A rotary manipulator for cylindrical material handling

Abstract

The utility model relates to the technical field of material handling relates to a kind of rotary manipulator for cylindrical material handling, including mounting bracket, connection module and grabbing module, and grabbing module contains translation mechanism, connecting frame and grabbing mechanism, the synchronous movement of two groups of connecting seat of clamping assembly of grabbing mechanism is driven by double-end screw reverse thread, limit with guide rod, so that clamping piece is symmetrically attached to material surface, stress is uniform and adapts to different diameter material, without replacing parts.The utility model realizes "alignment-grabbing-handling-placing" full-process automation by the cooperation of translation, rotation and angle adjusting mechanism, reduces manual intervention, adapts to complex working conditions, reduces security risk, improves equipment versatility and operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of material handling technology, and specifically to a rotary manipulator for handling cylindrical materials. Background Technology

[0002] In industrial production, the handling of cylindrical materials is a core process that runs through warehousing, processing, and assembly. Its handling efficiency and safety directly affect the overall production rhythm. Taking corrugated cylindrical materials as an example, they are widely distributed in dozens of industries such as petrochemicals, building materials, automobile manufacturing, and paper printing.

[0003] Existing handling methods typically use a combination of cranes and manual hooks. Workers need to manually adjust the binding position during the material lifting process. Cylindrical materials are prone to shifting their center of gravity due to rolling, which can lead to collisions or falls. Utility Model Content

[0004] This invention addresses the problems of existing technologies by providing a rotary manipulator for handling cylindrical materials.

[0005] The objective of this utility model can be achieved through the following technical solution: A rotary manipulator for handling cylindrical materials, comprising: a mounting frame, a connecting module disposed at the upper end of the mounting frame, and a gripping module disposed at the lower end of the mounting frame. The gripping module includes a translation mechanism, a connecting frame disposed at the lower end of the translation mechanism, and a gripping mechanism disposed at the lower end of the connecting frame. The translation mechanism is used to control the opening and closing of the connecting frame. The gripping mechanism includes a mounting column disposed at the lower end of the connecting frame, a mounting plate disposed at the end of the mounting column, and clamping assemblies symmetrically disposed at both ends of the mounting plate. The clamping assembly includes a clamping frame fixed on the mounting plate, a double-ended lead screw rotatably mounted on the clamping frame, two sets of connecting seats respectively mounted on the upper and lower reverse threaded portions of the double-ended lead screw, and a clamping member disposed at the upper end of the connecting seat.

[0006] In a further improvement, the connecting frame is provided with an angle adjustment mechanism, which includes an adjustment motor 1 located inside the connecting frame. The output end of the adjustment motor 1 passes through the side wall of the connecting frame and is connected to a drive wheel 1. The mounting column is rotatably located at the lower end of the connecting frame, and a drive wheel 2 is located on the side away from the mounting plate. A synchronous belt is sleeved between the drive wheel 1 and the drive wheel 2.

[0007] In a further improvement, the translation mechanism includes a gearbox located at the lower end of the mounting frame. Both ends of the gearbox are connected to opening and closing transmission screws, and the front end of the gearbox is connected to an adjusting motor II. The output end of the adjusting motor II is perpendicular to the opening and closing transmission screws and is driven by a gear set. The end of the opening and closing transmission screw away from the gearbox is rotatably mounted in a rotating seat at the lower end of the mounting frame. Both sets of opening and closing transmission screws are threadedly connected to translation seats, and the connecting frame is located at the lower end of the translation seats.

[0008] In a further improvement, a linear slide rail is provided at the lower end of the mounting bracket, and a linear bearing is provided at the upper end of the translation seat, with the linear bearing sliding on the linear slide rail.

[0009] In a further improvement, the mounting frame is provided with a connection module, which includes a mounting base, an adjusting motor three, and a rotating gear one. The upper end of the mounting base can be connected to an external moving mechanism. The rotating gear one is rotatably mounted on the lower end of the mounting base and is fixedly connected to the mounting frame. The adjusting motor three is mounted on the upper end of the mounting base, and its output end passes through the mounting base and drives a rotating gear two. The rotating gear two meshes with the rotating gear one.

[0010] In a further improvement, the clamping frame is provided with a guide rod, and the connecting seat is slidably mounted on the guide rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The clamping assembly of this utility model uses the reverse thread design of the double-ended screw to drive the two sets of connecting seats to approach or separate synchronously. Combined with the limiting effect of the guide rod, it ensures that the clamping parts are symmetrically attached to the surface of the cylindrical material, and the force is uniform and without deviation. The adjustment function of the double-ended screw can flexibly adapt to different types of materials without replacing parts, which significantly improves the versatility of the equipment. 2. The present invention can coordinate the translation, rotation and angle adjustment mechanisms to realize the full automation of the "alignment-grabbing-transporting-placement" process, reducing manual assistance; the equipment can automatically adjust its posture according to the material placement status, which is especially suitable for complex working conditions and reduces the risk of operational safety hazards. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a front view of the present invention; Figure 3 This is a schematic diagram of the connecting frame and gripping mechanism of this utility model; Figure 4 This is a schematic diagram of the mounting frame and translation mechanism of this utility model; Figure 5 This is a schematic diagram of the workpiece's structure.

[0013] In the diagram: 1. Mounting frame; 2. Connecting module; 21. Assembly seat; 22. Adjusting motor three; 23. Rotary gear one; 221. Rotary gear two; 3. Gripping module; 31. Translation mechanism; 311. Gearbox; 312. Opening and closing transmission screw; 313. Adjusting motor two; 314. Translation seat; 32. Connecting frame; 33. Gripping mechanism; 331. Mounting column; 3311. Drive wheel two; 332. Mounting plate; 333. Clamping assembly; 3331. Clamping frame; 33311. Guide rod; 3332. Double-ended lead screw; 3333. Connecting seat; 3334. Clamping component; 4. Angle adjustment mechanism; 41. Adjusting motor one; 42. Drive wheel one; 43. Synchronous belt; 51. Linear slide rail; 52. Linear bearing; 6. Workpiece. Detailed Implementation

[0014] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0015] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0016] The following is a description of the embodiments and appendices. Figures 1-5 The technical solution of this utility model will be further described below.

[0017] Example 1 A rotary manipulator for handling cylindrical materials includes: a mounting frame 1, a connecting module 2 disposed on the upper end of the mounting frame 1, and a gripping module 3 disposed on the lower end of the mounting frame 1. The gripping module 3 includes a translation mechanism 31, a connecting frame 32 disposed on the lower end of the translation mechanism 31, and a gripping mechanism 33 disposed on the lower end of the connecting frame 32. The translation mechanism 31 controls the opening and closing of the connecting frame 32, and the gripping mechanism 33 includes a gripping mechanism 33 disposed on the lower end of the connecting frame 32. The mounting post 331, the mounting plate 332 disposed at the end of the mounting post 331, and the clamping components 333 symmetrically disposed at both ends of the mounting plate 332. The clamping components 333 include a clamping frame 3331 fixed on the mounting plate 332, a double-ended lead screw 3332 rotatably mounted on the clamping frame 3331, two sets of connecting seats 3333 respectively mounted on the upper and lower reverse threaded portions of the double-ended lead screw 3332, and a clamping member 3334 disposed at the upper end of the connecting seat 3333.

[0018] like Figures 1-5 As shown, the working process of this utility model is as follows: Before starting work, the device is moved to the cylindrical workpiece 6 to be transported by an external hoisting mechanism, so that the gripping mechanism 33 is roughly aligned with the top of the workpiece 6, thus completing the initial positioning.

[0019] After the equipment is started, the gripping mechanism 33 is aligned with the workpiece 6 under the drive of the translation mechanism 31. At this time, the translation mechanism 31 (the adjustment motor 313 drives the opening and closing transmission screw 312 to rotate via the gear box 311, which drives the translation seat 314 to slide along the linear slide rail 51 and the linear bearing 52) is in the open state, so that the connecting frame 32 and the gripping mechanism 33 maintain an appropriate distance from the workpiece 6.

[0020] When the gripping mechanism 33 moves to both sides of the workpiece 6, the translation mechanism 31 retracts, driving the connecting frame 32 to approach the workpiece 6 until the two sets of clamping components 333 are respectively located on both sides of the workpiece 6. Then, the double-ended lead screw 3332 is rotated. Because its upper and lower sections have opposite threads, the two sets of connecting seats 3333 move towards the middle synchronously along the guide rod 33311 of the clamping frame 3331, driving the clamping components 3334 to come into contact with the surface of the workpiece 6 from both sides and clamp it.

[0021] After workpiece 6 is clamped, the external hoisting mechanism moves the device to the target position. The gripping module 3 is finely adjusted under the drive of the translation mechanism 31 to send workpiece 6 above the placement point. The double-ended lead screw 3332 is rotated in the opposite direction, and the connecting seat 3333 drives the clamping part 3334 to separate, releasing workpiece 6 so that it can be placed stably.

[0022] Once completed, the translation mechanism 31 opens, and the external hoisting mechanism with the gripping mechanism 33 resets, ready for the next operation.

[0023] This utility model has the following beneficial effects: 1. The translation mechanism 31 achieves precise movement and fine-tuning of the gripping mechanism 33 by adjusting the cooperation of the motor 313, the opening and closing transmission screw 312 and the linear slide rail 51, ensuring precise alignment of the workpiece 6; in conjunction with the external hoisting mechanism, the handling range can be expanded to adapt to the position requirements of different working scenarios. 2. The adjustable function of the double-ended lead screw 3332 allows for flexible adjustment of the clamping distance, which can adapt to cylindrical materials of different sizes. It can meet diverse handling needs without replacing parts, thus improving the versatility of the equipment.

[0024] As a further preferred embodiment, the connecting frame 32 is provided with an angle adjustment mechanism 4. The angle adjustment mechanism 4 includes an adjustment motor 41 disposed inside the connecting frame 32. The output end of the adjustment motor 41 passes through the side wall of the connecting frame 32 and is connected to a drive wheel 42. The mounting column 331 is rotatably disposed at the lower end of the connecting frame 32, and a drive wheel 3311 is disposed on the side away from the mounting plate 332. A synchronous belt 43 is sleeved between the drive wheel 42 and the drive wheel 3311.

[0025] Specifically, the external hoisting mechanism moves the device to the side of the workpiece 6. After the translation mechanism 31 drives the gripping mechanism 33 to initially align, if the workpiece 6 is placed at an angle, causing the clamping component 3334 to be unable to fit vertically, the adjustment motor 41 can be started: it drives the drive wheel 42 to rotate, which is transmitted to the drive wheel 3311 through the synchronous belt 43, thereby driving the mounting column 331 to rotate around its own axis, so that the mounting plate 332 and the clamping components 333 at both ends rotate synchronously until the arc surface of the clamping component 3334 is completely adapted to the inclined surface of the workpiece 6. After the angle adjustment is completed, the adjusting motor 41 is locked to ensure the angle is stable during the gripping process. After the clamping component 333 clamps the workpiece 6, if it is necessary to avoid obstacles in the transport path, the adjusting motor 41 can be restarted to fine-tune the angle and improve the flexibility of passage. After the transport is completed, the workpiece placement can also be adjusted as needed.

[0026] This invention utilizes an angle adjustment mechanism 4, which, through an adjusting motor 41, drives the mounting column 331 to rotate, thereby flexibly adjusting the angle of the clamping assembly 333. This allows it to adapt to cylindrical workpieces 6 in non-standard placement states, such as tilted or horizontal positions. When the workpiece 6 experiences angular displacement due to stacking deviations, the clamping assembly 3334 can achieve complete contact with the workpiece surface through angle fine-tuning. This solves the problem of slippage or unstable clamping caused by poor contact in traditional fixed-angle gripping mechanisms, significantly improving adaptability to complex working conditions. After being transported to the target position, the angle adjustment function can adjust the final posture of the workpiece 6 according to placement requirements, eliminating the need for manual assistance in flipping it, ensuring neat placement, and reducing adjustment costs in subsequent processes.

[0027] As a further preferred embodiment, the translation mechanism 31 includes a gearbox 311 disposed at the lower end of the mounting frame 1. The two ends of the gearbox 311 are respectively connected to opening and closing transmission screws 312, and the front end of the gearbox 311 is connected to an adjusting motor 313. The output end of the adjusting motor 313 is perpendicular to the opening and closing transmission screws 312 and is driven by a gear set. The end of the opening and closing transmission screws 312 away from the gearbox 311 is rotatably disposed in a rotating seat at the lower end of the mounting frame 1. Both sets of opening and closing transmission screws 312 are threadedly connected to translation seats 314, and the connecting frame 32 is disposed at the lower end of the translation seats 314.

[0028] Specifically, in actual use, the second regulating motor 313 is started, and its output shaft drives the active bevel gear to rotate. Through the reversing transmission of the bevel gear set in the gearbox 311, the opening and closing transmission screws 312 at both ends are driven to rotate synchronously. Since the threads of the two sets of opening and closing transmission screws 312 are opposite, and the translation seat 314 is limited by the linear guide rail, the threaded connection converts the rotational motion of the screw into the horizontal linear motion of the translation seat 314. The left translation seat moves to the right along the left screw, and the right translation seat moves to the left along the right screw (or vice versa), realizing the synchronous opening and closing of the connecting frame 32.

[0029] As a further preferred embodiment, the lower end of the mounting bracket 1 is provided with a linear slide rail 51, and the upper end of the translation seat 314 is provided with a linear bearing 52, which slides on the linear slide rail 51.

[0030] Specifically, when the adjusting motor 313 drives the opening and closing transmission screw 312 to rotate, the translation seat 314 moves along the screw axis under the action of the thread driving force. At the same time, the upper linear bearing 52 slides synchronously along the linear slide rail 51. The linear slide rail 51 restricts the vertical and lateral displacement of the linear bearing 52 through the convex structure, retaining only the degree of freedom along the slide rail direction. This effectively counteracts the radial force generated when the opening and closing transmission screw 312 rotates, preventing the translation seat 314 from tilting or shaking. When the gripping mechanism 33 clamps the workpiece 6 and bears the load, the linear slide rail 51 and the linear bearing 52 form a rigid support, transferring part of the gravity load to the mounting frame 1, reducing the stress deformation of the opening and closing transmission screw 312, and ensuring that the motion accuracy is maintained after long-term use.

[0031] As a further preferred embodiment, the mounting frame 1 is provided with a connecting module 2, which includes a mounting base 21, an adjusting motor 22, and a rotating gear 23. The upper end of the mounting base 21 can be connected to an external moving mechanism. The rotating gear 23 is rotatably disposed at the lower end of the mounting base 21 and is fixedly connected to the mounting frame 1. The adjusting motor 22 is disposed at the upper end of the mounting base 21, and its output end passes through the mounting base 21 and drives a rotating gear 221. The rotating gear 221 meshes with the rotating gear 23.

[0032] Specifically, after the external moving mechanism moves the assembly base 21 and the entire device to the work area, if the gripping mechanism 33 needs to adjust its horizontal orientation (such as from front gripping to side gripping), the adjustment motor 3 22 is started. The adjustment motor 3 22 drives the rotating gear 2 221 to rotate, and through gear meshing, it drives the rotating gear 1 23 to rotate, thereby causing the mounting bracket 1 fixed to it to rotate around the central axis of the rotating gear 1 23, realizing the horizontal turning of the gripping mechanism 33. Combined with the linear movement of the translation mechanism 31 and the posture adjustment of the angle adjustment mechanism 4, the connecting module 2 can drive the gripping mechanism 33 to form a circular working range on the horizontal plane, adapting to the material handling needs of multiple workstations.

[0033] As a further preferred embodiment, the clamping frame 3331 is provided with a guide rod 33311, and the connecting seat 3333 is slidably disposed on the guide rod 33311.

[0034] Specifically, when the double-ended lead screw 3332 rotates under the driving force, the two sets of connecting seats 3333 move closer or separate synchronously under the action of the reverse threads. At this time, the linear bearing at the upper end of the connecting seat 3333 slides along the guide rod 33311. The guide rod 33311 restricts the radial swing of the connecting seat 3333 through rigid support, retaining only the axial movement degree of freedom. When the clamping part 3334 contacts the surface of the product 6 and applies clamping force, the guide rod 33311 can withstand the lateral reaction force, preventing the connecting seat 3333 from bending due to force offset, thus ensuring the stability of the threaded transmission.

[0035] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A rotary manipulator for cylindrical material handling, characterized by, include: The mounting frame, the connecting module disposed at the upper end of the mounting frame, and the gripping module disposed at the lower end of the mounting frame, the gripping module including a translation mechanism, a connecting frame disposed at the lower end of the translation mechanism, and a gripping mechanism disposed at the lower end of the connecting frame, the translation mechanism being used to control the opening and closing of the connecting frame, the gripping mechanism including a mounting post disposed at the lower end of the connecting frame, a mounting plate disposed at the end of the mounting post, and clamping assemblies symmetrically disposed at both ends of the mounting plate, the clamping assembly including a clamping frame fixed on the mounting plate, a double-ended lead screw rotatably mounted on the clamping frame, two sets of connecting seats respectively mounted on the upper and lower reverse threaded portions of the double-ended lead screw, and a clamping member disposed at the upper end of the connecting seat.

2. A rotary manipulator for handling cylindrical materials according to claim 1, characterized in that, An angle adjustment mechanism is provided on the connecting frame. The angle adjustment mechanism includes an adjustment motor 1 located inside the connecting frame. The output end of the adjustment motor 1 passes through the side wall of the connecting frame and is connected to a drive wheel 1. The mounting column is rotatably located at the lower end of the connecting frame, and a drive wheel 2 is located on the side away from the mounting plate. A synchronous belt is sleeved between the drive wheel 1 and the drive wheel 2.

3. A rotary manipulator for handling cylindrical materials according to claim 1, characterized in that, The translation mechanism includes a gearbox located at the lower end of the mounting frame. Both ends of the gearbox are connected to opening and closing transmission screws, and the front end of the gearbox is connected to an adjusting motor II. The output end of the adjusting motor II is perpendicular to the opening and closing transmission screws and is driven by a gear set. The end of the opening and closing transmission screw away from the gearbox is rotatably mounted in a rotating seat at the lower end of the mounting frame. Both sets of opening and closing transmission screws are threaded with translation seats, and the connecting frame is located at the lower end of the translation seats.

4. A rotary manipulator for handling cylindrical materials according to claim 3, characterized in that, The mounting bracket is provided with a linear slide rail at its lower end, and the translation seat is provided with a linear bearing at its upper end, with the linear bearing sliding on the linear slide rail.

5. A rotary manipulator for handling cylindrical materials according to claim 1, characterized in that, The mounting frame is equipped with a connection module, which includes an assembly base, an adjustment motor three, and a rotating gear one. The upper end of the assembly base can be connected to an external moving mechanism. The rotating gear one is rotatably mounted on the lower end of the assembly base and is fixedly connected to the mounting frame. The adjustment motor three is mounted on the upper end of the assembly base, and its output end passes through the assembly base and drives a rotating gear two. The rotating gear two meshes with the rotating gear one.

6. A rotary manipulator for handling cylindrical materials according to claim 1, characterized in that, The clamping frame is provided with a guide rod, and the connecting seat is slidably mounted on the guide rod.

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