CN106041904B - A kind of machinery claw stacking machine - Google Patents
A kind of machinery claw stacking machine Download PDFInfo
- Publication number
- CN106041904B CN106041904B CN201610470806.6A CN201610470806A CN106041904B CN 106041904 B CN106041904 B CN 106041904B CN 201610470806 A CN201610470806 A CN 201610470806A CN 106041904 B CN106041904 B CN 106041904B
- Authority
- CN
- China
- Prior art keywords
- joint
- longitudinally
- rotates
- rotate
- holder
- 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.)
- Active
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 11
- 239000000178 monomer Substances 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to palletizing mechanical fields, specifically a kind of mechanical claw stacking machine, including fixed seat, horizontally rotate joint, No.1 longitudinally rotates joint, No. two longitudinally rotate joint, lateral rotation joint, connection end, Hovering control device and clamping gripper.Hovering control device, which is arranged on, to horizontally rotate on joint, and Hovering control device includes brake(-holder) block, braking motor, speed changer, driving gear, shaft and roller；Brake(-holder) block is fixed on No.1 and longitudinally rotates on joint；Braking motor fixes horizontally rotating on joint and passing through speed changer and couple with driving gear thereunder；Shaft, which is arranged on, horizontally rotates on joint and rotates connection；Roller is arranged in shaft；Clamping gripper is arranged on connection end.The present invention installs Hovering control device between mechanical arm, and by changing the friction mode between mechanical arm come the hovering of control machinery arm, and the mechanical joint noenergy is lost during floating state, can greatly save energy.
Description
Technical field
The present invention relates to palletizing mechanical field, specifically a kind of mechanical claw stacking machine.
Background technology
At present, industrial automation production field mostly realizes carrying and the heap of material using various special purpose machinerys or mechanical arm
Code, to improve operating efficiency and overall production.According to the difference of the volume weight of the species condition of production line and material etc., this
A little equipment come in every shape.For special purpose machinery, mechanical arm is simple in structure since floor space is small, and operation is flexible, can be real
The advantages such as existing flexible job, universal application is obtained in the carrying of material and pile field.Compare in the structure type of mechanical arm
More representational such as universal joint type industrial machinery arm or SCARA shape plane coordinates mechanical arms etc..
Industrially motor-driven palletizing mechanical arm is utilized when in use now, if necessary to which cargo is hovered in midair
In, substantial amounts of energy is inherently expended, and these energy are equivalent to waste, the use of mechanical arm is more next at present
It more popularizes, if do not improved, this useless energy consumption will be more and more.
The content of the invention
For the problems of the prior art, the present invention provides a kind of mechanical claw stacking machines, are installed between mechanical arm
Hovering control device, by rubbing come the hovering of control machinery arm, and the mechanical joint noenergy is lost during floating state, can be big
It is big to save energy, reach energy-saving and environment-friendly purpose.
The technical solution adopted by the present invention to solve the technical problems is：A kind of machinery claw stacking machine, including fixed seat,
Horizontally rotate joint, No.1 longitudinally rotates joint, No. two longitudinally rotate joint, lateral rotation joint, connection end, Hovering control
Device and clamping gripper.
The joint that horizontally rotates is arranged on above fixed seat and is rotatably connected with fixed seat；The No.1 longitudinally turns
Movable joint is in " H " shape, which, which longitudinally rotates joint base and clamp, horizontally rotates joint and be hinged with it；No. two longitudinal directions
Cradle head is hinged on No.1 and longitudinally rotates above joint；The lateral rotation joint is arranged on No. two and longitudinally rotates on joint
Side simultaneously rotates connection；The connection end is arranged on lateral rotation joint and is hinged with it；The clamping machinery
Pawl is arranged on connection end.
The Hovering control device, which is arranged on, to horizontally rotate on joint, and Hovering control device includes brake(-holder) block, braking electricity
Machine, speed changer, driving gear, shaft and roller；The brake(-holder) block is in disk form, and three are provided on brake(-holder) block and passes through axle center
Disc, and the disc of brake(-holder) block is fixed on No.1 and longitudinally rotates joint lower end, the central axis and one of disk where brake(-holder) block
It number longitudinally rotates joint and surrounds the rotation overlapping of axles for horizontally rotating joint；The braking motor, which is fixed on, horizontally rotates joint
On；Described speed changer one end couples with the output shaft of braking motor, which couples with driving gear；Described
Shaft, which is arranged on, horizontally rotates on joint and rotates connection, and shaft is cylinder, is provided on the cylindrical surface of shaft and master
The tooth of moving gear engagement, and turn the tip of the axis and be provided with holding frame；The roller is arranged in holding frame and the company of rotating
It connects, rubber layer is provided on the wheel face of roller, and the rubber layer is in contact with the side of brake(-holder) block, during normal operation, rubber layer
The rolling friction between brake(-holder) block after braking motor driving drum rotated ninety degrees, realizes static friction between roller and brake(-holder) block
And reach braking effect.
Preferably, the clamping gripper includes support plate, strut, clamping plate, connecting rod and push rod；The support plate is consolidated
It is scheduled on connection end；The strut is in bar shaped, and strut quantity is two, and two struts are arranged in parallel on the supporting plate, strut
Middle part is provided with branch bar；The clamping plate is located on the inside of strut and parallel with strut, and the section of clamping plate is L-shaped, and clamping plate
Rough surface；The connecting rod is divided into two groups, and every group of connecting rod quantity is two, in every group of connecting rod the both ends of monomer connecting rod with branch
Bar and clamping plate are hinged, and the monomer connecting rod in every group of connecting rod is parallel to each other, and described push rod one end is hinged with branch bar end, should
The push rod other end is hinged with clamping plate, and push rod elongation can make two clamping plates close and clamp.
The beneficial effects of the invention are as follows：A kind of mechanical claw stacking machine of the present invention, the installation hovering control between mechanical arm
Device processed, by changing the friction mode between mechanical arm come the hovering of control machinery arm, and mechanical joint during floating state
Noenergy is lost, and can greatly save energy, reach energy-saving and environment-friendly purpose.
Description of the drawings
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the dimensional structure diagram at positive visual angle of the invention；
Fig. 2 is the dimensional structure diagram at back side visual angle of the present invention；
Fig. 3 is the dimensional structure diagram for clamping gripper；
Fig. 4 is the dimensional structure diagram of Hovering control device；
In figure：Fixed seat (1), horizontally rotate joint (2), No.1 longitudinally rotates joint (3), No. two longitudinally rotate joint
(4), lateral rotation joint (5), connection end (6), Hovering control device (7), clamping gripper (8), brake(-holder) block (71), braking
Motor (72), speed changer (73), driving gear (74), shaft (75), roller (76), support plate (81), strut (82), clamping plate
(83), connecting rod (84), push rod (85), branch bar (821).
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Embodiment is closed, the present invention is further explained.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, a kind of mechanical claw stacking machine of the present embodiment, including fixed seat 1, horizontally rotate pass
Section 2, No.1 longitudinally rotate joint 3, two and longitudinally rotate joint 4, lateral rotation joint 5, connection end 6, Hovering control device 7
With clamping gripper 8.
The joint 2 that horizontally rotates is arranged on 1 top of fixed seat and is rotatably connected with fixed seat 1；The No.1 is indulged
To cradle head 3 in " H " shape, which, which longitudinally rotates 3 bottom of joint and clamp, horizontally rotates joint 2 and is hinged with it；Described
No. two longitudinally rotate joint 4 and are hinged on No.1 and longitudinally rotate the top of joint 3；The lateral rotation joint 5 is arranged on No. two and indulges
To 4 top of cradle head and rotate connection；The connection end 6 is arranged on lateral rotation joint 5 and is hinged with it；
The clamping gripper 8 is arranged on connection end 6.
The Hovering control device 7, which is arranged on, to horizontally rotate on joint 2, and Hovering control device 7 includes brake(-holder) block 71, system
Dynamic motor 72, speed changer 73, driving gear 74, shaft 75 and roller 76；The brake(-holder) block 71 is in disk form, on brake(-holder) block 71
Three disc by axle center are provided with, and the disc of brake(-holder) block 71 is fixed on No.1 and longitudinally rotates 3 lower end of joint, brake(-holder) block 71
The central axis of place disk longitudinally rotates joint 3 around the rotation overlapping of axles for horizontally rotating joint 2 with No.1；The braking
Motor 72, which is fixed on, to horizontally rotate on joint 2；Described 73 one end of speed changer couples with the output shaft of braking motor 72, the speed change
73 other end of device couples with driving gear 74；The shaft 75, which is arranged on, horizontally rotates on joint 2 and rotates connection, turns
Axis 75 is cylinder, the tooth engaged with driving gear 74 is provided on the cylindrical surface of shaft 75, and the end of shaft 75 is provided with
Holding frame；The roller 76 is arranged in holding frame and rotates connection, and rubber layer is provided on the wheel face of roller 76, and
The rubber layer is in contact with the side of brake(-holder) block 71, during normal operation, rolling friction between rubber layer and brake(-holder) block, and braking motor
Static friction is realized after driving drum rotated ninety degrees, between roller and brake(-holder) block and reaches braking effect.
The clamping gripper 8 includes support plate 81, strut 82, clamping plate 83, connecting rod 84 and push rod 85；The support
Plate 81 is fixed on connection end 6；The strut 82 is in bar shaped, and 82 quantity of strut is two, and two struts 82 are arranged in parallel in
In support plate 81,82 middle part of strut is provided with branch bar 821；The clamping plate 83 is located on the inside of strut 82 and flat with strut 82
Row, the section of clamping plate 83 is L-shaped, and the rough surface of clamping plate 83；The connecting rod 84 is divided to for two groups, every group of 84 quantity of connecting rod
For two, the both ends of monomer connecting rod are hinged with strut 82 and clamping plate 83 in every group of connecting rod 84, and the monomer in every group of connecting rod 84 connects
Bar is parallel to each other, and described 85 one end of push rod is hinged with 821 end of branch bar, and 85 other end of push rod is hinged with clamping plate 83, pushes away
Bar elongation can make two clamping plates close and clamp.
A kind of mechanical claw stacking machine of the present embodiment when in use, the rotating direction of roller 76 and the rotation of brake(-holder) block 71
Direction is tangent, and No.1 longitudinally rotates joint 3 and can be moved around joint 2 is horizontally rotated；When needing hovering, braking motor 72 passes through
Speed changer 73 drives driving gear 74 to rotate, since 75 side of shaft is engaged with driving gear 74 so that and shaft 75 rotates, and then
So that the rotating direction of roller 76 is vertical with the rotation direction of brake(-holder) block 71 so that due to friction between roller 76 and brake(-holder) block 71
And it is opposing stationary, be finally presented as No.1 longitudinally rotate joint 3 and horizontally rotate it is opposing stationary between joint 2, and two joint it
Between without energy maintain, achieve the purpose that energy saving.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (2)
1. a kind of machinery claw stacking machine, including fixed seat (1), horizontally rotate joint (2), No.1 longitudinally rotates joint (3), two
Number longitudinally rotate joint (4), lateral rotation joint (5) and connection end (6), it is characterised in that：Further include Hovering control device
(7) and clamping gripper (8)；
The joint (2) that horizontally rotates is arranged on above fixed seat (1) and is rotatably connected with fixed seat (1)；The No.1
Joint (3) is longitudinally rotated in " H " shape, which, which longitudinally rotates joint (3) bottom and clamp, horizontally rotates joint (2) and cut with scissors with it
It connects；Described No. two, which longitudinally rotate joint (4) and are hinged on No.1, to be longitudinally rotated above joint (3)；The lateral rotation joint
(5) No. two are arranged on to longitudinally rotate above joint (4) and rotate connection；The connection end (6), which is arranged on, laterally to be turned
It is on movable joint (5) and hinged with it；The clamping gripper (8) is arranged in connection end (6)；
The Hovering control device (7), which is arranged on, to horizontally rotate on joint (2), and Hovering control device (7) includes brake(-holder) block
(71), braking motor (72), speed changer (73), driving gear (74), shaft (75) and roller (76)；The brake(-holder) block (71)
It is in disk form, three disc by axle center are provided on brake(-holder) block (71), and the disc of brake(-holder) block (71) is fixed on No.1 and indulges
To cradle head (3) lower end, the central axis of disk where brake(-holder) block (71) longitudinally rotates joint (3) with No.1 and turns around horizontal
The rotation overlapping of axles of movable joint (2)；The braking motor (72), which is fixed on, to horizontally rotate on joint (2)；The speed changer
(73) one end couples with the output shaft of braking motor (72), which couples with driving gear (74)；It is described
Shaft (75) be arranged on and horizontally rotate on joint (2) and rotate connection, shaft (75) is cylinder, the circle of shaft (75)
The tooth engaged with driving gear (74) is provided on cylinder, and the end of shaft (75) is provided with holding frame；The roller
(76) it is arranged in holding frame and rotates connection, rubber layer, and the rubber layer and system is provided on the wheel face of roller (76)
The side of movable plate (71) is in contact.
2. a kind of mechanical claw stacking machine according to claim 1, it is characterised in that：Clamping gripper (8) bag
Include support plate (81), strut (82), clamping plate (83), connecting rod (84) and push rod (85)；The support plate (81) is fixed on connection
On end (6)；The strut (82) is in bar shaped, and strut (82) quantity is two, and two struts (82) are arranged in parallel in support plate
(81) on, branch bar (821) is provided in the middle part of strut (82)；The clamping plate (83) is located on the inside of strut (82) and and strut
(82) parallel, the section of clamping plate (83) is L-shaped, and the rough surface of clamping plate (83)；The connecting rod (84) is divided into two groups, often
Group connecting rod (84) quantity is two, and the both ends of monomer connecting rod are hinged with strut (82) and clamping plate (83) in every group of connecting rod (84), and
Monomer connecting rod in every group of connecting rod (84) is parallel to each other, and described push rod (85) one end and branch bar (821) end are hinged, this is pushed away
Bar (85) other end is hinged with clamping plate (83).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470806.6A CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470806.6A CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041904A CN106041904A (en) | 2016-10-26 |
| CN106041904B true CN106041904B (en) | 2018-05-25 |
Family
ID=57167153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470806.6A Active CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041904B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426129B (en) * | 2016-12-26 | 2018-11-02 | 重庆乐铠机器人技术开发有限责任公司 | A kind of multi-section type robot arm device |
| CN108214464A (en) * | 2018-02-06 | 2018-06-29 | 苏州功业肆点零智能科技有限公司 | A kind of compound clamp arm of industrial robot |
| CN108381587B (en) * | 2018-02-13 | 2020-10-09 | 广东电网有限责任公司清远供电局 | Automatic change electric power construction robot |
| CN109129539A (en) * | 2018-09-29 | 2019-01-04 | 上海泰屹信息技术有限公司 | A kind of manually mould group clamping jaw |
| CN110919630B (en) * | 2019-11-13 | 2021-03-12 | 北京机械设备研究所 | Hydraulic oil cylinder installation manipulator and installation method |
| CN111169358A (en) * | 2020-01-20 | 2020-05-19 | 浙江大工新能源有限公司 | Loading robot for logistics distribution |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
| CN101691190B (en) * | 2009-09-29 | 2012-01-04 | 秦皇岛天业通联重工股份有限公司 | Bulk cargo crane |
| CN102229397A (en) * | 2011-06-09 | 2011-11-02 | 上海微频莱机电科技有限公司 | Lifting device of tower cylinder lifter |
| CN104908042B (en) * | 2015-06-18 | 2017-02-01 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN105196284B (en) * | 2015-11-02 | 2017-01-11 | 哈尔滨工业大学 | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm |
-
2016
- 2016-06-23 CN CN201610470806.6A patent/CN106041904B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041904A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106041904B (en) | A kind of machinery claw stacking machine | |
| CN106041900B (en) | One kind removes case stacking machine | |
| CN108275127B (en) | A kind of shared automobile chassis battery changing mechanism | |
| CN203545083U (en) | Automatic turnover device used for conveying forklift hub brake drum assembly | |
| CN206543732U (en) | A kind of conveyer belt cleaning machine | |
| CN203143662U (en) | 90-degree rotation conveying mechanism | |
| CN204775774U (en) | Utilize balance car driven conveyer | |
| CN210285901U (en) | Multifunctional industrial transfer robot | |
| CN105965480B (en) | A kind of palletizing mechanical arm for low energy consumption of hovering | |
| CN208022387U (en) | Dixie cup makes the conveying, turning device on assembly line | |
| CN108622647A (en) | A kind of storage puma manipulator | |
| CN204775358U (en) | Pressure fixing formula oil drum car | |
| CN206170078U (en) | Robotic arm for industrial robot | |
| CN106041992B (en) | A kind of energy-saving palletizing mechanical arm to hover | |
| CN106003046B (en) | A kind of palletizing mechanical arm | |
| CN202687342U (en) | Machine head transmission device of conveyor with large dip angle | |
| CN106003146B (en) | Low energy consumption palletizing mechanical arm based on friction catch principle | |
| CN211249300U (en) | Pneumatic automatic feed bin | |
| CN106078722B (en) | Energy-concerving and environment-protective type pile up neatly machine people | |
| CN207016050U (en) | A kind of Tire production tire base week reversing arrangement | |
| CN106044249A (en) | Energy-saving type stacking mechanical arm | |
| CN207142208U (en) | A kind of efficiently two-way transporter | |
| CN208022342U (en) | Dixie cup makes the branch switching device on assembly line | |
| CN208265261U (en) | Cross-arm production line ferry device | |
| CN206985031U (en) | A kind of Full-automatic feed elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Han Tengchao Inventor after: Zhao Huan Inventor before: Liu Changmiao |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180425 Address after: 277300 Yang Lou village, Wu Lin Street office, Yicheng District, Zaozhuang, Shandong Applicant after: Zaozhuang Zheng Xia automation equipment Co., Ltd. Address before: 246001 four four, Longshan Road, Yingjiang District, Anqing, Anhui Applicant before: ANHUI LIANTAI ELECTRONIC TECHNOLOGY CO., LTD. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 277300 No. 23 Kodazhong Road, Yicheng Economic Development Zone, Zaozhuang City, Shandong Province Patentee after: Shandong Zhengxia Automation Equipment Co., Ltd. Address before: 277300 Yang Lou village, Wu Lin Street office, Yicheng District, Zaozhuang, Shandong Patentee before: Zaozhuang Zheng Xia automation equipment Co., Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Mechanical claw type stacker Effective date of registration: 20181227 Granted publication date: 20180525 Pledgee: Zaozhuang rural commercial bank Limited by Share Ltd Yicheng sub branch Pledgor: Shandong Zhengxia Automation Equipment Co., Ltd. Registration number: 2018370000236 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |