CN101927899B - Automatic material taking and unloading manipulator - Google Patents
Automatic material taking and unloading manipulator Download PDFInfo
- Publication number
- CN101927899B CN101927899B CN2010102233027A CN201010223302A CN101927899B CN 101927899 B CN101927899 B CN 101927899B CN 2010102233027 A CN2010102233027 A CN 2010102233027A CN 201010223302 A CN201010223302 A CN 201010223302A CN 101927899 B CN101927899 B CN 101927899B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- guide
- tipping bucket
- hopper
- hinged
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Handcart (AREA)
Abstract
The invention discloses an automatic material taking and unloading manipulator. The top of a support frame of the manipulator is provided with a winch, and a steel wire rope of the winch is connected with a trolley of the manipulator. One side of the support frame is provided with a pair of guide rails, the pair of guide rails is provided with a guide groove respectively, and the upper and lower arc sections of the guide grooves extend out of the guide rails. The lower part of the trolley of the manipulator is provided with a rotary arm, the upper part of the trolley is provided with a skip bucket rod of which one end is sleeved on a rotary arm shaft, and the middle part of the skip bucket rod is hinged with the middle part of a positioning buckle and one end of a four-link long rod, wherein one end of the positioning buckle can be blocked on a positioning lock. The other end of the four-link long rod connected with the skip bucket rod together is hinged with one end of a four-link short rod, a hinge shaft passes through the side wall of the rotary arm and a through hole of a hopper wall, the other end of the four-link short rod is hinged on the side wall of the hopper, and guide wheels are hinged outside the two rotary arms. The rotary arm of the manipulator can turn over freely to realize automatic material taking and unloading and pose keeping of the hopper; the manipulator has light and convenient motion; the S-shaped motion track of the hopper is convenient for material taking and unloading; and the manipulator has a simple structure and low energy consumption.
Description
Technical field the present invention relates to a kind of gig, particularly bucket elevator.
Background technology is present, in chemical industry, agricultural and manufacture, bucket elevator is adopted in the lifting of granule dust shape material mostly, and this gig mainly is to form enclosed construction by exterior case, and shell upper is a head, and the middle part is a machine barrel, and the bottom is a support; Inner structure is mainly the hopper band that is surrounded on head great wheel and support return pulley formation closed ring structure, and every separated certain distance has been installed the hopper that is used to carry material on the hopper band.Its weak point is: this type of gig complex structure, power consumption height, the easy material stock of hopper needs frequently cleaning.
Summary of the invention the object of the present invention is to provide a kind of simple in structure, power consumption is low, hopper has the not automatic material taking and unloading manipulator grown of material stock, cleaning cycle of pose maintenance and automatic material taking, discharging, hopper.The present invention mainly includes bracing frame, manipulator guide assembly and manipulator.Wherein, bracing frame is the framework that fixes on the ground, and its top is provided with winch, and the steel rope that is wrapped on the winch links to each other with the dolly of manipulator.The manipulator guide assembly is located at a side of bracing frame, is similar to be vertical state, and preferably the outside is provided with its base portion is covered in the frame in it.This manipulator guide assembly has a pair of angle steel shape guide rail, and this respectively has a square edge to be fixed on the bracing frame to guide rail, and both are relative for another square edge.Respectively establish a strip guide groove at this on to the fixed edge of guide rail, the channel steel shape guide groove that this two opening is relative is S-shaped, and promptly the stage casing is a vertical bar, and an one of which side is parallel with the guide rail free edge, the diameter of distance between the two >=dolly flower wheel.This guide groove top segmental arc stretches out the guide, and is crooked to the bracing frame direction; Guide groove lower curved section also stretches out the guide, but crooked to the bracing frame reversing sense.Manipulator mainly includes dolly, pivoted arm and hopper.Wherein, Dolly has two parallel side plates; Be provided with two axletrees in two groups of cooresponding through holes on it; Be positioned at and respectively establish a driving wheel on the exterior axletree of side plate, the bottom of each driving wheel respectively establish again one between the two apart from be the flower wheel of guide rail free edge thickness, the wheel shaft of the flower wheel that this is used to lead also be located at the dolly side plate through hole in.The driving wheel of above-mentioned dolly is positioned on the guide rail, and flower wheel is between guide rail free edge and gib block in the bar shaped space.The dolly bottom is provided with the tumbler shaft that passes the biside plate through hole, is positioned at the through hole that the outer tumbler shaft two ends of side plate are inserted in two pivoted arm tops respectively.Pivoted arm is the channel-section steel that Open Side Down, is provided with an end through hole in the groove on its top and is socketed in the tipping bucket bar on the tumbler shaft, and this tipping bucket bar other end is a free end, preferably which is provided with through hole, establishes little axle in the hole, establishes roller on the axle, and it can place in the tipping bucket piece.This tipping bucket piece be located at the cooresponding fixed object in manipulator discharge position pivoted arm top on; On bracing frame, guide rail or frame; This tipping bucket piece is provided with an approximate strip gab groove that is level towards a middle side part of pivoted arm, and the top of this groove is than the following length of side, so that with the tipping bucket pole spacing within it.Tipping bucket piece bottom is and the cooresponding inclined-plane of locating button.Above-mentioned tipping bucket bar middle part is hinged with an end of locating button middle part and four connecting rod stocks.Wherein crank shape locating button one end is a free end, and the other end is established slit opening, and it may be stuck in one of zigzag location lock two parallel portion, and this location another parallel portion of lock is located on the car body.Above-mentioned and tipping bucket bar connect together and are positioned at four connecting rod stocks of pivoted arm, and quarter butt one end of its other end and four connecting rods is hinged, and this hinge axis passes arc slot and the through hole of bucket wall on the pivoted arm sidewall; The other end of this four connecting rods quarter butt is hinged on the sidewall of hopper, and this hinge is the hopper rotating shaft.Middle part in the above-mentioned two pivoted arms outside all is hinged with track adjusting wheel, and this track adjusting wheel places in the guide groove, the fulcrum that rotates around the axis as pivoted arm.
Working process of the present invention is following: winch is through the dolly of rope traction manipulator, and the driving wheel of this dolly and flower wheel are clipped on the free edge of guide rail, pump.The manipulator pivoted arm that links to each other with dolly also is synchronized with the movement with it.In the time of in pivoted arm comes downwards to curved guide groove; Because the restriction of guide groove; The tumbler shaft of pivoted arm on dolly is to the bracing frame counter-rotation, and the pivoted arm line of centers is that angle becomes intersection for 180 ° with the dolly line of centers by original parastate then, and outer angle is along with moving down gradually of dolly dwindled; Make the horizontal appearance of pivoted arm trend, conveniently to get material.When dolly walks to straight guide groove and curved guide groove intersection, close winch, dolly is promptly slack.The material that is fallen by oblique upper gets in the hopper, after hopper is filled material, starts winch, promotes material.Get in material and the lifting process above-mentioned, locating button is stuck in the location always and locks, and makes the hopper attitude remain unchanged, and prevents spreading.In the time of in pivoted arm goes upward to curved guide groove; Because the restriction of guide groove, the tumbler shaft of pivoted arm on dolly rotates to the bracing frame direction, and the pivoted arm line of centers is that angle becomes intersection for 180 ° with the dolly line of centers by original parastate then; And move gradually on towards the angle of bracing frame and to dwindle along with dolly; Make the horizontal appearance of pivoted arm trend, so objects such as guide rail are left in the pivoted arm bottom, with easy-unloading.When pivoted arm arrived discharging place, the locating button free end was pressed down by the tipping bucket piece, and locating button separates with the location lock; Tipping bucket bar free end is taken advantage of a situation and got in the strip groove of tipping bucket piece, and is along with dolly rises, spacing down at the tipping bucket piece; Four connecting rods of being made up of stock, quarter butt and tipping bucket bar have changed angle to each other, and the hinge axis that four connecting rod stocks will connect it and quarter butt pushes away downwards, and driving hopper is that fulcrum rotates with the hopper rotating shaft; Hopper rotates and makes opening accomplish the tipping bucket action towards side-lower, carries out discharging.Winch counter-rotating after the discharging; Because the deadweight of dolly and manipulator makes whole operation downwards; Meanwhile the free end of tipping bucket bar leaves the strip groove of tipping bucket piece, and under the guiding of tipping bucket piece, has changed four connecting rods angle to each other, and the hinge axis that four connecting rod stocks will connect it and quarter butt upwards draws; Driving hopper is that fulcrum rotates with the hopper rotating shaft, and hopper rotates and makes opening up; Make simultaneously locating button be stuck in the location again again and lock the descending then material of getting.
The present invention's advantage compared with prior art:
1, the angle that can swing of pivoted arm of the present invention is about 30 °, and 50-90 ° lifting angle can be realized in angle >=90 that hopper rotates ° therefore, promotes vertical dimension and can reach more than 6 meters.
2, back and forth to promote action lightly convenient in the present invention, and pivoted arm can freely overturn, and realizes that automatic material taking, discharging and pose keep; The running orbit of hopper is a s shape curve simultaneously, facilitates loading and unloading.
3, the whole process of the present invention is only realized by propulsive effort of rope traction, and utilizes deadweight to fall, consume energy few; Simple in structure, easy realization.
4, hopper of the present invention material stock not, cleaning cycle is long.
Description of drawings
Fig. 1 cuts open simplified schematic diagram for the main office of looking of the present invention.
Fig. 2 for the A of manipulator of the present invention and manipulator guide assembly to view.
Fig. 3 cuts open simplified schematic diagram for the manipulator master of the present invention office of looking.
Fig. 4 locatees lock and the sealed simplified schematic diagram of locating button for the present invention.
The simplified schematic diagram that Fig. 5 locks for the present invention locatees and locating button is opened.
The specific embodiment is in the simplified schematic diagram of automatic material taking and unloading manipulator illustrated in figures 1 and 2, and bracing frame 1 is the framework that fixes on the ground, and its top is provided with winch 2, and the steel rope 3 that is wrapped on the winch links to each other with the dolly 4 of manipulator.The manipulator guide assembly is located at a side of bracing frame, is similar to be vertical state, and the outside is provided with its base portion is covered in the frame 5 in it.This manipulator guide assembly has a pair of angle steel shape guide rail 6, and this respectively has a square edge to be vertically fixed on the bracing frame to guide rail, and another square edge is free edge, and both are relative.Respectively establish a strip guide groove 7 at this on to the fixed edge of guide rail, the channel steel shape guide groove that this two opening is relative is S-shaped, and promptly the stage casing is a vertical bar, and an one of which side is parallel with the guide rail free edge, the diameter of distance between the two >=dolly flower wheel.This guide groove top segmental arc stretches out the guide, and is crooked to the bracing frame direction; Guide groove lower curved section also stretches out the guide, but crooked to the bracing frame reversing sense.In the simplified schematic diagram of Fig. 3, Fig. 4 and manipulator of the present invention shown in Figure 5, manipulator mainly includes dolly, pivoted arm and hopper.Wherein, Dolly has two parallel side plates; Be provided with two axletrees in two groups of cooresponding through holes on it; Be positioned at and respectively establish a driving wheel 8 on the exterior axletree of side plate, the bottom of each driving wheel respectively establish again one between the two apart from be the flower wheel 9 of guide rail free edge thickness, the wheel shaft of this flower wheel also be located at the dolly side plate through hole in.The driving wheel of above-mentioned dolly is positioned on the guide rail, and flower wheel is between guide rail free edge and gib block in the bar shaped space.The dolly bottom is provided with the tumbler shaft 10 that passes the biside plate through hole, is positioned at the through hole that the outer tumbler shaft two ends of side plate are inserted in two pivoted arm tops respectively.Pivoted arm 11 is the channel-section steel that Open Side Down, is provided with an end through hole in the groove on its top and is socketed in the tipping bucket bar 12 on the tumbler shaft, and this tipping bucket bar other end is a free end, which is provided with through hole, establishes little axle in the hole, establishes roller on the axle, and it can place in the tipping bucket piece 13.This tipping bucket piece be located at the cooresponding frame in manipulator discharge position pivoted arm top on, this tipping bucket piece is provided with an approximate strip gab groove that is level towards a middle side part of pivoted arm, the top of this groove is than the following length of side.Tipping bucket piece bottom is and the cooresponding inclined-plane of locating button.Above-mentioned tipping bucket bar middle part is hinged with an end of locating button middle part and four connecting rod stocks.Wherein crank shape locating button 14 1 ends are free end, and the other end is established slit opening, and it may be stuck in one of 15 liang of parallel portion of zigzag location lock, and this location another parallel portion of lock is located on the car body.Above-mentioned and tipping bucket bar connect together and are positioned at four connecting rod stocks 16 of pivoted arm, and quarter butt 17 1 ends of its other end and four connecting rods are hinged, and this hinge axis passes arc slot and the through hole of bucket wall on the pivoted arm sidewall; The other end of this four connecting rods quarter butt is hinged on the sidewall of hopper 18, and this hinge is the hopper rotating shaft.Middle part in the above-mentioned two pivoted arms outside all is hinged with track adjusting wheel 19, and this track adjusting wheel places in the guide groove.
Claims (4)
1. automatic material taking and unloading manipulator, it is characterized in that: the bracing frame top is provided with winch, and the steel rope of this winch links to each other with the dolly of manipulator; The manipulator guide assembly that is located at bracing frame one side has pair of guide rails, respectively establishes the relative channel steel shape guide groove of a strip two openings at this on to the fixed edge of guide rail, and this guide groove is S-shaped; This guide groove top segmental arc stretches out the guide, and crooked to the bracing frame direction, guide groove lower curved section also stretches out the guide; But crooked to the bracing frame reversing sense, the dolly of manipulator, the bottom of its each driving wheel is respectively established one again between the two apart from being the flower wheel of guide rail free edge thickness; The driving wheel of above-mentioned dolly is positioned on the guide rail, and in the bar shaped space, the dolly bottom links to each other with two pivoted arm tops through tumbler shaft flower wheel between guide rail free edge and gib block; Be provided with an end through hole in the groove on pivoted arm top and be socketed in the tipping bucket bar on the tumbler shaft; This tipping bucket bar other end be for can place the free end in the tipping bucket piece, this tipping bucket piece be located at the cooresponding fixed object in manipulator discharge position pivoted arm top on, above-mentioned tipping bucket bar middle part is hinged with an end of locating button middle part and four connecting rod stocks; Wherein crank shape locating button one end is a free end; The other end is established slit opening, and it may be stuck in one of location lock two parallel portion, and this location another parallel portion of lock is located on the car body; The above-mentioned four connecting rod stocks that connect together with the tipping bucket bar are positioned at pivoted arm; Its other end is hinged through quarter butt one end of hinge and four connecting rods, passes arc slot and the through hole of bucket wall on the pivoted arm sidewall through hinge axis, and the other end of this four connecting rods quarter butt is hinged on the sidewall of hopper through hinge; This hinge is the hopper rotating shaft, all is hinged with the track adjusting wheel that places in the guide groove at the middle part in the above-mentioned two pivoted arms outside.
2. automatic material taking and unloading manipulator according to claim 1 is characterized in that: manipulator guide assembly outside is provided with its base portion is covered in the frame in it.
3. automatic material taking and unloading manipulator according to claim 1 and 2 is characterized in that: the free end of this tipping bucket bar is provided with through hole, establishes little axle in the hole, establishes roller on the axle.
4. automatic material taking and unloading manipulator according to claim 3; It is characterized in that: this tipping bucket piece is provided with an approximate strip gab groove that is level towards a middle side part of pivoted arm; The top of this strip gab groove is than the following length of side, and tipping bucket piece bottom is and the cooresponding inclined-plane of locating button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102233027A CN101927899B (en) | 2010-07-12 | 2010-07-12 | Automatic material taking and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102233027A CN101927899B (en) | 2010-07-12 | 2010-07-12 | Automatic material taking and unloading manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101927899A CN101927899A (en) | 2010-12-29 |
| CN101927899B true CN101927899B (en) | 2012-07-25 |
Family
ID=43367405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102233027A Expired - Fee Related CN101927899B (en) | 2010-07-12 | 2010-07-12 | Automatic material taking and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101927899B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102997680A (en) * | 2012-10-25 | 2013-03-27 | 应志恩 | Material lifting mechanism of melting furnace |
| CN105515291B (en) * | 2016-01-15 | 2023-08-18 | 利欧集团浙江泵业有限公司 | Automatic lamination detection boxing assembly line for stator core |
| CN117775587B (en) * | 2024-02-26 | 2024-05-07 | 招金矿业股份有限公司夏甸金矿 | Conveying device for ore exploitation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB950757A (en) * | 1961-06-12 | 1964-02-26 | Wiggin & Co Ltd Henry | Improvements in apparatus for transferring articles from one point to another |
| CN201250003Y (en) * | 2008-03-16 | 2009-06-03 | 劳林安 | Grain super-low-speed low-smashing hopper-type hoisting machine |
| CN201406186Y (en) * | 2009-05-08 | 2010-02-17 | 石河子华润机械有限公司 | Continuous tipping-bucket hoisting machine |
| CN201458252U (en) * | 2009-07-13 | 2010-05-12 | 成都威邦科技有限公司 | Hopper type lifter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0753529B2 (en) * | 1991-01-19 | 1995-06-07 | 中小企業事業団 | Box front and back front and back discrimination correction device |
-
2010
- 2010-07-12 CN CN2010102233027A patent/CN101927899B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB950757A (en) * | 1961-06-12 | 1964-02-26 | Wiggin & Co Ltd Henry | Improvements in apparatus for transferring articles from one point to another |
| CN201250003Y (en) * | 2008-03-16 | 2009-06-03 | 劳林安 | Grain super-low-speed low-smashing hopper-type hoisting machine |
| CN201406186Y (en) * | 2009-05-08 | 2010-02-17 | 石河子华润机械有限公司 | Continuous tipping-bucket hoisting machine |
| CN201458252U (en) * | 2009-07-13 | 2010-05-12 | 成都威邦科技有限公司 | Hopper type lifter |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平4-235817A 1992.08.24 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101927899A (en) | 2010-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109849761B (en) | Convenient freight train car hopper of unloading | |
| CN101927899B (en) | Automatic material taking and unloading manipulator | |
| CN201533997U (en) | Wire traversing crab capable of preventing pulley and wire from abrasion | |
| CN218114899U (en) | Automatic feeding mechanism is used in quartz sand production | |
| CN103213527B (en) | A kind of Extension bicycle shed | |
| CN206290041U (en) | A kind of multi-storied garage | |
| CN206126364U (en) | Cargo handling device of freight train | |
| CN106759017B (en) | Suction nozzle assembly and sweeper with same | |
| CN201694093U (en) | Turnover type automatic lifting-canvas covering device | |
| CN209740233U (en) | Chain type lifting material pouring machine | |
| CN210195779U (en) | Hoisting device for shield machine | |
| CN202687325U (en) | Telescopic belt conveyor with caster | |
| CN205802523U (en) | A kind of multi-faceted bulk cargo car unloader | |
| CN202729186U (en) | Telescopic belt conveyor | |
| CN202625241U (en) | Vertical tension device of belt conveyor | |
| CN202687317U (en) | Large-dip-angle U-shaped belt conveyor headstock mechanism with cleanser | |
| CN206969475U (en) | A kind of handle of retractor device | |
| JP5398578B2 (en) | Mobile steps on cableway platform | |
| CN213387698U (en) | High-altitude hanging type movable operation device | |
| CN202924235U (en) | Belt conveyor with tensioning device | |
| CN215048346U (en) | Liftable support for engineering construction | |
| CN113356070B (en) | Steel wire rope driving device of bridge girder erection machine | |
| CN202864253U (en) | Large-dip-angle belt conveyor with hoist | |
| CN202687412U (en) | Belt conveyor with sliding monitor | |
| CN216065503U (en) | Auxiliary turnover device for sand box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20200712 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |