A kind of end beam grabbing mechanism of pneumatic mechanical arm end integrated suction cup type electromagnet

Abstract

The utility model provides an end girder grabbing mechanism of pneumatic mechanical arm end integration sucking disc type electromagnet, including stand, set in the upper end of stand's up and down swing arm, set in the free end of up and down swing arm's horizontal swing arm, set in the free end of horizontal swing arm's grabbing mechanical arm and set in the lower end of grabbing mechanical arm's sucking disc type electromagnet, the side of stand is provided with the first drive mechanism of drive up and down swing arm swing, the free end of up and down swing arm is provided with the second drive mechanism of drive horizontal swing arm swing, the free end of horizontal swing arm is provided with the third drive mechanism of drive grabbing mechanical arm rotation, and the side of grabbing mechanical arm is provided with the fourth drive mechanism of drive sucking disc type electromagnet swing. The end girder grabbing mechanism of pneumatic mechanical arm end integration sucking disc type electromagnet can swing, rotate and so on action according to need, and the convenient grabbing dolly end girder moves dolly end girder.

Description

Technical Field

[0001] This utility model relates to a handling operation of trolley end beams. Specifically, it relates to an end beam gripping mechanism with an integrated suction cup electromagnet at the end of a pneumatic robotic arm, which is applied to the handling operation of trolley end beams during the assembly of various types of crane trolleys. Background Technology

[0002] The trolley end beam is a common crane accessory. During the production process, it is usually necessary to transfer the trolley end beam to the trolley assembly platform for assembly. Currently, there are many common transfer devices, such as the transfer forklift disclosed in Chinese Patent CN204689561U and the gantry crane hook disclosed in Chinese Patent CN222860943U. However, using a lifting chain will cause the trolley end beam to sway during the transfer. Due to the weight of the trolley end beam, if the swaying trolley end beam hits a worker, it will endanger the worker's life. When using a forklift for transfer, it is easy to cause bumps and damage to the machined surface of the end beam, or cause the trolley end beam to fall accidentally, thus requiring the trolley end beam to be repaired. In severe cases, it may lead to deformation and scrapping of the trolley end beam.

[0003] In order to solve the above problems, people have been seeking an ideal technological solution. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing an end-beam gripping mechanism with an integrated suction cup electromagnet at the end of a pneumatic robotic arm.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A pneumatic robotic arm end-beam gripping mechanism integrating a suction cup electromagnet at its end includes a column, upper and lower swing arms disposed at the upper end of the column, a horizontal swing arm disposed at the free end of the upper and lower swing arms, a gripping robotic arm disposed at the free end of the horizontal swing arm, and a suction cup electromagnet disposed at the lower end of the gripping robotic arm. A first drive mechanism for driving the upper and lower swing arms to swing is disposed on the side of the column, a second drive mechanism for driving the horizontal swing arm to swing is disposed at the free end of the upper and lower swing arms, a third drive mechanism for driving the gripping robotic arm to rotate is disposed at the free end of the horizontal swing arm, and a fourth drive mechanism for driving the suction cup electromagnet to swing is disposed on the side of the gripping robotic arm.

[0006] Two sets of mounting plates are installed at the top of the column. The tops of the two sets of mounting plates are connected by a top plate. One end of the upper and lower swing arms passes through the gap between the two sets of mounting plates and is rotatably connected to the mounting plates.

[0007] The first drive mechanism includes a first telescopic mechanism, the telescopic end of which is connected to upper and lower swing arms, and a first support frame is provided on the side of the column corresponding to the first telescopic mechanism.

[0008] The second drive mechanism includes an intermediate joint connecting seat, a gear shaft rotatably connected to the intermediate joint connecting seat, a large gear mounted on the gear shaft, a small gear meshing with the large gear, and a gear motor that drives the small gear to rotate. The lower end of the gear shaft is connected to a horizontal swing arm.

[0009] The third drive mechanism includes an end joint connector, a connecting shaft rotatably connected to the end joint connector, a servo motor connected to the drive connecting shaft, and a gripping robotic arm connected to the lower end of the connecting shaft.

[0010] The fourth drive mechanism includes a fourth telescopic mechanism fixed to the side of the gripping robot arm and an electromagnet mounting arm. The electromagnet mounting arm has a V-shaped structure and is hinged to the lower end of the gripping robot arm in the middle. One end of the electromagnet mounting arm is hinged to the telescopic end of the fourth telescopic mechanism, and the other end is connected to a suction cup mounting frame. The suction cup electromagnet is mounted on the suction cup mounting frame.

[0011] An operation panel is set on one side of the gripping robotic arm. The first and fourth telescopic mechanisms are telescopic cylinders. The column and the gripping robotic arm are respectively equipped with the first and fourth air control boxes for the corresponding telescopic cylinders. An air storage tank is set on the side of the column.

[0012] Compared to existing technologies, the advantages of this invention are as follows: This invention provides a pneumatic robotic arm end-beam gripping mechanism with an integrated suction cup electromagnet at the end, which can perform swing arm and rotation actions as needed, facilitating the gripping and movement of the trolley end beam. In specific use, a first drive mechanism drives the upper and lower swing arms to swing, a second drive mechanism drives the horizontal swing arm to swing horizontally, a third drive mechanism drives the gripping robotic arm to rotate, and a fourth drive mechanism drives the suction cup electromagnet to swing, so as to grip and move the trolley end beam. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] Figure 2 This is a cross-sectional schematic diagram of the second drive mechanism in this utility model.

[0015] Figure 3 This is a cross-sectional schematic diagram of the third drive mechanism in this utility model.

[0016] Figure 4 This is a cross-sectional schematic diagram of the fourth drive mechanism in this utility model.

[0017] Figure 5 This is a cross-sectional view of the operation panel in this utility model.

[0018] In the diagram: 1. Column; 2. First drive mechanism; 3. Air tank; 4. First air control box; 5. Upper and lower swing arms; 6. Second drive mechanism; 6-1 Gear motor, 6-2 Large gear, 6-3 Intermediate joint connecting seat, 6-4 Gear shaft, 6-5 Baffle, 6-6 Fixing bolt; 7. Horizontal swing arm; 8. Third drive mechanism; 8-1. Servo motor; 8-2. End joint connecting seat; 8-3. Key; 8-4. Rigid coupling; 8-5. Connecting shaft; 9. Fourth air control box; 10. Operation panel; 10-1. Operation button; 11. Fourth drive mechanism; 11-1. Grasping robotic arm; 11-2. Fourth telescopic mechanism; 11-3. Electromagnet mounting arm; 11-4. Suction cup electromagnet. Detailed Implementation

[0019] The technical solution of this utility model will be further described in detail below through specific embodiments.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. "Installed," "equipped with," and "connected" can employ conventional means in the prior art, such as integral installation, snap-fit ​​installation, welding connection, adhesive connection, bolted connection, etc. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances and select suitable connection, setting, or installation methods from the existing technology.

[0021] like Figure 1-5 As shown, a pneumatic robotic arm end-beam gripping mechanism integrating a suction cup electromagnet includes a column 1, upper and lower swing arms 5 disposed on the upper end of the column 1, a horizontal swing arm 7 disposed on the free end of the upper and lower swing arms 5, a gripping robotic arm 11-1 disposed on the free end of the horizontal swing arm 7, and a suction cup electromagnet 11-4 disposed on the lower end of the gripping robotic arm 11-1. A first drive mechanism 2 for driving the upper and lower swing arms 5 to swing is disposed on the side of the column 1; a second drive mechanism 6 for driving the horizontal swing arm 7 to swing is disposed on the free end of the upper and lower swing arms 5; a third drive mechanism 8 for driving the gripping robotic arm 11-1 to rotate is disposed on the free end of the horizontal swing arm 7; and a fourth drive mechanism 11 for driving the suction cup electromagnet 11-4 to swing is disposed on the side of the gripping robotic arm 11-1. Specifically, the device is connected to a power source to supply power; for example, the suction cup electromagnet uses a commercially available electromagnetic chuck product, which magnetically attracts the end beam of the trolley after being powered on.

[0022] The pneumatic robotic arm integrates a suction cup electromagnet at its end for gripping the end beam. This end beam gripping mechanism can swing and rotate as needed to easily grip and move the trolley end beam. In actual use, the first drive mechanism drives the upper and lower swing arms to swing, the second drive mechanism drives the horizontal swing arm to swing horizontally, the third drive mechanism drives the gripping robotic arm to rotate, and the fourth drive mechanism drives the suction cup electromagnet to swing, so as to grip and move the trolley end beam.

[0023] In one embodiment, two sets of mounting plates are provided at the top of the column 1. The tops of the two sets of mounting plates are connected by a top plate. One end of the upper and lower swing arms 5 passes through the gap between the two sets of mounting plates and is rotatably connected to the mounting plates for assembly.

[0024] In one embodiment, the first drive mechanism 2 includes a first telescopic mechanism. The telescopic end of the first telescopic mechanism is connected to the upper and lower swing arms 5. The side of the column 1 is provided with a first support frame corresponding to the first telescopic mechanism. Specifically, the first support frame can adopt a support structure such as a horizontal support plate. The fixed end of the first telescopic mechanism is fixedly connected to the horizontal support plate.

[0025] In one embodiment, the second drive mechanism 6 includes an intermediate joint connecting seat 6-3, a gear shaft 6-4 rotatably connected to the intermediate joint connecting seat 6-3, a large gear 6-2 disposed on the gear shaft 6-4, a small gear meshing with the large gear 6-2, and a gear motor 6-1 driving the small gear to rotate. The lower end of the gear shaft 6-4 is connected to a horizontal swing arm 7. Specifically, referring to the attached drawings, the intermediate joint connecting seat 6-3 is provided with mounting holes, and both the large gear 6-2 and the small gear are located inside the mounting holes. It should be noted that the large gear 6-2 and the small gear refer only to the fact that the gear located in the center is larger than the gears located on both sides. Both the large gear 6-2 and the small gear are commercially available conventional gear products.

[0026] During use, the gear motors 6-1 on both sides start and reverse to drive the large gear 6-2 to rotate, which can flexibly adjust the angle to grip the end beam of the trolley. The gear motors 6-1 on the left and right sides are the same model of motor and rotate in opposite directions. Preferably, a baffle 6-5 can be set at the lower part of the output shaft of the gear motor 6-1. The baffle 6-5 is connected to the gear motor 6-1 by fixing bolts 6-6. The lower end of the gear shaft 6-4 is connected to the horizontal swing arm 7 by bolts. The main function of the horizontal swing arm 7 is to make the gripped end beam of the trolley move horizontally, thereby improving the stability of the transfer process.

[0027] In one embodiment, the third drive mechanism 8 includes an end joint connector 8-2, a connecting shaft 8-5 rotatably connected to the end joint connector 8-2, a servo motor 8-1 connected to the driving connecting shaft 8-5, and a gripping robotic arm 11-1 connected to the lower end of the connecting shaft 8-5.

[0028] The output shaft of servo motor 8-1 is connected to connecting shaft 8-5 via rigid coupling 8-4. Servo motor 8-1, connecting shaft 8-5, and rigid coupling 8-4 are connected via key 8-3. During use, the forward and reverse rotation of servo motor 8-1 can drive the bottom gripping robotic arm 11-1 to achieve 360° rotation, allowing for flexible adjustment of angle and direction to grip the trolley end beam at different positions. In one embodiment, the fourth drive mechanism 11 includes a fourth telescopic mechanism 11-2 fixed to the side of the gripping robotic arm 11-1 and an electromagnet mounting arm 11-3. The electromagnet mounting arm 11-3 has a V-shaped structure and its middle part is hinged to the lower end of the gripping robotic arm 11-1. One end of the electromagnet mounting arm 11-3 is hinged to the telescopic end of the fourth telescopic mechanism 11-2, and the other end is connected to a suction cup mounting frame. The suction cup electromagnet 11-4 is mounted on the suction cup mounting frame. During use, the fourth telescopic mechanism extends and retracts to drive the suction cup electromagnet to swing. In addition, in order to fix the fourth telescopic mechanism, a support seat is provided on the side of the gripping robotic arm. The fixed end of the fourth telescopic mechanism is fixedly connected to the support seat. Specifically, common fixing connection methods such as bolts can be used.

[0029] In one embodiment, an operation panel 10 is provided on one side of the gripping robotic arm 11-1. The first telescopic mechanism and the fourth telescopic mechanism 11-2 are telescopic cylinders. The column 1 and the gripping robotic arm 11-1 are respectively provided with a first air control box 4 and a fourth air control box 9 corresponding to the telescopic cylinders. An air storage tank 3 is provided on the side of the column 1 for controlling the equipment. It should be noted that the control circuit, functional valve, vacuum solenoid valve, and relays required for controlling the equipment all adopt existing technologies without modification. For example, an operation button 10-1 can be provided on the operation panel 10 for the operator to operate the equipment. A functional valve for controlling airflow can be provided in the first air control box 4. A vacuum solenoid valve and relays are provided in the fourth air control box 9 for controlling the equipment, etc., which will not be described in detail here.

[0030] Air is compressed into high-pressure gas by an air compressor, filtered, and stored in air tank 3. A functional valve can be installed in the first air control box 4 to control the airflow direction, adjust air pressure or flow rate, and achieve speed and force control. By adjusting the output pressure, different loads can be grasped. The first air control box 4 can realize various movements of the robotic arm by controlling the working sequence of different cylinders and the flow of air source. The first telescopic mechanism can drive the upper and lower swing arms 5 to move up and down by alternating piston air intake. Preferably, a limiting device for the upper and lower swing arms 5 can be installed between the upper and lower swing arms 5 and the column 1. The limiting device for the upper and lower swing arms 5 adopts products commonly used in the prior art such as limit switches and limit rods, for example, limiting mechanisms can be installed on the top plate and the column 1 respectively.

[0031] The fourth pneumatic control box 9 is equipped with a vacuum solenoid valve and relays. After the operator presses the start button on the control panel 10, the robotic arm starts working, the electromagnet is energized, and the operator can use the corresponding buttons to grasp, rotate, and release the trolley end beam. When grasping the trolley end beam, the vacuum solenoid valve in the fourth pneumatic control box 9 opens, and the suction cup electromagnet 11-4 closes under air pressure, clamping the object. When the trolley end beam is released, the relay disconnects, the electromagnetic vacuum valve opens, atmospheric pressure is restored, and the suction cup detaches. When the trolley end beam needs to be rotated, after pressing the corresponding button, the trolley end beam is alternately air-intaked by the cylinder piston, which drives the electromagnet mounting arm 11-3 to swing.

[0032] The above embodiments can be combined with each other.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A pneumatic robotic arm end-beam gripping mechanism integrating a suction cup electromagnet at the end, characterized in that: The device includes a column, upper and lower swing arms mounted on the upper end of the column, a horizontal swing arm mounted on the free end of the upper and lower swing arms, a gripping robotic arm mounted on the free end of the horizontal swing arm, and a suction cup electromagnet mounted on the lower end of the gripping robotic arm. The side of the column is provided with a first drive mechanism for driving the upper and lower swing arms to swing, the free end of the upper and lower swing arms is provided with a second drive mechanism for driving the horizontal swing arm to swing, the free end of the horizontal swing arm is provided with a third drive mechanism for driving the gripping robotic arm to rotate, and the side of the gripping robotic arm is provided with a fourth drive mechanism for driving the suction cup electromagnet to swing.

2. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 1, characterized in that: Two sets of mounting plates are installed at the top of the column. The tops of the two sets of mounting plates are connected by a top plate. One end of the upper and lower swing arms passes through the gap between the two sets of mounting plates and is rotatably connected to the mounting plates.

3. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 2, characterized in that: The first drive mechanism includes a first telescopic mechanism, the telescopic end of which is connected to upper and lower swing arms, and a first support frame is provided on the side of the column corresponding to the first telescopic mechanism.

4. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 3, characterized in that: The second drive mechanism includes an intermediate joint connecting seat, a gear shaft rotatably connected to the intermediate joint connecting seat, a large gear mounted on the gear shaft, a small gear meshing with the large gear, and a gear motor that drives the small gear to rotate. The lower end of the gear shaft is connected to a horizontal swing arm.

5. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 4, characterized in that: The third drive mechanism includes an end joint connector, a connecting shaft rotatably connected to the end joint connector, a servo motor connected to the drive connecting shaft, and a gripping robotic arm connected to the lower end of the connecting shaft.

6. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 5, characterized in that: The fourth drive mechanism includes a fourth telescopic mechanism fixed to the side of the gripping robot arm and an electromagnet mounting arm. The electromagnet mounting arm has a V-shaped structure and is hinged to the lower end of the gripping robot arm in the middle. One end of the electromagnet mounting arm is hinged to the telescopic end of the fourth telescopic mechanism, and the other end is connected to a suction cup mounting frame. The suction cup electromagnet is mounted on the suction cup mounting frame.

7. The end-beam gripping mechanism with integrated suction cup electromagnet at the end of the pneumatic robotic arm according to claim 6, characterized in that: An operation panel is set on one side of the gripping robotic arm. The first and fourth telescopic mechanisms are telescopic cylinders. The column and the gripping robotic arm are respectively equipped with the first and fourth air control boxes for the corresponding telescopic cylinders. An air storage tank is set on the side of the column.

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