, thereby causing clamping block 16 to grip the rope and prevent it from falling off. Next, the output end of hydraulic cylinder 6 is fixedly connected to sliding plate 2, and then fixedly connected to slider 4, slide block 7, and sliding plate 2. With the cooperation of slide rail 8, hydraulic cylinder 6 drives sliding plate 2 to move. When adjusted to allow insertion of tube 1... When the high borosilicate glass tube is aligned with both ends, the retraction of hydraulic cylinder 6 causes the insertion tube 11 to be inserted into the glass tube. When one end of the glass tube touches the outer wall of sleeve 13, the continued insertion of the insertion tube 11, combined with the action of spring 12 and the fixed connection between connecting rod 19 and insertion tube 11, along with the cooperation of the sliding groove and rotating shaft, allows connecting rod 19 to slide against the inner wall of fixed rod 20. Connecting rod 21 is then rotatably connected to the inner wall of fixed rod 20 via the rotating shaft. Since connecting rod 19 and connecting rod 21 are connected via rotating shaft 22, the silicone pad 18 is slowly pushed up as connecting rod 19 slides. When the silicone pad 18 touches the inner wall of the glass tube, the glass tube is secured and will not detach from the insertion tube 11.

[0028] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An improved gripping mechanism for a borosilicate glass tube stacker comprising a connecting column (1), characterized in that: The connecting column (1) lower surface is fixedly connected with a fixed plate (3), the fixed plate (3) upper surface is fixedly connected with a hydraulic cylinder one (6), the fixed plate (3) upper surface is fixedly connected with a slide rail (8), the slide rail (8) outer wall is slidably connected with a sliding seat (7), the sliding seat (7) upper surface is fixedly connected with a sliding block (4), the sliding block (4) lower surface is fixedly connected with a sliding plate (2), the sliding plate (2) outer wall is fixedly connected with a cannula (11), one side of the sliding plate (2) is provided with a clamping block (16), the cannula (11) outer wall is provided with a fixing assembly; The fixing assembly includes a sleeve (13), the sleeve (13) inner wall is fixedly connected with a fixed rod (20), the fixed rod (20) inner wall is rotatably connected with a connecting rod two (21), the connecting rod two (21) is rotatably connected with a rotating shaft one (22) in the inside, the rotating shaft one (22) outer wall is rotatably connected with a connecting rod one (19), the connecting rod one (19) outer wall one side is slidably connected in the fixed rod (20) inside, the rotating shaft one (22) outer wall is rotatably connected with a silica gel pad (18).

2. The improved high boron glass tube stacker gripping mechanism according to claim 1, wherein: The clamping block (16) inner wall is fixedly connected with a rotating shaft two (5), the rotating shaft two (5) outer wall is rotatably connected with a short rod (9) and a long rod (10), the short rod (9) one end is rotatably connected with a connecting block (17).

3. The improved high boron glass tube stacker gripping mechanism as claimed in claim 2 wherein: The sliding plate (2) outer wall one side is fixedly connected with a connecting plate (15), the sliding plate (2) outer wall is fixedly connected with a hydraulic cylinder two (14), the hydraulic cylinder two (14) output end is fixedly connected on the connecting block (17) upper surface through the connecting plate (15).

4. The improved high boron glass tube stacker gripping mechanism as claimed in claim 2 wherein: The long rod (10) one end is slidably connected in the connecting plate (15) inner wall.

5. The improved high boron glass tube stacker gripping mechanism as claimed in claim 1 wherein: The sliding plate (2) outer wall is fixedly connected on the hydraulic cylinder one (6) output end.

6. The improved high boron glass tube stacker gripping mechanism as claimed in claim 5 wherein: The cannula (11) outer wall is sleeved with a spring (12), one end of the spring (12) is fixedly connected on the sleeve (13) outer wall, the other end of the spring (12) is fixedly connected on the sliding plate (2) outer wall.

7. The improved high boron glass tube stacker gripping mechanism as claimed in claim 6 wherein: The connecting rod one (19) outer wall one side is rotatably connected on the cannula (11) outer wall.

8. The improved high boron glass tube stacker gripping mechanism as claimed in claim 1 wherein: The sleeve (13) inner wall is slidably connected on the cannula (11) outer wall.

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