CN106078722B - Energy-concerving and environment-protective type pile up neatly machine people - Google Patents
Energy-concerving and environment-protective type pile up neatly machine people Download PDFInfo
- Publication number
- CN106078722B CN106078722B CN201610470619.8A CN201610470619A CN106078722B CN 106078722 B CN106078722 B CN 106078722B CN 201610470619 A CN201610470619 A CN 201610470619A CN 106078722 B CN106078722 B CN 106078722B
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- Prior art keywords
- fixed
- brake
- arm
- pulley
- holder
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- 238000005096 rolling process Methods 0.000 claims description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 239000000758 substrate Substances 0.000 claims description 7
- 239000012528 membrane Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005484 gravity Effects 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
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention relates to the field of stacking machinery, in particular to an energy-saving and environment-friendly stacking robot which comprises a base plate, a base, a support column, a hydraulic arm, a movable arm, a pulley, a balance block and a brake control device. The bracket is fixed on the base; the support column is vertically fixed on the rotating seat; two ends of the hydraulic arm are respectively hinged with the support column and the movable arm; the pulley comprises a driving winding wheel and a fixed pulley which are arranged on the bracket; one end of the traction wire is fixed on the other end of the movable arm, the middle part of the traction wire is wound around the fixed pulley, and the other end of the traction wire is wound on the driving winding wheel for a plurality of circles; the balance weight is connected with the other end of the traction wire and is suspended in the air; the brake control device is arranged on the movable arm. According to the invention, the force is transmitted through the rope and the pulley, so that the difference of the stress at two ends of the rope is reduced, and therefore, when the mechanical arm moves, the output torque of the driving motor can be smaller, and the mechanical arm is more energy-saving.
Description
Technical field
The present invention relates to palletizing mechanical fields, specifically a kind of energy saving and environment friendly robot palletizer.
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..
More than mechanical arm has the problem of a public, even if in mechanical arm zero load, as long as mechanical arm moves, still needs to expend big
Energy is in mechanical arm movement in itself, and therefore, the cargo mass entrained by mechanical arm is smaller, and mechanical arm is to the profit of energy
It is lower with efficiency.
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 energy saving and environment friendly robot palletizer, rope ends point
It is not connected with weight and mechanical arm, the transmission of power is carried out by rope and pulley, the gap of rope ends institute stress is made to become smaller, because
During this manipulator motion, the output torque of driving motor can be with smaller so that mechanical arm is more energy efficient, and utilizes effect to energy
Rate also improves therewith.
The technical solution adopted by the present invention to solve the technical problems is：A kind of energy saving and environment friendly robot palletizer, including
Substrate, pedestal, stent, support column, hydraulic arm, lever arm, pulley, balancing device and brake control.
The pedestal is cylinder, and pedestal includes the fixed seat being disposed on the substrate and the rotation being arranged on above fixed seat
Swivel base；The stent is fixed on rotating seat, and branch bar is provided in the middle part of stent, cross bar is provided at the top of stent；Institute
The support column stated is fixed on rotating seat vertically；With being fixedly connected at the top of support column, hydraulic arm is another for described hydraulic arm one end
End is hinged with lever arm one end；The lever arm other end top is provided with engaging lug；The pulley includes being separately positioned on
The active rolling wheel and fixed pulley at cross bar both ends, and active rolling wheel side couples with motor；The balancing device includes traction
Line and balance weight；Described draught line one end is fixed on engaging lug, is bypassed in the middle part of draught line from fixed pulley, and draught line
The other end winds several circles on active rolling wheel；The balance weight and the other end of draught line are connected and vacantly set, and are balanced
Block utilizes gravitational equilibrium of the gravity of itself by draught line and lever arm.
The brake control quantity is two, and two brake controls are symmetricly set on lever arm, braking control
Device processed includes brake(-holder) block, braking motor, speed changer, driving gear, shaft and roller；The brake(-holder) block is in sector, braking
Piece rough surface, and the center of brake(-holder) block sector is fixed on hydraulic arm end, the central axis of sector where brake(-holder) block and activity
Upper-arm circumference is around the rotation overlapping of axles of hydraulic arm；The braking motor is fixed on lever arm；Described speed changer one end and braking
The output shaft connection of motor, the speed changer other end couple with driving gear；The shaft be arranged on lever arm and and its
Rotatable connection, shaft is cylinder, sets with teeth on the cylindrical surface of shaft and is engaged with driving gear, and turns the tip of the axis setting
There is holding frame；The roller is arranged in holding frame and rotates connection, and roller outer wall is cased with rubber membrane, and the wheel of roller
Face is bonded with the side of brake(-holder) block；Rolling friction between roller and brake(-holder) block, after braking motor drives roller rotated ninety degrees, rolling
Static friction is realized between column and brake(-holder) block and reaches braking effect.
Preferably, the active rolling wheel is located at the rear side of fixed pulley, and the wheel face of active rolling wheel is coarse, can prevent from drawing
Line skids on active rolling wheel.
The beneficial effects of the invention are as follows：The present invention a kind of energy saving and environment friendly robot palletizer, rope ends respectively with again
Object is connected with mechanical arm, and the transmission of power is carried out by rope and pulley, the gap of rope ends institute stress is made to become smaller, therefore machinery
When arm moves, the output torque of driving motor can be with smaller so that mechanical arm is more energy efficient, and to the utilization ratio of energy also with
Raising；The present invention installs brake control between mechanical arm, is controlled by changing the friction mode between mechanical arm
The hovering of mechanical arm, and the mechanical joint noenergy is lost during floating state, can greatly save energy, reach energy-saving and environment-friendly mesh
's.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram at back side visual angle of the present invention；
Fig. 2 is the dimensional structure diagram at positive visual angle of the invention；
Fig. 3 is the dimensional structure diagram of brake control；
In figure：It is substrate (1), pedestal (2), stent (3), support column (4), hydraulic arm (5), lever arm (6), pulley (7), flat
Weigh device (8), brake control (9), fixed seat (21), rotating seat (22), branch bar (31), cross bar (32), company
Lug (61), active rolling wheel (71), fixed pulley (72), draught line (81), balance weight (82), brake(-holder) block (91), braking motor
(92), speed changer (93), driving gear (94), shaft (95), roller (96), holding frame (951).
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
Specific embodiment is closed, the present invention is further explained.
As shown in Figure 1, Figure 2, Fig. 3, a kind of energy saving and environment friendly robot palletizer of the present embodiment, including substrate 1, pedestal 2, stent
3rd, support column 4, hydraulic arm 5, lever arm 6, pulley 7, balancing device 8 and brake control 9.
The pedestal 2 is cylinder, and pedestal 2 includes the fixed seat 21 of setting on substrate 1 and is arranged on fixed seat 21
The rotating seat 22 of top；The stent 3 is fixed on rotating seat 22, and the middle part of stent 3 is provided with branch bar 31, stent 3
Top is provided with cross bar 32；The support column 4 is fixed on vertically on rotating seat 22；Described 5 one end of hydraulic arm and support column 4
Top is fixedly connected, and 5 other end of hydraulic arm is hinged with 6 one end of lever arm；6 other end top of lever arm is provided with engaging lug
61；The pulley 7 includes being separately positioned on the active rolling wheel 71 at 32 both ends of cross bar and fixed pulley 72, and 71 side of active rolling wheel
Couple with motor；The active rolling wheel 71 is located at the rear side of fixed pulley 72, and the wheel face of active rolling wheel 71 is coarse, can prevent
Draught line skids on active rolling wheel 71；The balancing device 8 includes draught line 81 and balance weight 82；The draught line 81
One end is fixed on engaging lug 61, and 81 middle part of draught line is bypassed from fixed pulley 72, and the other end of draught line 81 is rolled up in active
Several circles are wound on wheel 71；The balance weight 82 is connected with the other end of draught line 81 and vacantly sets, and balance weight utilizes certainly
The gravitational equilibrium that the gravity of body passes through draught line and lever arm.
9 quantity of brake control is two, and two brake controls 9 are symmetricly set on lever arm 6, braking
Control device 9 includes brake(-holder) block 91, braking motor 92, speed changer 93, driving gear 94, shaft 95 and roller 96；The system
Movable plate 91 is fixed on 5 end of hydraulic arm, brake(-holder) block 91 in the fan-shaped center of sector, 91 rough surface of brake(-holder) block, and brake(-holder) block 91
The central axis of place sector surrounds the rotation overlapping of axles of hydraulic arm 5 with lever arm 6；The braking motor 92 is fixed on activity
On arm 6；Described 93 one end of speed changer couples with the output shaft of braking motor 92,93 other end of speed changer and driving gear 94
Connection；The shaft 95 is arranged on lever arm 6 and rotates connection, and shaft 95 is cylinder, the cylindrical surface of shaft 95
It is upper to set with teeth and engaged with driving gear 94, and the end of shaft 95 is provided with holding frame 951；The roller 96 is arranged on
In holding frame 951 and connection is rotated, 96 outer wall of roller is cased with rubber membrane, and the side of the wheel face of roller 96 and brake(-holder) block 91
Fitting；Rolling friction between roller and brake(-holder) block, it is real between roller and brake(-holder) block after braking motor drives roller rotated ninety degrees
Show static friction and reach braking effect.
When in use, the rotation that pedestal 2 provides horizontal plane is free for a kind of energy saving and environment friendly robot palletizer of the present embodiment
Degree, hydraulic arm 5 provides horizontal direction translation freedoms, and pulley system provides the translation freedoms of vertical direction；Draught line 81
Both ends are connected respectively with balance weight 8 and mechanical arm, and the transmission of power is carried out by draught line 81 and pulley, is made suffered by draught line both ends
The gap of power becomes smaller, therefore during manipulator motion, the output torque of driving motor can be with smaller so that and mechanical arm is more energy efficient, and
And the utilization ratio of energy is also improved therewith.
The rotating direction of roller 96 and the rotation direction of brake(-holder) block 911 are tangent in the present embodiment, and lever arm 6 can surround hydraulic pressure
Arm 5 moves；When needing hovering, braking motor 92 drives driving gear 94 to rotate by speed changer 93, due to 95 side of shaft
It is engaged with driving gear 94 so that shaft 95 rotates, so that the rotation direction of the rotating direction of roller 96 and brake(-holder) block 91
Vertically so that it is opposing stationary due to friction between roller 96 and brake(-holder) block 91, be finally presented as lever arm 6 and hydraulic arm 5 it
Between it is opposing stationary, and between two joint 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 description in the above embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these variation and
Improvement is both fallen in the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Object defines.
Claims (2)
1. a kind of energy saving and environment friendly robot palletizer, it is characterised in that：Including substrate (1), pedestal (2), stent (3), support column
(4), hydraulic arm (5), lever arm (6), pulley (7), balancing device (8) and brake control (9)；The pedestal (2) is in
Cylinder, pedestal (2) include the fixed seat (21) being arranged on substrate (1) and the rotating seat being arranged on above fixed seat (21)
(22)；The stent (3) is fixed on rotating seat (22), and branch bar (31) is provided in the middle part of stent (3), stent (3)
Top is provided with cross bar (32)；The support column (4) is fixed on vertically on rotating seat (22)；Described hydraulic arm (5) one end
With being fixedly connected at the top of support column (4), hydraulic arm (5) other end and lever arm (6) one end are hinged；The lever arm (6) is another
End top is provided with engaging lug (61)；The pulley (7) includes the active rolling wheel (71) for being separately positioned on cross bar (32) both ends
With fixed pulley (72), and active rolling wheel (71) side couples with motor；The balancing device (8) include draught line (81) and
Balance weight (82)；Described draught line (81) one end is fixed on engaging lug (61), from fixed pulley (72) in the middle part of draught line (81)
On bypass, and the other end of draught line (81) winds several circles on active rolling wheel (71)；The balance weight (82) and traction
The other end of line (81) is connected and vacantly set；
Described brake control (9) quantity is two, and two brake controls (9) are symmetricly set on lever arm (6), system
Dynamic control device (9) includes brake(-holder) block (91), braking motor (92), speed changer (93), driving gear (94), shaft (95) and rolling
Column (96)；The brake(-holder) block (91) is in sector, brake(-holder) block (91) rough surface, and the center of brake(-holder) block (91) sector is fixed on
Hydraulic arm (5) end, the central axis of sector surrounds the rotation axis weight of hydraulic arm (5) with lever arm (6) where brake(-holder) block (91)
It closes；The braking motor (92) is fixed on lever arm (6)；Described speed changer (93) one end is defeated with braking motor (92)
Shaft couples, which couples with driving gear (94)；The shaft (95) is arranged on lever arm (6)
And connection is rotated, shaft (95) is cylinder, sets with teeth on the cylindrical surface of shaft (95) and is nibbled with driving gear (94)
It closes, and the end of shaft (95) is provided with holding frame (951)；The roller (96) be arranged in holding frame (951) and and its
Rotatable connection, roller (96) outer wall is cased with rubber membrane, and the wheel face of roller (96) is bonded with the side of brake(-holder) block (91).
2. a kind of energy saving and environment friendly robot palletizer according to claim 1, it is characterised in that：The active rolling wheel
(71) it is located at the rear side of fixed pulley (72), and the wheel face of active rolling wheel (71) is coarse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470619.8A CN106078722B (en) | 2016-06-23 | 2016-06-23 | Energy-concerving and environment-protective type pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470619.8A CN106078722B (en) | 2016-06-23 | 2016-06-23 | Energy-concerving and environment-protective type pile up neatly machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078722A CN106078722A (en) | 2016-11-09 |
| CN106078722B true CN106078722B (en) | 2018-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470619.8A Expired - Fee Related CN106078722B (en) | 2016-06-23 | 2016-06-23 | Energy-concerving and environment-protective type pile up neatly machine people |
Country Status (1)
| Country | Link |
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| CN (1) | CN106078722B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527356A (en) * | 2018-06-06 | 2018-09-14 | 重庆卓工科技有限公司 | A kind of adobe chucking device |
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 |
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2016
- 2016-06-23 CN CN201610470619.8A patent/CN106078722B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN106078722A (en) | 2016-11-09 |
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| Date | Code | Title | Description |
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| 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: Cao Yu Inventor after: Wang Hongbo Inventor after: Gu Haiwei Inventor before: Liu Changmiao |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180423 Address after: Xi Shi Huan Road Guangzhou City, Guangdong province 510000 Huan Tianhe District No. 10 building 340 room C Applicant after: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd. Address before: Longshan road 246001 in Anhui province Anqing City Yingjiang District No. 84 four Applicant before: ANQING LIANTAI ELECTRONIC TECHNOLOGY Co.,Ltd. |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180803 Address after: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee after: Hagongda robot group (Harbin) Asset Management Co.,Ltd. Address before: 510000 room 340, C 340, Shi Huan Road, Tianhe District, Guangzhou, Guangdong. Patentee before: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190705 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee after: BEIJING HIT ROBOT CO.,LTD. Address before: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191016 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co.,Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee before: BEIJING HIT ROBOT CO.,LTD. |
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Effective date of registration: 20220505 Address after: 250200 room B16, South First Road, Xiushui Street, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Shandong Hagong Intelligent Equipment Research Institute Co.,Ltd. Address before: 250200 Room 501, entrepreneurship service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee before: Harbin University of technology robot group (Shandong) Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180518 |
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| CF01 | Termination of patent right due to non-payment of annual fee |