CN104986677A - Material grasping, lifting and translating device for joist barrow - Google Patents

Material grasping, lifting and translating device for joist barrow Download PDF

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Publication number
CN104986677A
CN104986677A CN201510334572.8A CN201510334572A CN104986677A CN 104986677 A CN104986677 A CN 104986677A CN 201510334572 A CN201510334572 A CN 201510334572A CN 104986677 A CN104986677 A CN 104986677A
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CN
China
Prior art keywords
guide rail
slide block
fixedly mounted
claw
translating
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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.)
Granted
Application number
CN201510334572.8A
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Chinese (zh)
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CN104986677B (en
Inventor
杨启志
汪志焕
卢青
宋俊朋
赵金海
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Jiangsu University
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Jiangsu University
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Priority to CN201510334572.8A priority Critical patent/CN104986677B/en
Publication of CN104986677A publication Critical patent/CN104986677A/en
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Publication of CN104986677B publication Critical patent/CN104986677B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C25/00Cranes not provided for in groups B66C17/00 - B66C23/00
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14Grabs opened or closed by driving motors thereon

Abstract

The invention provides a material grasping, lifting and translating device for a joist barrow. The material grasping, lifting and translating device comprises a lifting and translating mechanism and a material grasping mechanism, so that the functions for grasping, lifting and translating materials can be realized. Parallel mechanisms are applied in the device disclosed by the invention, so that the working efficiency can be greatly improved, and the stiffness of the mechanisms is enhanced; besides, the grasping firmness, the lifting stability and accuracy, and the stability of translating process are sufficiently taken into consideration.

Description

The automobile-used material in a kind of purlin captures lifting and translating unit
Technical field
The invention belongs to gearing field, particularly relate to a kind of material being applicable to purlin car and capture lifting and translating unit.
Background technology
The main tool that current assembling industry generally uses purlin car to lift as object.But its material gripping device is coordinate the easy device of bandage to carry out the lifting of material with suspension hook mostly, dipping and heaving then generally uses rope traction to realize.This hanging apparatus rising or falling speed in material hoisting process is steady not, is not easy to accurate location, easily swings in translation motion, and for problems such as the loading of rotary type material are not firm.
Summary of the invention
For Shortcomings in prior art, the invention provides a kind of material being applicable to purlin car and capture lifting and translating unit.
The present invention realizes above-mentioned technical purpose by following technological means.
A kind of material being applicable to purlin car captures lifting and translating unit, comprise two translating rails devices be arranged in parallel, two, left and right vertical lift device, catching robot, moving platform pin ear, moving platform, described left vertical lift device is connected with right vertical lift device by guide shaft, one end of left and right vertical lift device is connected with each self-corresponding translating rails device by forearm, its other end is connected with moving platform pin ear by connecting rod, described moving platform pin ear is fixedly mounted on moving platform, and described moving platform is installed with catching robot; Described translating rails device can realize left and right vertical lift device and catching robot translation in the horizontal direction, and described left and right vertical lift device can realize catching robot translation in vertical direction;
Described translating rails device comprises the first guide rail, the first slide block, sliding connection block, and described first slide block is slidably connected on the first guide rail by dovetail furrow, and sliding connection block is fixedly connected on the first slide block;
Described vertical lift device comprises stepping motor, motor fixing frame, large arm bracing frame, the second slide block, slide unit, antifriction-bearing box, the second guide rail, ball-screw, described motor fixing frame one end and forearm are rotationally connected, and the other end is fixedly connected with large arm bracing frame; Described stepping motor is fixedly mounted in motor fixing frame, described ball-screw one end is connected with the motor shaft of stepping motor by permanent coupling, the other end is fixed on large arm bracing frame by antifriction-bearing box, described large arm bracing frame is installed with the second guide rail, second slide on rails is connected with the second slide block, described second slide block is fixedly connected with slide unit, has screwed hole of centre in the middle part of described slide unit, and described slide unit is connected on described ball-screw by screwed hole of centre spiral;
Described catching robot comprises cylinder, transverse slat, guide rail bracket, cylinder supports frame, pressing plate, travelling arm, claw connecting rod, horizontal concrete chute, claw, 3rd slide block, line style guide rail, the two ends of described transverse slat are installed with guide rail bracket, described cylinder supports frame is fixedly mounted on guide rail bracket, described cylinder is fixedly mounted on cylinder supports frame through described transverse slat, the piston rod of described cylinder is connected with pressing plate, described pressing plate is fixedly mounted on described travelling arm, described travelling arm is fixedly mounted on the 3rd slide block, described 3rd skid is connected on line style guide rail, described line style guide rail is fixedly mounted on guide rail bracket, described travelling arm is connected with claw by claw connecting rod, and claw and horizontal concrete chute sliding block joint, described horizontal concrete chute is fixedly mounted on described guide rail bracket.
Further, described claw is provided with ladder groove.
Further, described claw can dismounting and change capture with the material realized for different physical aspect.
Beneficial effect of the present invention is: 1, the automobile-used material in a kind of purlin of the present invention capture lifting and translating unit actv. meet in material crawl process, need the material realized lifting, translation and pick-and-place; 2, when the stroke of ball-screw can not meet perpendicular movement range demands, the distance of guide rail one and guide rail two can be changed to regulate the height of moving platform; 3, on this material grasping mechanism, the elongation of cylinder piston rod, realizes the function of clamping material, otherwise the shortening of cylinder piston rod, realizes the function of unclamping material; 4, the claw with notch cuttype groove this grasping mechanism designed can improve the fixing capturing revolution build material; 5, parallel institution is applied in this device by the present invention, can not only greatly increase work efficiency high, improve the rigidity of mechanism; 6, the present invention has taken into full account the stationarity of the fixing of crawl, the stationarity of lifting and particularity, translation motion.
Accompanying drawing explanation
Fig. 1 material of the present invention captures lifting and translating unit three-dimensional structure schematic diagram.
Fig. 2 material of the present invention captures lifting and translating unit assembling schematic diagram.
The three-dimensional structure schematic diagram of Fig. 3 catching robot of the present invention.
Description of reference numerals is as follows: 101 first guide rails, 102 first slide blocks, 103 sliding connection blocks, 104 forearms, 105 stepping motors, 106 guide shafts, 107 motor fixing frames, 108 large arm bracing frames, 109 second slide blocks, 110 slide units, 111 connecting rods, 112 moving platform pin ears, 113 moving platforms, 114 antifriction-bearing boxs, 115 second guide rails, 116 ball-screws, 201 cylinders, 202 transverse slats, 203 guide rail brackets, 204 cylinder supports framves, 205 pressing plates, 206 travelling arms, 207 claw connecting rods, 208 horizontal concrete chutes, 209 claws, 210 the 3rd slide blocks, 211 line style guide rails.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
As Fig. 1, shown in Fig. 2, a kind of material being applicable to purlin car captures lifting and translating unit, comprise two translating rails devices be arranged in parallel, two vertical lift device in left and right, catching robot, moving platform pin ear 112, moving platform 113, described left vertical lift device is connected with right vertical lift device by guide shaft 106, one end of left and right vertical lift device is connected with each self-corresponding translating rails device by forearm 104, its other end is connected with moving platform pin ear 112 by connecting rod 111, described moving platform pin ear 112 is fixedly mounted on moving platform 113, described moving platform 113 is installed with catching robot, described translating rails device can realize left and right vertical lift device and catching robot translation in the horizontal direction, and described left and right vertical lift device can realize catching robot translation in vertical direction.
As shown in Figure 1, described translating rails device comprises the first guide rail 101, first slide block 102, sliding connection block 103, described first slide block 102 is slidably connected on the first guide rail 101 by dovetail furrow, sliding connection block 103 is fixedly connected on the first slide block 102, and the first slide block 102 is in the first guide rail 101 translation gliding thus drive whole grabbing device to carry out position adjustment in the horizontal direction.
As shown in Figure 2, described vertical lift device comprises stepping motor 105, motor fixing frame 107, large arm bracing frame 108, second slide block 109, slide unit 110, antifriction-bearing box 114, second guide rail 115, ball-screw 116, described motor fixing frame 107 one end and forearm 104 are rotationally connected, and the other end is fixedly connected with large arm bracing frame 108; Described stepping motor 105 is fixedly mounted in motor fixing frame 107, described ball-screw 116 one end is connected by the motor shaft of permanent coupling with stepping motor 105, the other end is fixed on large arm bracing frame 108 by antifriction-bearing box 114, described large arm bracing frame 108 is installed with the second guide rail 115, second guide rail 115 slidably connects the second slide block 109, described second slide block 109 is fixedly connected with slide unit 110, have screwed hole of centre in the middle part of described slide unit 110, described slide unit 110 is connected on described ball-screw 116 by screwed hole of centre spiral.Described driving stepper motor ball-screw 116 rotates thus drives slide unit 110 to move, described slide unit 110 can be slided by the second slide block 109 on the second guide rail 115, and therefore catching robot can carry out the position adjustment in vertical direction under the drive of slide unit 110 along ball-screw 116.
As shown in Figure 3, described catching robot comprises cylinder 201, transverse slat 202, guide rail bracket 203, cylinder supports frame 204, pressing plate 205, travelling arm 206, claw connecting rod 207, horizontal concrete chute 208, claw 209, 3rd slide block 210, line style guide rail 211, the two ends of described transverse slat 202 are installed with guide rail bracket 203, described cylinder supports frame 204 is fixedly mounted on guide rail bracket 203, described cylinder 201 is fixedly mounted on cylinder supports frame 204 through described transverse slat 202, the piston rod of described cylinder 201 is connected with pressing plate 205, described pressing plate is fixedly mounted on described travelling arm 206, described travelling arm 206 is fixedly mounted on the 3rd slide block 210, described 3rd slide block 210 is slidably connected on line style guide rail 211, described line style guide rail 211 is fixedly mounted on guide rail bracket 203, described travelling arm 206 is connected with claw 209 by claw connecting rod 207, and claw 209 and horizontal concrete chute 208 sliding block joint, described horizontal concrete chute 208 is fixedly mounted on described guide rail bracket 203.Cylinder 201 drives pressing plate 205 to move, and pressing plate 205 drives the 3rd slide block 210 to slide on linear guides 211, and the 3rd slide block 210 drives claw 209 to slide in horizontal concrete chute 208 by claw connecting rod 207 thus makes claw 209 firmly grasp or unclamp.Described claw 209 is provided with ladder groove, and claw 209 can dismounting and change capture with the material realized for different physical aspect.
Rely on the motor be arranged on the vehicle frame of purlin to provide power when material needs horizontal shifting.The vertical movement of moving platform 113 mainly transfers realization with the positive and negative of stepping motor 105.When the stroke of ball-screw 116 can not meet perpendicular movement range demands, the distance of guide rail 1 and guide rail 2 115 can be changed to regulate the height of moving platform 113.The material grasping mechanism be arranged on moving platform 113 relies on the flexible realization of cylinder 201 piston rod firmly grasping and loosening for material.The claw 209 with notch cuttype groove that this grasping mechanism designs can improve the fixing capturing revolution build material.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.

Claims (3)

1. the material being applicable to purlin car captures lifting and translating unit, it is characterized in that, comprise two translating rails devices be arranged in parallel, two vertical lift device in left and right, catching robot, moving platform pin ear (112), moving platform (113), described left vertical lift device is connected with right vertical lift device by guide shaft (106), one end of left and right vertical lift device is connected with each self-corresponding translating rails device by forearm (104), its other end is connected with moving platform pin ear (112) by connecting rod (111), described moving platform pin ear (112) is fixedly mounted on moving platform (113), described moving platform (113) is installed with catching robot, described translating rails device can realize left and right vertical lift device and catching robot translation in the horizontal direction, and described left and right vertical lift device can realize catching robot translation in vertical direction,
Described translating rails device comprises the first guide rail (101), the first slide block (102), sliding connection block (103), by dovetail furrow and the first slide block (102) sliding block joint on described first guide rail (101), first slide block (102) is fixedly connected with sliding connection block (103), sliding connection block (103) and forearm (104) are rotationally connected;
Described vertical lift device comprises stepping motor (105), motor fixing frame (107), large arm bracing frame (108), the second slide block (109), slide unit (110), antifriction-bearing box (114), the second guide rail (115), ball-screw (116), described motor fixing frame (107) one end and forearm (104) are rotationally connected, and the other end is fixedly connected with large arm bracing frame (108), described stepping motor (105) is fixedly mounted in motor fixing frame (107), described ball-screw (116) one end is connected by the motor shaft of permanent coupling with stepping motor (105), the other end is fixed on large arm bracing frame (108) by antifriction-bearing box (114), described large arm bracing frame (108) is installed with the second guide rail (115), second guide rail (115) slidably connects the second slide block (109), described second slide block (109) is fixedly connected with slide unit (110), described slide unit (110) middle part has screwed hole of centre, described slide unit (110) is connected on described ball-screw (116) by screwed hole of centre spiral,
Described catching robot comprises cylinder (201), transverse slat (202), guide rail bracket (203), cylinder supports frame (204), pressing plate (205), travelling arm (206), claw connecting rod (207), horizontal concrete chute (208), claw (209), 3rd slide block (210), line style guide rail (211), the two ends of described transverse slat (202) are installed with guide rail bracket (203), described cylinder supports frame (204) is fixedly mounted on guide rail bracket (203), described cylinder (201) is fixedly mounted on cylinder supports frame (204) through described transverse slat (202), the piston rod of described cylinder (201) is connected with pressing plate (205), described pressing plate is fixedly mounted on described travelling arm (206), described travelling arm (206) is fixedly mounted on the 3rd slide block (210), described 3rd slide block (210) is slidably connected on line style guide rail (211), described line style guide rail (211) is fixedly mounted on guide rail bracket (203), described travelling arm (206) is connected with claw (209) by claw connecting rod (207), claw (209) is slidably mounted on horizontal concrete chute (208), and described horizontal concrete chute (208) is fixedly mounted on described guide rail bracket (203).
2. a kind of material being applicable to purlin car captures lifting and translating unit as claimed in claim 1, and it is characterized in that, described claw (209) is provided with ladder groove.
3. a kind of material being applicable to purlin car captures lifting and translating unit as claimed in claim 1, it is characterized in that, described claw (209) can dismounting and change capture with the material realized for different physical aspect.
CN201510334572.8A 2015-06-16 2015-06-16 Material grasping, lifting and translating device for joist barrow Expired - Fee Related CN104986677B (en)

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Application Number Priority Date Filing Date Title
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CN104986677B CN104986677B (en) 2017-01-25

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105729450A (en) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 Four-degree-of-freedom parallel mechanism
CN107934762A (en) * 2017-12-25 2018-04-20 浙江邦博机械有限公司 A kind of grab bucket of grab bucket crane
CN108002243A (en) * 2017-12-25 2018-05-08 浙江邦博机械有限公司 A kind of garbage grab bucket crane
CN108422296A (en) * 2018-04-26 2018-08-21 义乌工商职业技术学院 A kind of end face wire drawing machine of lock core
CN108689173A (en) * 2018-06-08 2018-10-23 佛山市光华智能设备有限公司 Full-automatic unloader

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
CN203865553U (en) * 2014-05-22 2014-10-08 苏州博众精工科技有限公司 Rotating material taking and moving mechanism
CN204019529U (en) * 2014-07-04 2014-12-17 浙江工业大学 A kind of hanging apparatus
JP2015020264A (en) * 2013-07-23 2015-02-02 株式会社クロイツ Robot system
CN204223809U (en) * 2014-10-22 2015-03-25 王贤淮 A kind of pulling-in dog and cup processed stack the multifunction manipulator displacement conveying device of equipment

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
JP2015020264A (en) * 2013-07-23 2015-02-02 株式会社クロイツ Robot system
CN203865553U (en) * 2014-05-22 2014-10-08 苏州博众精工科技有限公司 Rotating material taking and moving mechanism
CN204019529U (en) * 2014-07-04 2014-12-17 浙江工业大学 A kind of hanging apparatus
CN204223809U (en) * 2014-10-22 2015-03-25 王贤淮 A kind of pulling-in dog and cup processed stack the multifunction manipulator displacement conveying device of equipment

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105729450A (en) * 2016-05-09 2016-07-06 中国科学院宁波材料技术与工程研究所 Four-degree-of-freedom parallel mechanism
CN107934762A (en) * 2017-12-25 2018-04-20 浙江邦博机械有限公司 A kind of grab bucket of grab bucket crane
CN108002243A (en) * 2017-12-25 2018-05-08 浙江邦博机械有限公司 A kind of garbage grab bucket crane
CN108422296A (en) * 2018-04-26 2018-08-21 义乌工商职业技术学院 A kind of end face wire drawing machine of lock core
CN108689173A (en) * 2018-06-08 2018-10-23 佛山市光华智能设备有限公司 Full-automatic unloader

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