CN210557918U - Anti-falling material grabbing robot - Google Patents

Abstract

The utility model relates to a material robot is grabbed in anti-falling, include: the azimuth switching mechanism comprises a base and a rotating assembly arranged on the base; the lifting mechanism is arranged at the output end of the rotating assembly and is arranged vertically downwards; the limiting mechanisms are symmetrically arranged on two sides of the lifting mechanism and comprise lifting components arranged on the lifting mechanism and horizontal pushing components arranged at the lower ends of the lifting components and perpendicular to the lifting components; the utility model provides a when product quality is big or when the outage is disconnected gas, can lead to the technical problem that the product was broken because suction is not enough.

Description

Anti-falling material grabbing robot

Technical Field

The utility model relates to a ladle technical field especially relates to an anti falling grabs material robot.

Background

The ladle working layer material is taken as an important consumable material in the metallurgical industry to be highly valued by the refractory industry all the time, and the refractory brick taken as the working layer is also continuously promoted to be new. At present, carbon-containing bricks such as magnesia carbon bricks, alumina-magnesia carbon bricks and the like for the ladle working lining are all unfired bricks which are prepared by adding graphite as one of basic materials, adding partial antioxidants and combining resin. Graphite and resin are high in price and need to be used at a constant temperature, and in addition, the problem of carbon content of molten steel caused by melting loss in the use process of the carbon-containing refractory material is also a fundamental problem which cannot be solved by the carbon-containing ladle brick.

Patent document No. CN2017216738240 discloses an automatic dispenser with a drop-proof turnover throwing component, which comprises a turnover throwing component, the turnover throwing component comprises a first mechanical hand, the first mechanical hand comprises a support plate, a second suction cup connected to the support plate in a sliding manner and clamping parts symmetrically arranged on two sides of the second suction cup and rotatably connected to the second suction cup, a sliding groove is further formed in the clamping part, a short rod inserted in the sliding groove is further fixedly arranged on the support plate, the first mechanical hand is further provided with a limiting mechanism for limiting the second suction cup, when the automatic dispenser is used, the clamping parts are in a loosening state, when the second suction cup abuts against the surface of a workpiece on a workpiece platform, the second suction cup is pushed to move backwards and suck the workpiece, the second suction cup moves backwards so that the clamping part rotatably connected to the second suction cup moves inwards to clamp the workpiece, and meanwhile, the second suction cup is limited by the limiting mechanism, ensuring that the clamping part cannot be loosened.

However, in the actual use process, the inventor finds that when the product quality is high or the power is cut off and the gas is cut off, the product can be broken due to insufficient suction.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art's weak point, through setting up stop gear, utilize the flat flitch that connects that pushes away the subassembly to carbon steel package brick connect the material to solved when product quality is how big or outage gas-break, probably because the not enough technical problem that leads to the product to break of suction.

Aiming at the technical problems, the technical scheme is as follows: an anti-drop material grabbing robot comprising:

the azimuth switching mechanism comprises a base and a rotating assembly arranged on the base;

the lifting mechanism is arranged at the output end of the rotating assembly and is arranged vertically downwards; and

the limiting mechanisms are symmetrically arranged on two sides of the lifting mechanism and comprise lifting components arranged on the lifting mechanism and horizontal pushing components arranged at the lower ends of the lifting components and perpendicular to the lifting components.

Preferably, the material lifting mechanism comprises:

a drive shaft connected to a rotating assembly;

the center of the supporting plate is fixedly connected with the driving shaft;

a suction cup located below the support plate; and

and the mounting column is used for connecting the supporting plate and the sucker.

Preferably, the sucker is in a sponge sucker structure, and a filter screen is arranged in the sponge.

Preferably, the lifting assembly comprises:

the support seat a is fixedly connected with the support plate;

the cylinder a is mounted on the support a, and the telescopic end of the cylinder a is vertically arranged downwards; and

and the connecting units a are symmetrically arranged at two sides of the cylinder a along the center line of the length of the support a, and the upper ends of the connecting units a are detachably connected with the support a through bolts.

Preferably, the horizontal pushing assembly comprises:

the support b is fixedly connected with the telescopic end of the cylinder a and fixedly connected with the other end of the connecting unit a;

the cylinder a is installed on the support b, a telescopic end of the cylinder a is perpendicular to a telescopic end of the cylinder a, and the telescopic end of the cylinder b is arranged towards the sucker;

the connecting units b are symmetrically arranged on two sides of the cylinder b along the center line of the length of the support b, and one end of each connecting unit b is detachably connected with the support b through a bolt; and

and the material receiving plate is fixedly connected with the output end of the cylinder b and fixedly connected with the other end of the connecting unit b.

Preferably, the cross section of the material receiving plate is arranged in an L-shaped structure.

Preferably, the bottom surface of the material receiving plate is arranged in an E-shaped structure.

Preferably, the connection unit a and the connection unit b each include:

the bottom of the pipe sleeve a is provided with an insertion opening, and the pipe sleeve a is communicated with the insertion opening and is provided with a sliding groove in the pipe sleeve a; and

and the pipe sleeve b is arranged in the sliding groove in a matching sliding manner, and the upper end of the pipe sleeve b is provided with a limiting ring.

Preferably, the diameter of the sliding groove is L1, the length of the bottom of the pipe sleeve b is L2, the length of the limit ring is L3, and the length of the insertion opening is L4, wherein L1 is L3, L4 is L2, and L1 is greater than L4.

As still further preferred, the rotating assembly includes:

the first manipulator is fixedly connected with the base and rotates along the circumference of a horizontal plane;

the second manipulator is fixedly connected with the first manipulator and rotates along the circumference of a vertical horizontal plane;

the third manipulator is fixedly connected with the second manipulator, is vertical to the rotation direction of the second manipulator and rotates along the vertical horizontal plane direction; and

and the fourth manipulator is fixedly connected with the third manipulator and rotates along the second mechanical rotation direction.

The utility model has the advantages that:

(1) in the utility model, the carbon steel wrapped brick is received by the material receiving plate of the horizontal pushing assembly through the limiting mechanism, so that the carbon steel wrapped brick is prevented from falling in the transmission process of being sucked by the sucking disc or being broken when power is cut off, and the carbon steel wrapped brick is broken, meanwhile, the lifting assembly is matched with the horizontal pushing assembly to match the carbon steel wrapped bricks with different thickness sizes, and the material receiving plate 324 is vertically descended to a proper position by the lifting assembly, so that the use range of the device is improved, and the application is wide;

(2) in the utility model, the bottom surface of the material receiving plate is of an E-shaped structure, so that the contact area between the carbon steel ladle brick and the material receiving plate is reduced, the static friction force between the carbon steel ladle brick and the material receiving plate is increased, the carbon steel ladle brick is ensured not to slide horizontally due to shaking in the transportation process, and the transportation stability of the carbon steel ladle brick is improved;

(3) the sponge sucker can automatically stack, unstack and inspect various goods with different sizes by arranging the sponge sucker, and the sponge sucker has firm result, light weight, different length sizes for selection and low cost of a carrying system; in addition, the filter screen is additionally arranged, so that the blockage of dust, sundries and the like on the vacuum port can be avoided, and the service life of the sucker is prolonged.

In conclusion, the device has the advantages of simple structure and stable transmission, and is particularly suitable for the technical field of steel ladles.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of the anti-falling material grabbing robot.

Fig. 2 is a schematic structural diagram of the material lifting mechanism and the limiting mechanism.

Fig. 3 is a schematic front view of the lifting mechanism.

Fig. 4 is a schematic structural view of the limiting mechanism.

Fig. 5 is a schematic structural diagram of the receiving plate.

Fig. 6 is a schematic sectional view of the connection unit a.

Fig. 7 is a schematic front view of the material lifting mechanism and the limiting mechanism.

Detailed Description

The technical solution in the embodiment of the present invention is clearly and completely described below with reference to the accompanying drawings.

Example one

As shown in fig. 1, 2 and 7, an anti-drop catching robot includes:

an azimuth switching mechanism 1, wherein the azimuth switching mechanism 1 comprises a base 11 and a rotating assembly 12 arranged on the base 11;

the lifting mechanism 2 is arranged at the output end of the rotating assembly 12 and is arranged vertically downwards; and

limiting mechanism 3, limiting mechanism 3 symmetry sets up the both sides of lifting mechanism 2, it is including installing lifting unit 31 on the lifting mechanism 2 and setting are in lifting unit 31 lower extreme and with the flat push subassembly 32 that lifting unit 31 set up perpendicularly.

In this embodiment, the carbon ladle brick 10 is used as a product, and the maximum size of the carbon ladle brick is 480 × 420 × 100, and the mass of the carbon ladle brick is 60 kg; minimum size 150 x 120 x 100, mass 20 kg.

In this embodiment, through setting up stop gear 3, utilize the flitch 324 that connects of flat push subassembly 32 to carbon steel package brick 10 connect the material, guarantee carbon steel package brick 10 in the transmission course that the sucking disc was inhaled, or when the outage was cut off the gas, can not take place to fall, lead to breaking, utilize lifting unit 31 cooperation flat push subassembly 32 simultaneously, match the carbon steel package brick 10 of different thickness sizes, lifting unit 31 will connect the vertical direction of flitch 324 to descend to suitable position, the scope that the improvement device used, use extensively.

Further, as shown in fig. 3, the lifting mechanism 2 includes:

a drive shaft 21, the drive shaft 21 being connected to the rotating assembly 12;

a support plate 22, the center of the support plate 22 being fixedly connected to the drive shaft 21;

a suction cup 23, the suction cup 23 being located below the support plate 22; and

and mounting columns 24, wherein the mounting columns 24 are used for connecting the supporting plate 22 and the suction cups 23.

Further, as shown in fig. 4, the lifting assembly 31 includes:

the support a311, wherein the support a311 is fixedly connected with the support plate 22;

the cylinder a312 is installed on the support a311, and the telescopic end of the cylinder a312 is arranged vertically downwards; and

and the connecting units a313 are symmetrically arranged at two sides of the cylinder a312 along the center line of the length of the support a311, and the upper ends of the connecting units a313 are detachably connected with the support a311 through bolts.

Further, as shown in fig. 4 and 5, the horizontal pushing assembly 32 includes:

a support b321, wherein the support b321 is fixedly connected with the telescopic end of the cylinder a312 and fixedly connected with the other end of the connecting unit a 313;

the air cylinder b322, the air cylinder a312 is installed on the support b321, a telescopic end of the air cylinder a312 is perpendicular to a telescopic end of the air cylinder a, and the telescopic end of the air cylinder b322 is arranged towards the suction cup 23;

the connecting units b323 are symmetrically arranged at two sides of the cylinder b322 along the center line of the length of the support b321, and one end of each connecting unit b323 is detachably connected with the support b321 through a bolt; and

and the material receiving plate 324 is fixedly connected with the output end of the cylinder b322 and fixedly connected with the other end of the connecting unit b 323.

Further, as shown in fig. 5, the material receiving plate 324 has an L-shaped cross section.

In this embodiment, the cross section of the receiving plate 324 is in an L-shaped structure, so that the receiving plate matches the shape of the carbon steel brick, and the effect of firm clamping is improved.

Further, as shown in fig. 5, the bottom surface of the material receiving plate 324 is arranged in an E-shaped structure.

In this embodiment, the bottom surface of receiving the flitch 324 through setting up is the E style of calligraphy structure for carbon steel ladle brick reduces with the area of contact who receives flitch 324, thereby increases carbon steel ladle brick and the static friction who receives between the flitch 324, has guaranteed that carbon steel ladle brick can not take place the slip of horizontal direction because of rocking in the in-process of transportation, improves the stability of carbon steel ladle brick transportation.

Further, as shown in fig. 6, each of the connection unit a313 and the connection unit b323 includes:

the pipe sleeve a314, wherein the bottom of the pipe sleeve a314 is provided with an inserting opening 315, and a sliding groove 316 is arranged in the pipe sleeve a314 and communicated with the inserting opening 315; and

a pipe sleeve b317, wherein the pipe sleeve b317 is matched and slidingly arranged in the sliding groove 316, and the upper end of the pipe sleeve b317 is provided with a limit ring 318.

Further, as shown in fig. 6, the diameter of the sliding slot 316 is L1, the length of the bottom of the pipe sleeve b317 is L2, the length of the limiting ring 318 is L3, and the length of the insertion opening 315 is L4, where L1 is L3, L4 is L2, and L1 is greater than L4.

It is worth mentioning here that the connection unit a313 and the connection unit b323 are in a pipe sleeve insertion structure, so that the connection unit a313 not only serves to connect the support b321 and the support a311, but also serves to guide and support; meanwhile, the work of the support b321 moving up and down along with the cylinder a312 is not interfered; the function of the connection unit b323 is the same as that of the connection unit a313, and will not be described herein.

Further, as shown in fig. 1, the rotating assembly 12 includes:

a first manipulator 121, wherein the first manipulator 121 is fixedly connected with the base 11 and rotates along the circumference of a horizontal plane;

the second manipulator 122, the second manipulator 122 is fixedly connected with the first manipulator 121 and rotates along the circumference of a vertical horizontal plane;

the third manipulator 123, the third manipulator 123 is fixedly connected with the second manipulator 122, and is perpendicular to the rotation direction of the second manipulator 122 and rotates along the vertical horizontal plane direction; and

and the fourth manipulator 124, the fourth manipulator 124 is fixedly connected with the third manipulator 123 and rotates along the rotation direction of the second manipulator 122.

In this embodiment, through setting up rotating assembly 12 for to carry 2 adjustment positions of material mechanism to carbon ladle brick 10 on all directions and height, the accurate absorption of being convenient for improves adsorption effect.

Example two

Wherein the same or corresponding components as in the first embodiment are designated by the same reference numerals as in the first embodiment, only the points of difference from the first embodiment will be described below for the sake of convenience. The second embodiment is different from the first embodiment in that:

further, the sucking disc 23 adopts a sponge sucking disc structure, and a filter screen is installed in the sponge.

In this embodiment, through setting up the sponge sucking disc, its can automatic stack, unstack, go up separately the various not unidimensional goods of go, the built-in vacuum generator of sponge sucking disc and check valve in addition, the control valve protection. The suction effect of the object to be sucked is not affected even if the object to be sucked is not completely sucked, the object to be sucked can be sucked and moved in different shapes more effectively, the sponge sucker is firm in result and light in weight, different length and size are provided for selection, and the carrying system is low in cost.

In addition, the filter screen is additionally arranged, so that the blockage of dust, sundries and the like on the vacuum port can be avoided, and the service life of the sucker is prolonged.

The working process is as follows:

firstly, the rotating assembly 12 is started to adjust to a proper position, then the carbon ladle brick 10 is sucked by the rotating assembly 23, then the air cylinder a312 is started, the material receiving plate 324 descends to a position below the carbon ladle brick 10, then the air cylinder b322 is started, and the two material receiving plates 324 stably receive the carbon ladle brick 10.

In the description of the present invention, it is to be understood that the terms "front and back", "left and right", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the equipment or parts referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Of course, in this disclosure, those skilled in the art will understand that the terms "a" and "an" should be interpreted as "at least one" or "one or more," i.e., in one embodiment, a number of an element may be one, and in another embodiment, a number of the element may be plural, and the terms "a" and "an" should not be interpreted as limiting the number.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art in the technical suggestion of the present invention should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides an anti falling grabs material robot which characterized in that includes:

the azimuth switching mechanism (1), wherein the azimuth switching mechanism (1) comprises a base (11) and a rotating assembly (12) arranged on the base (11);

the lifting mechanism (2) is arranged at the output end of the rotating assembly (12) and is vertically arranged downwards; and

stop gear (3), stop gear (3) symmetry sets up the both sides of carrying material mechanism (2), it is including installing lifting unit (31) on carrying material mechanism (2) and setting are in lifting unit (31) lower extreme and with horizontal push subassembly (32) that lifting unit (31) set up perpendicularly.

2. An anti-drop material grabbing robot according to claim 1, wherein the material lifting mechanism (2) comprises:

a drive shaft (21), the drive shaft (21) being connected to a rotating assembly (12);

a support plate (22), the center of the support plate (22) is fixedly connected with the driving shaft (21);

a suction cup (23), the suction cup (23) being located below the support plate (22); and

the mounting column (24), the mounting column (24) is used for connecting the supporting plate (22) and the sucker (23).

3. An anti-falling material grabbing robot according to claim 2, characterized in that the suction cup (23) is of a sponge suction cup structure.

4. An anti-drop robot grab according to claim 2, characterized in that the lifting assembly (31) comprises:

the support a (311) is fixedly connected with the support plate (22);

the cylinder a (312) is mounted on the support a (311), and the telescopic end of the cylinder a (312) is vertically arranged downwards; and

and the connecting units a (313) are symmetrically arranged at two sides of the cylinder a (312) along the center line of the length of the support a (311), and the upper ends of the connecting units a (313) are detachably connected with the support a (311) through bolts.

5. An anti-drop material grabbing robot according to claim 4, wherein said horizontal pushing assembly (32) comprises:

the support b (321), the support b (321) is fixedly connected with the telescopic end of the cylinder a (312) and fixedly connected with the other end of the connecting unit a (313);

the air cylinder b (322), the air cylinder a (312) is installed on the support b (321), the telescopic end of the air cylinder a (312) is perpendicular to the telescopic end of the air cylinder a (312), and the telescopic end of the air cylinder b (322) faces the sucker (23);

the connecting units b (323) are symmetrically arranged at two sides of the cylinder b (322) along the center line of the length of the support b (321), and one end of each connecting unit b (323) is detachably connected with the support b (321) through a bolt; and

the material receiving plate (324), the material receiving plate (324) is fixedly connected with the output end of the cylinder b (322) and is fixedly connected with the other end of the connecting unit b (323).

6. An anti-falling material grabbing robot according to claim 5, wherein the cross section of the material receiving plate (324) is provided in an L-shaped structure.

7. An anti-falling material grabbing robot according to claim 5, wherein the bottom surface of the material receiving plate (324) is arranged in an E-shaped structure.

8. An anti-drop material grabbing robot according to claim 5, wherein each of said connection unit a (313) and connection unit b (323) comprises:

the bottom of the pipe sleeve a (314) is provided with an inserting opening (315), and the pipe sleeve a (314) is communicated with the inserting opening (315) and is provided with a sliding groove (316) in the pipe sleeve a (314); and

the pipe sleeve b (317) is matched and slidably arranged in the sliding groove (316), and the upper end of the pipe sleeve b (317) is provided with a limiting ring (318).

9. The robot of claim 8, wherein the diameter of the sliding groove (316) is L1, the bottom of the pipe sleeve b (317) has a length of L2, the length of the limiting ring (318) is L3, and the length of the insertion opening (315) is L4, wherein L1 is L3, L4 is L2, and L1 is greater than L4.

10. An anti-drop robot grab according to claim 1, characterized in that the rotating assembly (12) comprises:

the first manipulator (121), the first manipulator (121) is fixedly connected with the base (11) and rotates along the circumference of a horizontal plane;

the second manipulator (122), the second manipulator (122) is fixedly connected with the first manipulator (121) and rotates along the circumference of a vertical horizontal plane;

the third manipulator (123), the third manipulator (123) is fixedly connected with the second manipulator (122), and the third manipulator (123) is vertical to the rotation direction of the second manipulator (122) and rotates along the direction of a vertical horizontal plane; and

and the fourth manipulator (124), the fourth manipulator (124) is fixedly connected with the third manipulator (123) and rotates along the rotation direction of the second manipulator (122).

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