CN101585452A - Hacking machine in stable symmetric triangle structure - Google Patents

Hacking machine in stable symmetric triangle structure Download PDF

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Publication number
CN101585452A
CN101585452A CNA2008100979806A CN200810097980A CN101585452A CN 101585452 A CN101585452 A CN 101585452A CN A2008100979806 A CNA2008100979806 A CN A2008100979806A CN 200810097980 A CN200810097980 A CN 200810097980A CN 101585452 A CN101585452 A CN 101585452A
Authority
CN
China
Prior art keywords
slide
bar
finger
manipulator
mechanical finger
Prior art date
Application number
CNA2008100979806A
Other languages
Chinese (zh)
Inventor
高国强
Original Assignee
高国强
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 高国强 filed Critical 高国强
Priority to CNA2008100979806A priority Critical patent/CN101585452A/en
Publication of CN101585452A publication Critical patent/CN101585452A/en

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Abstract

The invention discloses a hacking machine in a stable symmetric triangle structure. Each row of mechanical hands is provided with two same sliding shafts (45), the sliding shafts (45) serving as support points of levers are positioned between a clamped object and a clamping cylinder (43), and the moving distances of the mechanical hands along the sliding shafts (45) are limited by distance limiting rods (42) which are symmetrically arranged; hanger rods are fixed on the sliding shafts (45) and are connected with a lifting table which is uniformly distributed with guide posts (7) in a regular triangle shape, the guide posts (7) are provided with adjustable shaft sleeves in a sliding matching way to be connected with a translational table, a V-shaped groove roller wheel (6) of the translational table can roll on a parallel guide rail (5), the clamping, the lifting, the translation, and the release and the stretch of the mechanical hands are all determined by a positioned sensor and automatically controlled to operate according to set procedures.

Description

Triangle is stablized the symmetrical structure stacker
Affiliated technical field
The present invention relates to a kind of carrying, pile up equipment, particularly relate to a kind of triangle that the block that disperses is piled up into buttress in proper order and stablize the symmetrical structure stacker.
Background technology
In the continuously shaped production of machineization, goods are output continually, and it is quite tired picking up by the people that carrying piles up.Stacker can replace manual work, effectively reduce labour intensity.In known (CN 1847118A) stacker, its manipulator adopts underneath type that the clamping cylinder is installed, the rod end pressurising of piston during the application of force, and the effective pressure area of rod end piston necessarily the effective pressure area than rear end piston is little, difference is the piston rod sectional area, the release movement of manipulator is but by the pressurising of rear end piston, and be equivalent to light condition this moment, obviously unreasonable; From mechanical analysis, the clamping cylinder is between balance pivot and the gripped object, the application force that produced less than the clamping cylinder forever of Clamping force then, and promptly this kind mode leverage can not be laborsaving.Known stacker when the brick folding translation each mechanical finger to drawing in, so that abut against together with delegation's brick; Return when getting brick and launch again, so that each is corresponding one by one with the brick that comes out from brick press to finger; But the origin of force relative translation sliding pair of realizing this action of taking down the exhibits certainly leads to the additional bending moment that is unfavorable for translation not on same straight line.
Summary of the invention
Purpose of the present invention aims to provide a kind of mechanism continuous automatic stacking machine of reliable in action that rationally operates steadily.
The present invention includes: five major parts such as frame 1, horizontally moving device 2, vertical shifting device 3, manipulator 4, automatically controlled and power system.
Technical scheme of the present invention is: each row's manipulator has two identical slide-bars 45, all there is a through hole with slide-bar 45 external diameter bearing fits at each mechanical finger 41 middle part, each mechanical finger symmetry is contained on the slide-bar 45, the manipulator physical dimension is only determined by the clamping object that the row's number of manipulator and the finger of every row's manipulator are only determined by actual needs quantity;
The every pair of mechanical finger top and gripped object relative position are equipped with clamping cylinder 43, so that as the slide-bar 45 of balance pivot between gripped object and clamping cylinder 43, every pair of manipulator bottom move toward one another forms holding action during rear end piston pressurized, and every pair of opposing motion in manipulator bottom forms release movement during rod end piston pressurized;
Two hole width between centerss limit the parallel distance of two slide-bars on the flexible draw back plate 48, and telescoping cylinder 47 is installed between two plates; Telescoping cylinder 47 shrinks, and flexible draw back plate 48 move toward one another force each that mechanical finger is moved on slide-bar 45 and spacing reduces; Telescoping cylinder 47 is stretched out, and flexible draw back plate 48 opposing motions force each that mechanical finger is moved and the spacing increasing on slide-bar 45;
Each limits the sliding distance of the mechanical finger spacing bar 42 by relative slide-bar 45 symmetries, spacing bar 42 1 ends are fixed on the mechanical finger, the other end passes the pairing through hole of next mechanical finger, the end fixing than the big step of through-hole diameter so that spacing bar 42 can not withdraw from, one same step is arranged at spacing bar 42 middle parts, mechanical finger can move freely within two steps but can not cross step, and two step spacings are the sliding distance that is limited;
Mechanical finger near flexible draw back plate 48 at first moves to next mechanical finger, the step that is fixed on spacing bar 42 middle parts of moveable finger touches adjacent not moving finger, two finger beginnings are moved and the maintenance setpoint distance simultaneously, equally, second promotes the 3rd, by that analogy, all close up up to all fingers; Reverse also is moving earlier near the mechanical finger of flexible draw back plate 48 when mobile, the step of fixing spacing bar 42 ends on it touches adjacent not moving finger, and two finger beginnings are moved simultaneously and kept setpoint distance, and second drags the 3rd, by that analogy, all draw back up to all fingers;
Finger in the middle part of every row's manipulator is restrained can not to slide and can only rotate around slide-bar 45 along slide-bar 45, so that all the other fingers move relative to this finger, keeps strokes thereby the guarantee manipulator draws expansion in along slide-bar 45 at every turn;
The middle part through hole of every row's manipulator outside finger 46 is equipped with sliding sleeve 49 and axle sleeve clamp nut 491, outside finger 46 is associated in flexible draw back plate 48, sliding sleeve 49 is pointed 46 middle part through hole bearing fits with the slide-bar 45 and the outside simultaneously, the displacement that makes outside finger 46 can transmit flexible draw back plate 48 can be rotated around slide-bar 45 again;
Two flexible draw back plate 48 outsides fixed installation suspension rods 44 can be installed middle suspension rod 441 near restrained finger, to strengthen the rigidity of slide-bar 45; Suspension rod and bay-lift are fastening, and equilateral triangle is uniform on the platform fixes three guideposts 31, constitutes vertical shifting device 3 jointly;
Guidepost 31 tuneable bushing 22 that is slidingly installed connects with translation stage, horizontal displacement is installed on this platform is driven with vertical displacement and drive, and constitutes horizontally moving device 2 jointly; Be to roll on the leg-of-mutton closed slide 5 in the cross section with V-shaped groove roller 6, the surface of the V-shaped groove of roller 6 and closed slide 5 coincide, and safeguard level mobile device 2 is done the translation of rigid body straight line;
Tuneable bushing 22 can change the pore size that cooperates with guidepost 31, thereby adjusts the two bearing fit gap, ensures that guidepost 31 slides by designing requirement in the mating holes of tuneable bushing 22 all the time;
Closed slide 5 is fixed on frame 1 top, and each is separate to the clamping release movement of mechanical finger, and the driving of horizontally moving device 2 and vertical shifting device 3 is separate, and parallel motion and vertical shifting synthesize the space motion of manipulator;
Each action of palletizing operation is determined by position transduser, automatic guidance operation by setup program; Sensing autocontrol and actuating unit are formed automatically controlled and power system.
Horizontal displacement drives and can drive the synchronous rolling realization on closed slide 5 of two V-shaped groove rollers 6 after slowing down by motor; Vertical displacement drives and can directly be dragged by the winch that is installed on the translation stage; And the particular location of horizontal displacement and vertical displacement is controlled by accurate detection of sensor.
The application force output of each clutch release slave cylinder can be controlled by pressure control, and its speed output can be controlled by flow regulating.
The beneficial effects of the utility model are:
Between clamping cylinder 43 and gripped object, the arm of force of clamping cylinder end is during greater than the arm of force of gripped object end as the fulcrum of lever for slide-bar 45, and clamping cylinder 43 thrusts are amplified by leverage;
The 43 rear end pressurising manipulator clampings of clamping cylinder have improved the degree of utilization of clutch release slave cylinder payload space; Clamping cylinder 43 rod end pressurising manipulators discharge, and have improved no-load run speed;
Spacing bar 42 on the same finger is symmetrically distributed, and can not produce to be unfavorable for parallel mobile additional bending moment;
Three uniform guideposts 31 two ends that are parallel to each other are fixed into one, have the stable mechanical property of equilateral triangle;
Not only gathering is with stretching, extension but also in slide-bar 45 clampings and release on slide-bar 45 for each finger, and slide-bar 45 still bears the heavy carrier of gripped object simultaneously, usefulness more than one, and exquisiteness is compact;
Saved the expense of line slideway, installation and maintenance are more convenient;
The motor of displacement drive, reductor and winch etc. are the common electromechanical appliances of common maturation, and reliable and stable price is low;
Spacing bar 42 can adopt plain bolt, and two steps of its location can be nuts, and is simple and practical cheap, easy row easy to adjust;
Slide-bar 45, guidepost 31 can adopt common steel tube, and mechanical finger can adopt general steel plate, and frame and mobile platform can adopt common shaped steel, and horizontal guide rail 5 can directly utilize common angle bar;
Rational in infrastructure, easy to manufacture, cost reduces, and performance improves.
Description of drawings
Fig. 1: the three-dimensional total figure of stacker
Fig. 2: manipulator principle of work block diagram
Fig. 3: manipulator partial cross-sectional perspective view
Fig. 4: manipulator birds-eye view
Fig. 5: horizontally moving device block diagram
Fig. 6: vertical shifting device block diagram
Among the figure:
1-frame 41-finger is right
2-horizontally moving device 42-spacing bar
3-vertical shifting device 43-clamping cylinder
4-manipulator 44-suspension rod
Suspension rod in the middle of the 5-horizontal guide rail 441-
6-V shape grooved roller 45-slide-bar
21-translation stage 46-outside finger is right
22-tuneable bushing 47-telescoping cylinder
The 23-vertical displacement drives the flexible draw back plate of 48-
The 24-horizontal displacement drives 49-outside finger to axle sleeve
31-guidepost 491-outside finger is to the axle sleeve clamp nut
The 32-bay-lift
The specific embodiment
The invention will be further described with by way of example below in conjunction with accompanying drawing.
Mechanical finger 41 middle part through holes and slide-bar 45 bearing fits symmetry is installed, and the every pair of mechanical finger top and gripped object relative position are equipped with clamping cylinder 43; Flexible 48 liang of hole width between centerss of draw back plate limit the parallel distance of two slide-bars, and telescoping cylinder 47 is installed between two plates; Spacing bar 42 1 ends are fixed on the mechanical finger, the other end passes the pairing through hole of next mechanical finger, the end is step fixedly, this step external diameter is bigger than through-hole diameter, so that spacing bar 42 can not withdraw from, one same step is arranged at spacing bar 42 middle parts, limit mechanical finger and within two steps, move; The finger at every row's manipulator middle part is restrained can not to slide and can only rotate around slide-bar 45 along slide-bar 45, the middle part through hole of every row's manipulator outside finger 46 is equipped with sliding sleeve 49 and axle sleeve clamp nut 491, outside finger 46 is associated in flexible draw back plate 48, sliding sleeve 49 simultaneously with the middle part through hole bearing fit of slide-bar 45 and outside finger 46; Two flexible draw back plate 48 outsides fixed installation suspension rods 44 can be installed middle suspension rod 441 near restrained finger; Suspension rod and bay-lift are fastening, and uniform three guideposts 31 tuneable bushing that is slidingly installed of fixing of equilateral triangle connects with translation stage on the platform; Horizontal displacement is installed on the translation stage is driven and the vertical displacement driving, the V-shaped groove roller 6 of translation stage coincide with the closed slide of triangular-section 5 surfaces, and closed slide 5 is fixed on frame 1 top; The action of palletizing operation is determined by position transduser, automatic guidance operation by setup program.Palletizing operation begins, and manipulator moves to needs location, the top of carrying object, so that mechanical finger accurately inserts the space between the clamping object and do not collide with the clamping object; Manipulator descends and puts in place, the 43 rear end pressurisings of clamping cylinder, and mechanical finger rotates around fulcrum slide-bar 45, it is come off the clamping object; Manipulator rises, and telescoping cylinder 47 shrinks, and forces mechanical finger to close up successively by flexible draw back plate 48; Mechanical finger near flexible draw back plate 48 at first moves to next mechanical finger, and the step at spacing bar 42 middle parts touches second finger and pushes away it and moves together, and is same, and second promotes the 3rd, by that analogy, all close up up to all fingers; Manipulator can move to piling up the position after rising to certain altitude, can descend behind translation one segment distance; When clamping object horizontal distance was piled up a bit of preseting length in position, horizontal displacement suspended, and when clamping object bottom arrives when piling up a bit of preseting length in plane, shifted to and piled up the position and accurately locate; The 43 rod end pressurisings of clamping cylinder, mechanical finger unclamps around fulcrum slide-bar 45 backward rotation, the clamping object is placed on piles up the position; Manipulator rises, and telescoping cylinder 47 stretches, and by flexible draw back plate 48 mechanical finger is launched successively; The mechanical finger of close flexible draw back plate 48 at first spurs to next manipulator, and the step of spacing bar 42 ends touches second finger and draws it to move together, and is same, and second spurs the 3rd, by that analogy, all launch up to all fingers; Manipulator can move to clip position after rising to certain altitude, and the location, top to needing the carrying object begins next circulation; Pile up for the second time the position near piling up for the first time the position, for the third time near for the second time, by that analogy; One deck is piled up to finish and is piled up one deck again, up to piling up desired height.

Claims (3)

1. a triangle is stablized the symmetrical structure stacker and is comprised: frame (1), horizontally moving device (2), vertical shifting device (3), manipulator (4), automatically controlled and power system etc., manipulator can clamping, lifting, translation, release and flexible, each action is determined by position transduser, automatic guidance operation by setup program, it is characterized in that: each row's manipulator has two identical slide-bars (45), all there is a through hole with slide-bar (45) external diameter bearing fit at each mechanical finger (41) middle part, each mechanical finger symmetry is contained on the slide-bar (45), the every pair of mechanical finger top and gripped object relative position are equipped with clamping cylinder (43), slide-bar (45) as balance pivot is positioned between gripped object and the clamping cylinder (43), spacing bar (42) one ends are fixed on the mechanical finger, the other end passes the pairing through hole of next mechanical finger, the end fixing than the big step of through-hole diameter so that spacing bar (42) can not withdraw from, at spacing bar (42) middle part one same step is arranged, mechanical finger can move freely within two steps, slide-bar (45) symmetry is uniform relatively for spacing bar (42), the finger at every row's manipulator middle part is restrained can not to slide and can only rotate around slide-bar (45) along slide-bar (45), the middle part through hole of every row's manipulator outside finger 46 is equipped with sliding sleeve (49) and axle sleeve clamp nut (491), outside finger (46) is associated in flexible draw back plate (48), sliding sleeve (49) is pointed the middle part through hole bearing fit of (46) simultaneously with the slide-bar (45) and the outside, the flexible last two hole width between centerss of draw back plate (48) limit the parallel distance of two slide-bars, telescoping cylinder (47) is installed between two plates, suspension rod is fixed in slide-bar (45) and connects bay-lift, uniform three guideposts (7) of fixing of equilateral triangle on the bay-lift, guidepost (7) tuneable bushing that is slidingly installed connects translation stage.
2. triangle according to claim 1 is stablized the symmetrical structure stacker, it is characterized in that: frame 1 top constant cross-section is leg-of-mutton closed slide (5), the V-shaped groove roller (6) of translation stage can be gone up at closed slide (5) and roll, and the surface of the V-shaped groove of roller (6) and closed slide (5) coincide.
3. triangle according to claim 1 is stablized the symmetrical structure stacker, it is characterized in that: the manipulator horizontal throw is piled up set positions length horizontal displacement and is suspended, and vertical distance is piled up the plane preseting length and shifted to and pile up the position and accurately locate.
CNA2008100979806A 2008-05-21 2008-05-21 Hacking machine in stable symmetric triangle structure CN101585452A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNA2008100979806A CN101585452A (en) 2008-05-21 2008-05-21 Hacking machine in stable symmetric triangle structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNA2008100979806A CN101585452A (en) 2008-05-21 2008-05-21 Hacking machine in stable symmetric triangle structure

Publications (1)

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CN101585452A true CN101585452A (en) 2009-11-25

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102092047A (en) * 2010-12-24 2011-06-15 杭州厚达自动化系统有限公司 Loading and unloading mechanical hand for kilowatt-hour meter
CN102424275A (en) * 2011-08-09 2012-04-25 山东矿机迈科建材机械有限公司 Pallet put-away machine
CN103057998A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Conveying device of long-strip financial product
CN103192374A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 Atmospheric mechanical hand
CN103303675A (en) * 2013-06-06 2013-09-18 北京机械工业自动化研究所 Automatic rock core box tray dismounting and stacking system and method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102092047A (en) * 2010-12-24 2011-06-15 杭州厚达自动化系统有限公司 Loading and unloading mechanical hand for kilowatt-hour meter
CN102424275A (en) * 2011-08-09 2012-04-25 山东矿机迈科建材机械有限公司 Pallet put-away machine
CN103057998A (en) * 2011-10-19 2013-04-24 北京强度环境研究所 Conveying device of long-strip financial product
CN103057998B (en) * 2011-10-19 2015-08-26 北京强度环境研究所 Device for conveying long-strip financial products
CN103192374A (en) * 2012-01-05 2013-07-10 沈阳新松机器人自动化股份有限公司 Atmospheric mechanical hand
CN103303675A (en) * 2013-06-06 2013-09-18 北京机械工业自动化研究所 Automatic rock core box tray dismounting and stacking system and method
CN103303675B (en) * 2013-06-06 2015-09-16 北京机械工业自动化研究所 Code-disc system torn open by Auto Core box and core box tears code-disc method open

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Open date: 20091125

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