CN104986677B - Material grasping, lifting and translating device for joist barrow - Google Patents
Material grasping, lifting and translating device for joist barrow Download PDFInfo
- Publication number
- CN104986677B CN104986677B CN201510334572.8A CN201510334572A CN104986677B CN 104986677 B CN104986677 B CN 104986677B CN 201510334572 A CN201510334572 A CN 201510334572A CN 104986677 B CN104986677 B CN 104986677B
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- CN
- China
- Prior art keywords
- guide rail
- slide block
- claw
- translating
- moving platform
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-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
- B66C3/14—Grabs opened or closed by driving motors thereon
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
Technical field
The invention belongs to gearing field, more particularly, to a kind of material crawl lifting and translating unit being applied to purlin car.
Background technology
Assembling industry commonly uses the main tool that purlin car lifts as object at present.But its material gripping device is most
It is the lifting that the easy device coordinating binder with suspension hook carries out material, and elevating movement then commonly uses rope traction in fact
Existing.This hanging apparatus rising or falling speed in material hoisting process is not steady, is not easy to be accurately positioned, in translation motion easily
Swing, and for rotary type material loading firm the problems such as.
Content of the invention
For Shortcomings in prior art, the invention provides a kind of material crawl elevating translational dress being applied to purlin car
Put.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of material crawl lifting and translating unit being applied to purlin car, including two translating rails devices be arrangeding in parallel,
Left vertical lift device, right vertical lift device, catching robot, moving platform pin ear, moving platform, described left vertical lift device
It is connected with right vertical lift device by guide shaft, one end of left and right vertical lowering or hoisting gear is self-corresponding with each by forearm respectively
Translating rails device connects, and its other end is connected with each self-corresponding moving platform pin ear by connecting rod respectively, described moving platform pin
Ear is fixedly mounted on moving platform, and described moving platform is installed with catching robot；Described translating rails device is capable of
Left and right vertical lift device and catching robot translation in the horizontal direction, described left and right vertical lowering or hoisting gear is capable of
Catching robot translation in vertical direction；
Described translating rails device includes the first guide rail, the first slide block, sliding connection block, and described first slide block passes through dovetail
Groove is slidably connected on the first guide rail, and sliding connection block is fixedly connected on the first slide block；
Described left and right vertical lowering or hoisting gear includes motor, motor fixing frame, large arm bracing frame, the second slide block, cunning
Platform, rolling bearing, the second guide rail, ball-screw, described motor fixing frame one end is rotated with forearm and is connected, and the other end is propped up with large arm
Support is fixedly connected；Described motor is fixedly mounted in motor fixing frame, and described ball-screw one end is passed through fixed
Axial organ is connected with the motor shaft of motor, and the other end is fixed on large arm bracing frame by rolling bearing, and described large arm supports
Second guide rail is installed with frame, the second guide rail slidably connects the second slide block, described second slide block is fixedly connected with cunning
Platform, 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 includes cylinder, transverse slat, guide rail bracket, cylinder supports frame, pressing plate, travelling arm, claw connecting rod, horizontal stroke
To chute, claw, the 3rd slide block, line style guide rail, the two ends of described transverse slat are installed with guide rail bracket, and described cylinder supports frame is solid
Dingan County is contained on guide rail bracket, and described cylinder is fixedly mounted on cylinder supports frame through described transverse slat, the piston rod of described cylinder
On be connected with pressing plate, described pressing plate is fixedly mounted on described travelling arm, and described travelling arm is fixedly mounted on the 3rd slide block, institute
State the 3rd slide block to be slidably connected on line style guide rail, described line style guide rail is fixedly mounted on guide rail bracket；Described travelling arm passes through
Claw connecting rod is connected with claw, and claw is slidably connected with horizontal concrete chute, and described horizontal concrete chute is fixedly mounted on described guide rail bracket.
Further, described claw is provided with ladder groove.
Further, described claw can be with dismounting and change to realize capturing for the material of different physical aspects.
The invention has the benefit that a kind of purlin automobile-used material crawl lifting and translating unit of the 1, present invention effectively meets
The lifting of material, translation and the pick-and-place realized is needed during material crawl；2nd, when the stroke of ball-screw can not meet
During vertical movement range demands, thus it is possible to vary the distance of guide rail one and guide rail two is adjusting the height of moving platform；3rd, this material is grabbed
Take in mechanism, the elongation of cylinder piston rod, realize the function of clamping material, conversely, the shortening of cylinder piston rod, realize unclamping thing
The function of material；4th, on this grasping mechanism, the claw with notch cuttype groove of design can improve the jail of crawl revolution build material
By property；5th, parallel institution is applied in this device the present invention, can not only greatly increase high working efficiency, improves the firm of mechanism
Degree；6th, the present invention has taken into full account the stationarity of the fixing, the stationarity of lifting and accuracy, translation motion of crawl.
Brief description
The material crawl lifting and translating unit three dimensional structure diagram of Fig. 1 present invention.
The material crawl lifting and translating unit assembling schematic diagram of Fig. 2 present invention.
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 steps
Stepper motor, 106 guide shafts, 107 motor fixing frames, 108 large arm bracing frames, 109 second slide blocks, 110 slide units, 111 connecting rods, 112 move
Platform pins ear, 113 moving platforms, 114 rolling bearings, 115 second guide rails, 116 ball-screws, 201 cylinders, 202 transverse slats, 203 lead
Rail gantry, 204 cylinder supports framves, 205 pressing plates, 206 travelling arms, 207 claw connecting rods, 208 horizontal concrete chutes, 209 claws, 210 the 3rd
Slide block, 211 line style guide rails.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
Not limited to this.
As shown in Figure 1 and Figure 2, a kind of material crawl lifting and translating unit being applied to purlin car, be arranged in parallel including two
Translating rails device, left vertical lift device, right vertical lift device, 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 lowering or hoisting gear
Be connected with each self-corresponding translating rails device by forearm 104 respectively, its other end respectively pass through connecting rod 111 with each corresponding
Moving platform pin ear 112 connect, described moving platform pin ear 112 is fixedly mounted on moving platform 113, and described moving platform 113 is fixing
Catching robot is installed；Described translating rails device is capable of left and right vertical lowering or hoisting gear with catching robot in level
Translation on direction, described left and right vertical lift device is capable of catching robot translation in vertical direction.
As shown in figure 1, described translating rails device includes the first guide rail 101, the first slide block 102, sliding connection block 103,
Described first slide block 102 is slidably connected on the first guide rail 101 by dovetail groove, and sliding connection block 103 is fixedly connected on first
On slide block 102, the first slide block 102 is in the first guide rail 101 translation gliding thus driving whole grabbing device to carry out in the horizontal direction
Position adjustment.
As shown in Fig. 2 described left and right vertical lowering or hoisting gear includes motor 105, motor fixing frame 107, large arm support
Frame 108, the second slide block 109, slide unit 110, rolling bearing 114, the second guide rail 115, ball-screw 116, described motor fixing frame
107 one end are rotated with forearm 104 and are connected, and the other end is fixedly connected with large arm bracing frame 108；The fixing peace of described motor 105
It is contained in motor fixing frame 107, the motor shaft of permanent coupling and motor 105 is passed through in described ball-screw 116 one end
Connect, the other end is fixed on large arm bracing frame 108 by rolling bearing 114, and described large arm bracing frame 108 is installed with
Second guide rail 115, the second guide rail 115 slidably connects the second slide block 109, and 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 to described ball by screwed hole of centre spiral
On leading screw 116.Described step motor drive ball-screw 116 rotates thus driving slide unit 110 to move, and described slide unit 110 passes through
Second slide block 109 can slide on the second guide rail 115, and therefore catching robot can be along rolling under the drive of slide unit 110
Ballscrew 116 carries out the position adjustment in vertical direction.
As shown in figure 3, described catching robot include 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, the 3rd slide block 210, line style guide rail 211, institute
The two ends stating transverse slat 202 are installed with guide rail bracket 203, and described cylinder supports frame 204 is fixedly mounted on guide rail bracket 203, institute
State cylinder 201 to be 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, and described travelling arm 206 is fixedly mounted on the 3rd slide block 210
On, described 3rd slide block 210 is slidably connected on line style guide rail 211, and described line style guide rail 211 is fixedly mounted on guide rail bracket 203
On；Described travelling arm 206 is connected with claw 209 by claw connecting rod 207, and claw 209 is slidably connected with horizontal concrete chute 208, institute
State horizontal concrete chute 208 to be 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 slides on linear guides 211, and the 3rd slide block 210 drives claw 209 in horizontal concrete chute 208 by claw connecting rod 207
Interior slip is so that claw 209 promptly or unclamps.Described claw 209 is provided with ladder groove, and claw 209 can be dismantled more
Change to realize capturing for the material of different physical aspects.
Rely on the motor being arranged on the vehicle frame of purlin to provide power when material needs horizontal shifting.Moving platform 113
Vertically move and mainly realization is transferred with the positive and negative of motor 105.When the stroke of ball-screw 116 can not meet vertical movement row
During range request, thus it is possible to vary the distance of guide rail 1 and guide rail 2 115 is adjusting the height of moving platform 113.It is arranged on moving platform
Material grasping mechanism on 113 relies on the flexible realization of cylinder 201 piston rod to firmly grasp for material and loosen.This grasping mechanism
The claw 209 with notch cuttype groove of upper design can improve the fixing of crawl revolution build material.
Described embodiment be the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment, not
In the case of deviating from the flesh and blood of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (3)
1. a kind of automobile-used material in purlin captures lifting and translating unit it is characterised in that including two translating rails dresses be arrangeding in parallel
Put, left vertical lift device, right vertical lift device, 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), and one end of left and right vertical lowering or hoisting gear leads to respectively
Cross forearm (104) to be connected with each self-corresponding translating rails device, it is self-corresponding with each that its other end passes through connecting rod (111) respectively
Moving platform pin ear (112) connects, and described moving platform pin ear (112) is fixedly mounted on moving platform (113), described moving platform
(113) it is installed with catching robot；Described translating rails device is capable of left and right vertical lowering or hoisting gear and crawl machinery
Handss translation in the horizontal direction, described left and right vertical lowering or hoisting gear is capable of catching robot in vertical direction flat
Move；
Described translating rails device includes the first guide rail (101), the first slide block (102), sliding connection block (103), and described first
Guide rail (101) is upper to be slidably connected with the first slide block (102) by dovetail groove, the first slide block (102) is fixedly connected with slip even
Connect block (103), sliding connection block (103) is rotated with forearm (104) and is connected；
Described left and right vertical lowering or hoisting gear include motor (105), motor fixing frame (107), large arm bracing frame (108),
Two slide blocks (109), slide unit (110), rolling bearing (114), the second guide rail (115), ball-screw (116), described motor is fixed
Frame (107) one end is rotated with forearm (104) and is connected, and the other end is fixedly connected with large arm bracing frame (108)；Described motor
(105) it is fixedly mounted in motor fixing frame (107), permanent coupling and stepping are passed through in described ball-screw (116) one end
The motor shaft of motor (105) connects, and the other end is fixed on large arm bracing frame (108) by rolling bearing (114), described large arm
Second guide rail (115) is installed with bracing frame (108), the second guide rail (115) slidably connects the second slide block (109),
Described second slide block (109) is fixedly connected with slide unit (110), has screwed hole of centre, described slide unit in the middle part of described slide unit (110)
(110) it is connected on described ball-screw (116) by screwed hole of centre spiral；
Described catching robot includes 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), the 3rd slide block (210), line style are led
Rail (211), the two ends of described transverse slat (202) are installed with guide rail bracket (203), described cylinder supports frame (204) fixed installation
On guide rail bracket (203), described cylinder (201) is fixedly mounted on cylinder supports frame (204) through described transverse slat (202), institute
Pressing plate (205) is connected with the piston rod stating cylinder (201), described pressing plate is fixedly mounted on described travelling arm (206), described
Travelling arm (206) is fixedly mounted on the 3rd slide block (210), and described 3rd slide block (210) is slidably connected at line style guide rail (211)
On, described line style guide rail (211) is fixedly mounted on guide rail bracket (203)；Described travelling arm (206) passes through claw connecting rod (207)
It is connected with claw (209), claw (209) is slidably mounted on horizontal concrete chute (208), described horizontal concrete chute (208) fixed installation
On described guide rail bracket (203).
2. as claimed in claim 1 a kind of automobile-used material in purlin crawl lifting and translating unit it is characterised in that described claw
(209) it is provided with ladder groove.
3. as claimed in claim 1 a kind of automobile-used material in purlin crawl lifting and translating unit it is characterised in that described claw
(209) can be with dismounting and change to realize capturing for the material of different physical aspects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510334572.8A CN104986677B (en) | 2015-06-16 | 2015-06-16 | Material grasping, lifting and translating device for joist barrow |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510334572.8A CN104986677B (en) | 2015-06-16 | 2015-06-16 | Material grasping, lifting and translating device for joist barrow |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104986677A CN104986677A (en) | 2015-10-21 |
| CN104986677B true CN104986677B (en) | 2017-01-25 |
Family
ID=54298608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510334572.8A Expired - Fee Related CN104986677B (en) | 2015-06-16 | 2015-06-16 | Material grasping, lifting and translating device for joist barrow |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104986677B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729450B (en) * | 2016-05-09 | 2018-04-20 | 中国科学院宁波材料技术与工程研究所 | Four-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 |
| CN108422296B (en) * | 2018-04-26 | 2024-07-09 | 义乌工商职业技术学院 | End face wire drawing machine of lock cylinder |
| CN108689173B (en) * | 2018-06-08 | 2024-05-28 | 佛山市光华智能设备有限公司 | Full-automatic plate unloading machine |
Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6182378B2 (en) * | 2013-07-23 | 2017-08-16 | 株式会社クロイツ | Robot system |
-
2015
- 2015-06-16 CN CN201510334572.8A patent/CN104986677B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104986677A (en) | 2015-10-21 |
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| PB01 | Publication | ||
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| 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 Termination date: 20180616 |