CN105922246B - A kind of babinet palletizing mechanical arm - Google Patents
A kind of babinet palletizing mechanical arm Download PDFInfo
- Publication number
- CN105922246B CN105922246B CN201610361734.1A CN201610361734A CN105922246B CN 105922246 B CN105922246 B CN 105922246B CN 201610361734 A CN201610361734 A CN 201610361734A CN 105922246 B CN105922246 B CN 105922246B
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- CN
- China
- Prior art keywords
- clamping plate
- pneumatic cylinder
- babinet
- fixing bracket
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of babinet palletizing mechanical arm is mounted in the device of robot palletizer end.Its composition includes：Supporting mechanism, gripping body, selection mechanism and lift mechanism.Supporting mechanism is made of linking arm, fixed plate, fixing bracket and fixed transverse rod；Gripping body is made of direct acting pneumatic cylinder, clamping plate I, clamping plate II and other guiding parts etc.；Selection mechanism is made of twin shaft slide unit pneumatic cylinder, selection shift fork, inside spline wheel gear, splined shaft, upper rack and lower rack etc.；Lift mechanism includes the compositions such as rotation pneumatic cylinder, conical gear, transmission shaft, taper roll bearing, fixed seat and supporting plate.The advantages of mechanism is the two kinds of working methods of centralized positioning and unilateral positioning that can be achieved to babinet, and adaptability is had more to complex working condition；Auxiliary, which is lifted, to be realized to heavier babinet, enhances the reliability for gripping heavier babinet.
Description
Technical field
The present invention：A kind of babinet palletizing mechanical arm, is related to automated production equipment field, can be by selecting two kinds of positioning sides
Formula and auxiliary are lifted, and realize the crawl to babinet, carrying or stacking, compact-sized, crawl is secured.
Background technology
During automated production, need the product packed to a large amount of babinets and raw material are carried and stacking.Profit
The automated handling to product is realized with robot palletizer, can greatly save manpower and spending, improves formation efficiency.Stacking machine
Device people has compact-sized, technology maturation, advantages easy to control and agile etc., is widely used in a variety of automatic metaplasias
During production.Palletizing mechanical arm is mounted on the end of robot arm, completes the crawl and placement to babinet.Palletizing mechanical at present
The working method design comparison of hand is single, the carrying technology of fixed dimension babinet is applied more.With research and development product category
Diversity and complexity need to design a kind of manipulator for being applicable to different sizes and selecting different working modes, to meet
The needs of babinet automated handling.
Invention content
The present invention：A kind of babinet palletizing mechanical arm, during mainly solving automated production, to different sizes and different pendulum
Put the problem of posture babinet carries out crawl and stacking.
A kind of babinet palletizing mechanical arm, it is characterised in that：Manipulator is by supporting mechanism, gripping body, selection mechanism, support
Mechanism is lifted to form.The supporting mechanism includes the linking arm 1.1 being connected with robot end, mounted on 1.1 lower section of linking arm
Fixed plate 1.2（As shown in Figure 1）, the fixing bracket 1.3 mounted on 1.2 lower section of fixed plate, 1.3 both ends of fixing bracket are mounted with
Fixed transverse rod 1.4（As shown in Figure 3）；The gripping body includes the direct acting pneumatic cylinder 2.1 being mounted on fixing bracket 1.3（Such as
Shown in Fig. 2）, the clamping plate I 2.2 mounted on 2.1 one end of direct acting pneumatic cylinder, mounted on I 2.2 pairs of 1.3 lower section of fixing bracket and clamping plate
The clamping plate II 2.3 of title；The selection mechanism includes the twin shaft slide unit pneumatic cylinder 3.1 being mounted on fixing bracket 1.3（Such as Fig. 4 institutes
Show）, the selection shift fork 3.2 mounted on 3.1 one end of twin shaft slide unit pneumatic cylinder, select shift fork 3.2 connect with inside spline wheel gear 3.3
（As shown in Figure 5）, on splined shaft 3.4, splined shaft 3.4 by deep groove ball bearing is mounted on and fixed inside spline wheel gear 3.3
On bearing 3.5, hold-down support 3.5 is mounted on fixing bracket 1.3（As shown in Figure 4）；The lift mechanism includes being mounted on folder
Rotation pneumatic cylinder 4.1 on plate I 2.2 rotates and is equipped with conical gear I 4.2 on the axis of pneumatic cylinder 4.1, conical gear I 4.2 with
4.3 right angle setting of bevel gear II, bevel gear II 4.3 are installed by key 4.4 and transmission shaft 4.5, and transmission shaft 4.5 passes through circular cone
Roller bearing 4.6 is mounted in fixed seat 4.7（As shown in Figure 6）, fixed seat 4.7 is mounted on clamping plate I 2.2, under transmission shaft 4.5
End is with supporting plate 4.8 by being welded and fixed.
In the gripping body, I 2.2 top of clamping plate is mounted on by stent 2.4 on sliding block 2.5, and sliding block 2.5 is in optical axis
It is slided on 2.6, optical axis 2.6 is fixed on by bearing 2.7 on fixing bracket 1.3；I 2.2 lower part of clamping plate passes through tripod I
2.8 are welded in dovetail slide block I 2.9（As shown in Figure 7）, dovetail slide block I 2.9 can be in the outer dovetail groove of fixing bracket 1.3
It slides（As shown in Figure 3）；The mounting means on II 2.3 top of clamping plate is identical with clamping plate I 2.2, and II 2.3 lower part of clamping plate passes through
Tripod II 2.10 is welded in dovetail slide block II 2.11, and dovetail slide block II 2.11 can be in the interior dovetail groove of fixing bracket 1.3
Interior slip；The gas bar top of the direct acting pneumatic cylinder 2.1 passes through two-way nut 2.12 and 2.13 axis connection of flange, flange 2.13
It is connect with clamping plate I 2.2（As shown in Figure 2）.
Inside spline wheel gear 3.3 in the selection mechanism connects above with the upper rack 3.6 mounted on dovetail slide block II 2.11
It touches（As shown in Figure 7）；Inside spline wheel gear 3.3 contacts below with the lower rack 3.7 mounted on dovetail slide block I 2.9（Such as Fig. 8 institutes
Show）；Stationary rack 3.8 has been welded on the fixing bracket 1.3（As shown in Figure 3）.
The selection shift fork 3.2 of the selection mechanism stirs inside spline wheel gear with the flexible of twin shaft slide unit pneumatic cylinder 3.1
3.3 slide on splined shaft 3.4；The selection mechanism can realize two kinds of working methods：One kind be inside spline wheel gear 3.3 with
Lower rack 3.7 contacts, and lower rack 3.7 drives upper rack 3.6 to move by inside spline wheel gear 3.3 so that both sides gripping plate is opposite
It is mobile, realize centralized positioning；Another kind is that inside spline wheel gear 3.3 is contacted with stationary rack 3.8, fixes clamping plate II 2.3（Such as figure
Shown in 4）, gripping plate I can way moving, realize unilateral positioning.
In the lift mechanism, rotation pneumatic cylinder 4.1 can drive supporting plate 4.8 to be inwardly rotated by 90 ° completion to babinet
Auxiliary is lifted；The inner top side face processing wedgewise of the supporting plate 4.8.
Pressure sensor 1.5 is mounted on the clamping plate I 2.2, whether detection babinet is gripped.
Beneficial effects of the present invention：
The present invention can realize the centralized positioning and unilateral positioning to manipulator by selection mechanism so that manipulator is to operation
Operating mode has more adaptability, and two kinds of positioning methods make operation more flexible.The installation of gripping plate side lift mechanism can folding and unfolding, structure
Simply, space is saved, auxiliary, which is lifted, to be realized for heavier babinet, increases the reliability of manipulator gripping weight.
Description of the drawings：Attached drawing 1 is a kind of babinet palletizing mechanical arm main view tomograph；
Attached drawing 2 is that a kind of babinet palletizing mechanical arm looks up tomograph；
Attached drawing 3 is fixing rack structure figure；
Attached drawing 4 is the face upwarding assumption diagram of selection mechanism；
Attached drawing 5 is selection shift fork and inside spline wheel gear connection structure diagram；
Attached drawing 6 is bevel gear II and transmission shaft connecting structure figure；
Attached drawing 7 is dovetail slide block II and upper rack connection structure diagram；
Attached drawing 8 is dovetail slide block I and lower rack connection structure diagram.
Specific embodiment：The operation principle of the present invention is elaborated below in conjunction with attached drawing.
Specific embodiment one：A kind of babinet palletizing mechanical arm, it is characterised in that：Manipulator is by supporting mechanism, gripping
Mechanism, selection mechanism, lift mechanism are formed.The supporting mechanism includes the linking arm 1.1 being connected with robot end, installation
Fixed plate 1.2 below linking arm 1.1, the fixing bracket 1.3 mounted on 1.2 lower section of fixed plate, fixing bracket 1.3 is entire
The skeleton fixed and supported of mechanism；1.3 both ends of fixing bracket are mounted with fixed transverse rod 1.4, and mechanism is risen to reinforce and is made
With；Be mounted with pressure sensor 1.5 on the clamping plate I 2.2, for measuring the moment of flexure of clamping plate I 2.2, detection babinet whether by
Gripping.
Specific embodiment two：The gripping body includes the direct acting pneumatic cylinder 2.1 being mounted on fixing bracket 1.3, peace
Clamping plate I 2.2 mounted in 2.1 one end of direct acting pneumatic cylinder, mounted on 1.3 lower section of fixing bracket and I 2.2 symmetrical clamping plate II of clamping plate
2.3；The gripping body has two kinds of support sliding equipments up and down, and upper support sliding equipment is that I 2.2 top of clamping plate passes through stent
2.4 are mounted on sliding block 2.5, and sliding block 2.5 slides on optical axis 2.6, and optical axis 2.6 is fixed on fixing bracket 1.3 by bearing 2.7
On；Lower support sliding equipment is that I 2.2 lower part of clamping plate is welded on by tripod I 2.8 in dovetail slide block I 2.9, dovetail slide block I
2.9 can slide in the outer dovetail groove of fixing bracket 1.3；
The mounting means on II 2.3 top of clamping plate is identical with clamping plate I 2.2, and II 2.3 lower part of clamping plate passes through tripod II
2.10 are welded in dovetail slide block II 2.11, and dovetail slide block II 2.11 can be slided in the interior dovetail groove of fixing bracket 1.3；Institute
It is risen tightly by two-way nut 2.12 and 2.13 axis connection of flange, two-way nut 2.12 on the gas bar top for the direct acting pneumatic cylinder 2.1 stated
Gu and connection function, flange 2.13 are fixed on clamping plate I 2.2.
Specific embodiment three：The selection mechanism includes the twin shaft slide unit pneumatic cylinder being mounted on fixing bracket 1.3
3.1, the slide unit simultaneous retractable at 3.1 both ends of twin shaft slide unit pneumatic cylinder；Selection shift fork mounted on 3.1 one end of twin shaft slide unit pneumatic cylinder
3.2, shift fork 3.2 is selected to be connect with inside spline wheel gear 3.3, shift fork 3.2 is selected and is moved with inside spline wheel gear 3.3；Internal spline
Gear 3.3 is mounted on splined shaft 3.4, and inside spline wheel gear 3.3 slides on splined shaft 3.4；Splined shaft 3.4 passes through deep-groove ball axis
It holds on hold-down support 3.5, hold-down support 3.5 is mounted on fixing bracket 1.3；Above the inside spline wheel gear 3.3
It is contacted with the upper rack 3.6 mounted on dovetail slide block II 2.11；Inside spline wheel gear 3.3 is below with being mounted on dovetail slide block I 2.9
Lower rack 3.7 contacts；Stationary rack 3.8 has been welded on the fixing bracket 1.3；The selection shift fork of the selection mechanism
3.2, with the flexible of twin shaft slide unit pneumatic cylinder 3.1, stir inside spline wheel gear 3.3 and are slided on splined shaft 3.4；
The selection mechanism can realize two kinds of working methods：One kind is that inside spline wheel gear 3.3 connects with lower rack 3.7
It touches, lower rack 3.7 drives upper rack 3.6 to move by inside spline wheel gear 3.3 so that both sides gripping plate relative movement, in realization
The heart positions；Another kind is that inside spline wheel gear 3.3 is contacted with stationary rack 3.8, fixes clamping plate II 2.3, and gripping plate I can be two-way
It is mobile, realize unilateral positioning.
Specific embodiment four：The lift mechanism includes the rotation pneumatic cylinder 4.1 being mounted on clamping plate I 2.2, rotary pneumatic
Conical gear I 4.2, conical gear I 4.2 and 4.3 right angle setting of bevel gear II, conical gear are installed on the axis of cylinder pressure 4.1
II 4.3 are installed by key 4.4 and transmission shaft 4.5, and transmission shaft 4.5 is mounted on by taper roll bearing 4.6 in fixed seat 4.7,
Abrasion when taper roll bearing 4.6 is used for preventing from capturing heavier babinet to fixed seat 4.7；Fixed seat 4.7 is mounted on clamping plate I
On 2.2,4.5 lower end of transmission shaft is with supporting plate 4.8 by being welded and fixed.The rotation pneumatic cylinder 4.1 can drive supporting plate 4.8 to
Inside be rotated by 90 ° completion to lift the auxiliary of babinet, the inner top side face of the supporting plate 4.8 processing wedgewise, by inclined-plane compared with
Easily lower box is slided into be lifted.
Claims (3)
1. a kind of babinet palletizing mechanical arm, it is characterised in that：Manipulator is by supporting mechanism, gripping body, selection mechanism and support
It lifts mechanism to form, the supporting mechanism includes the linking arm being connected with robot end（1.1）, mounted on linking arm（1.1）
The fixed plate of lower section（1.2）, mounted on fixed plate（1.2）The fixing bracket of lower section（1.3）, fixing bracket（1.3）It installs at both ends
Fixed transverse rod（1.4）；The gripping body includes being mounted on fixing bracket（1.3）On direct acting pneumatic cylinder（2.1）, it is mounted on
Direct acting pneumatic cylinder（2.1）The clamping plate I of one end（2.2）, with clamping plate I（2.2）It is symmetrically mounted on fixing bracket（1.3）The clamping plate of lower section
Ⅱ（2.3）；In the gripping body, clamping plate I（2.2）Top passes through stent（2.4）Mounted on sliding block（2.5）On, sliding block
（2.5）In optical axis（2.6）Upper slip, optical axis（2.6）Pass through bearing（2.7）It is fixed on fixing bracket（1.3）On；The clamping plate
Ⅰ（2.2）Lower part passes through tripod I（2.8）It is welded on dovetail slide block I（2.9）On, dovetail slide block I（2.9）It can be in fixing bracket
（1.3）Outer dovetail groove in slide；The clamping plate II（2.3）The mounting means on top and clamping plate I（2.2）It is identical, clamping plate II
（2.3）Lower part passes through tripod II（2.10）It is welded on dovetail slide block II（2.11）On, dovetail slide block II（2.11）It can be solid
Fixed rack（1.3）Interior dovetail groove in slide；The direct acting pneumatic cylinder（2.1）Gas bar top pass through two-way nut（2.12）
With flange（2.13）Axis connection, flange（2.13）With clamping plate I（2.2）Connection；The selection mechanism includes being mounted on fixing bracket
（1.3）On twin shaft slide unit pneumatic cylinder（3.1）, mounted on twin shaft slide unit pneumatic cylinder（3.1）The selection shift fork of one end（3.2）, choosing
Select shift fork（3.2）With inside spline wheel gear（3.3）Connection, inside spline wheel gear（3.3）Mounted on splined shaft（3.4）On, splined shaft
（3.4）Hold-down support is mounted on by deep groove ball bearing（3.5）On, hold-down support（3.5）Mounted on fixing bracket（1.3）On；
In the selection mechanism, inside spline wheel gear（3.3）Above with mounted on dovetail slide block II（2.11）Upper rack（3.6）It connects
It touches；Inside spline wheel gear（3.3）Below with mounted on dovetail slide block I（2.9）Lower rack（3.7）Contact；The fixing bracket
（1.3）On welded stationary rack（3.8）；The selection shift fork of the selection mechanism（3.2）With twin shaft slide unit pneumatic cylinder（3.1）
It is flexible, stir inside spline wheel gear（3.3）In splined shaft（3.4）Upper slip；The selection mechanism can realize two kinds of work
Mode：One kind is inside spline wheel gear（3.3）With lower rack（3.7）Contact, lower rack（3.7）Pass through inside spline wheel gear（3.3）Band
Dynamic upper rack（3.6）It is mobile so that centralized positioning is realized in gripping plate relative movement in both sides；Another kind is inside spline wheel gear（3.3）
With stationary rack（3.8）Contact, makes clamping plate II（2.3）It is fixed, gripping plate I can way moving, realize unilateral positioning；The support
Mechanism is lifted to include being mounted on clamping plate I（2.2）On rotation pneumatic cylinder（4.1）, rotate pneumatic cylinder（4.1）Axis on circular cone is installed
Gear I（4.2）, conical gear I（4.2）With bevel gear II（4.3）Right angle setting, bevel gear II（4.3）Pass through key（4.4）
With transmission shaft（4.5）It is fixed, transmission shaft（4.5）Pass through taper roll bearing（4.6）Mounted on fixed seat（4.7）On, fixed seat
（4.7）Mounted on clamping plate I（2.2）On, transmission shaft（4.5）Lower end and supporting plate（4.8）By being welded and fixed；The lift mechanism
In, rotate pneumatic cylinder（4.1）Supporting plate can be driven（4.8）Expansion inwardly is rotated by 90 °, completes the auxiliary support to being crawled babinet
It lifts.
2. a kind of babinet palletizing mechanical arm described in claim 1, it is characterised in that：The supporting plate（4.8）Inner top side
Face processes wedgewise.
3. a kind of babinet palletizing mechanical arm described in claim 1, it is characterised in that：The clamping plate I（2.2）On be mounted with to press
Force snesor（1.5）, detect whether babinet is gripped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610361734.1A CN105922246B (en) | 2016-05-30 | 2016-05-30 | A kind of babinet palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610361734.1A CN105922246B (en) | 2016-05-30 | 2016-05-30 | A kind of babinet palletizing mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105922246A CN105922246A (en) | 2016-09-07 |
| CN105922246B true CN105922246B (en) | 2018-07-10 |
Family
ID=56841329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610361734.1A Expired - Fee Related CN105922246B (en) | 2016-05-30 | 2016-05-30 | A kind of babinet palletizing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105922246B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109230578B (en) * | 2018-07-26 | 2020-06-05 | 广州圣益龙自动控制技术有限公司 | Goods stacking robot |
| CN109279344B (en) * | 2018-10-18 | 2021-07-23 | 哈尔滨理工大学 | Multi-functional manipulator with telescopic gripper |
| CN113023378A (en) * | 2019-12-09 | 2021-06-25 | 宁波智能制造技术研究院有限公司 | Folding box stacking robot |
| CN113003208B (en) * | 2021-03-12 | 2022-08-12 | 湖南省农业装备研究所 | Automatic stacking and unstacking device and method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4004230A1 (en) * | 1990-02-12 | 1991-08-14 | Gerhard Engel | Gripper with jaw carriers movable along motor support - uses electric or fluidic propulsion unit with gearing to threaded spindles affording max. range of displacement |
| CN201058431Y (en) * | 2007-07-31 | 2008-05-14 | 华联机械有限公司 | Palletised carry grasper |
| KR20100083560A (en) * | 2009-01-14 | 2010-07-22 | 현대중공업 주식회사 | Robot hand for 2 functions with 1 actuator |
| CN201432994Y (en) * | 2009-06-23 | 2010-03-31 | 东华大学 | Wrist transmission mechanism of stacker robot |
| CN202100677U (en) * | 2011-06-20 | 2012-01-04 | 江苏泰祥齿轮箱制造有限公司 | Clutch assembly for combination gear box |
| CN103264397B (en) * | 2013-06-05 | 2015-07-29 | 南通通机股份有限公司 | Multifunctional robot palletizer gripper |
| CN203579657U (en) * | 2013-11-28 | 2014-05-07 | 昆明理工大学 | Grabbing mechanism used for aluminum ingot manipulator |
| CN205734935U (en) * | 2016-05-30 | 2016-11-30 | 哈尔滨理工大学 | A kind of casing conveying robot |
-
2016
- 2016-05-30 CN CN201610361734.1A patent/CN105922246B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105922246A (en) | 2016-09-07 |
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