CN105059913B - A kind of rotary reclaimer robot - Google Patents
A kind of rotary reclaimer robot Download PDFInfo
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- CN105059913B CN105059913B CN201510415470.9A CN201510415470A CN105059913B CN 105059913 B CN105059913 B CN 105059913B CN 201510415470 A CN201510415470 A CN 201510415470A CN 105059913 B CN105059913 B CN 105059913B
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- contact
- bearing
- claw
- rotating seat
- motor
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- 210000000078 claw Anatomy 0.000 claims abstract description 48
- 235000009967 Erodium cicutarium Nutrition 0.000 claims abstract description 13
- 240000003759 Erodium cicutarium Species 0.000 claims abstract description 13
- 239000002184 metal Substances 0.000 claims abstract description 13
- 238000010276 construction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000009776 industrial production Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention discloses a kind of rotary reclaimer robot, including crowfoot and two are symmetrical arranged and end is hinged on claw on crowfoot；It is characterized in that：Also include motor, bearing, bearing block and rotating seat；The through hole for bearing set seat is opened up on bearing；Bearing is set, and the main shaft of motor is assemblied in bearing block by bearing, fuselage and the bearing block of motor are fixed in bearing block；The end of the main shaft of motor is installed by rotating seat, rotating seat upper mounting jaw frame；The end of claw, which is provided with the first contact, crowfoot, is provided with the second contact；First contact and the second contact are serially connected in control circuit respectively；Circumferentially arranged with metal slide plate on the outer wall of rotating seat, bearing block is provided with the 3rd contact；Spring is also associated between two claws.The present invention has simple in construction, the advantage of strong applicability, and the load for being particularly suitable for use in larger to amplitude of variation carries out gamut high-acruracy survey.
Description
Technical field
The present invention relates to a kind of rotary reclaimer robot, belong to material transferring equipment field.
Background technology
Manipulator is that a common class in industrial production is used to capture and transport one of equipment of material.For some works
After part is, it is necessary to which manipulator captured, by a series of evolutions so as to being placed on default station.Application No.
200710025840.3, disclose a kind of industry mechanical arm in the patent of invention of entitled " manipulator ", including claw, rotating shaft and
Beam barrel.It can not only realize the function of grabbing workpiece, additionally it is possible to be rotated around arm axle, and great convenience is brought to industrial production.
But such manipulator there is also it is certain the drawbacks of, i.e., during claw grabs and puts down workpiece, control claw drive
Dynamic device is constantly in working condition, to ensure that claw firmly firmly grasps workpiece without making workpiece be dropped in transfer process.
Therefore certain electric energy is consumed, when needing continuous feeding, substantial amounts of electric energy will necessarily be consumed, the increasing of operating cost is caused
Plus.
The content of the invention
The present invention proposes a kind of rotary reclaimer robot, can make during being shifted after claw grabbing workpiece
No longer consume electric energy.
The technical solution of the present invention：A kind of rotary reclaimer robot, including crowfoot and two be symmetrical arranged and
End is hinged on the claw on crowfoot；It is characterized in that：Also include motor, bearing, bearing block and rotating seat；Use is opened up on bearing
In the through hole of bearing set seat；Bearing is set in bearing block, and the main shaft of motor is assemblied in bearing block by bearing, the machine of motor
Body is fixed with bearing block；The end of the main shaft of motor is installed by rotating seat, rotating seat upper mounting jaw frame；The end of claw is provided with
Second contact is installed on one contact, crowfoot；First contact and the second contact are serially connected in control circuit respectively；When claw closes up
First contact can contact connection control circuit with the second contact, and the first contact can separate disconnected with the second contact when claw opens
Open control circuit；Circumferentially arranged with metal slide plate on the outer wall of rotating seat, bearing block is provided with the 3rd contact；Metal slide plate and
Three contacts are serially connected in control circuit respectively；Rotating seat can make metal slide plate contact or separate with the 3rd contact when rotating
So as to connect control circuit or disconnect control circuit；Spring is also associated between two claws.
In the present invention, the inner side of claw front end is provided with rubber blanket.
In the present invention, the inner side of claw front end is provided with zigzag striped.
In the present invention, claw is closed up and opened by pneumatic apparatus or the executive component that surges driving realization.
The beneficial effect that the present invention is reached：
1. when claw is opened to certain angle, the first contact is separated with the second contact so as to which control circuit be disconnected, pawl
Portion is under spring tension effect by Workpiece clamping；Thereafter during transfer workpiece, the control device of driving claw is no longer carried
Power supply energy；When rotating seat, which rotates, reaches station requirement to certain angle, the 3rd contact and the contact of metal slide plate are again switched on control
The circuit of device processed, so as to drive claw to put down workpiece；Power consumption is greatly reduced during continuous shifting material.
2. claw front end is provided with rubber blanket, prevent from that the outer wall of workpiece is caused to scratch damage during claw grabbing workpiece.
3. the inner side of claw front end is provided with zigzag striped, the frictional force between increase claw and workpiece, so as to ensure only to exist
Workpiece clamping can not fallen off under spring tension effect.
4. the present invention is simple in construction, cost is low, strong applicability, it is easy to promote the use of.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of the present invention；
Accompanying drawing 2 is the connection diagram of claw and crowfoot in the present invention；
Accompanying drawing 3 is the top view of the present invention.
Reference：
1 motor；2 bearing blocks；3 bearings；4 main shafts；5 rotating seats；6 crowfoots；7 claws；8 bearing pins；9 second contacts；10 first
Contact；11 springs；12 metal slide plates；13 the 3rd contacts.
Embodiment
Technical solution of the present invention is described in further detail with reference to real-time example and accompanying drawing, but the protection model of the present invention
Enclose and be not limited to the embodiment.
As shown in Figures 1 to 3, a kind of rotary reclaimer robot, including bearing 3, bearing block 2 and motor 1.Opened on bearing 3
Provided with the through hole for bearing set seat 2.Bearing is set in bearing block 2, and the main shaft 4 of motor 1 is assemblied in bearing block 2 by bearing
In.The fuselage of motor 1 is fixed with bearing block 2；The end of the main shaft 4 of motor 1 is installed by rotating seat 5, the upper mounting jaw frame 6 of rotating seat 5.
The end of two claws 7 is hinged on crowfoot 6 by bearing pin 8 respectively, and spring 11 is also associated between two claws 7.Claw 7
End is also equipped with the first contact 10, crowfoot 6 being provided with the second contact 9.First contact 10 is serially connected in respectively with the second contact 9
Control in circuit；The first contact 10 is contacted with the second contact 9 when claw 7 closes up makes control circuit be in channel status；With pawl
Portion 7 is opened, and the first contact 10 and the second contact 9 are gradually disengaged so that controlling circuit breaker.On the outer wall of rotating seat 5 circumferentially
Provided with metal slide plate 12, bearing block 2 is provided with the 3rd contact 13, and the contact 13 of metal slide plate 12 and the 3rd is serially connected in control electricity respectively
Lu Zhong.Rotating seat 5 can make metal slide plate 12 contact or separate to connect control circuit with the 3rd contact 13 when rotating
Or disconnect control circuit.Bad workpiece is scratched or pressed from both sides in order to avoid the front end of claw 7, rubber blanket is provided with the inner side of the front end of claw 7,
Prevent from directly contacting workpiece.During due to control circuit breaker, claw 7 loses the blessing power of drive device offer, only in spring 11
Pulling force effect under close up and clamp workpiece, therefore the inner side of the front end of claw 7 increases claw 7 and workpiece provided with zigzag striped
Between frictional force, it is ensured that move material be smoothed out.
In the present invention, opening for claw 7 is realized by hydraulic means, it would however also be possible to employ pneumatic mode controls claw 7, with
Upper type belongs to prior art, is not specifically addressed.
Working process and principle of the invention：
When the device comes feeding station, under the driving of hydraulic means, claw 7 is rotated around bearing pin 8 and is gradually opened.When
When claw 7 goes to certain angle, the first contact 10 is separated with the second contact 9, and the circuit for controlling hydraulic means is disconnected.Now pawl
Portion 7 loses the driving force for continuing to open and closed up on the contrary under the pulling force effect of spring 11, and workpiece is clamped.The device is moved to blowing
After station, motor 1, which starts, makes claw 7 drive workpiece rotation.When rotating seat 5 rotates to an angle, the 3rd contact 13 is touched
Metal slide plate 12 on the outer wall of rotating seat 5, so that by breaking control circuit communication, now hydraulic means work is by claw
7 open, and workpiece is fallen on default station up.It can thus be seen that during workpiece is shifted, claw 7 is simply in spring
Firm grip workpiece in the presence of 11 pulling force, rather than traditional dependence hydraulic coupling, therefore save electric energy.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (2)
1. a kind of rotary reclaimer robot, including crowfoot and two are symmetrical arranged and end is hinged on claw on crowfoot；
It is characterized in that：Also include motor, bearing, bearing block and rotating seat；The through hole for bearing set seat is opened up on bearing；Bearing
Bearing is set in seat, the main shaft of motor is assemblied in bearing block by bearing, and fuselage and the bearing block of motor are fixed；The master of motor
The end of axle is installed by rotating seat, rotating seat upper mounting jaw frame；The end of claw is provided with the first contact, crowfoot and is provided with second
Contact；First contact and the second contact are serially connected in control circuit respectively；The first contact and the second contact can when claw closes up
Control circuit is connected in contact, and the first contact can separate disconnection control circuit with the second contact when claw opens；Outside rotating seat
Circumferentially arranged with metal slide plate on wall, bearing block is provided with the 3rd contact；Metal slide plate and the 3rd contact are serially connected in control respectively
In circuit；Rotating seat can make metal slide plate contact or separate with the 3rd contact to connect control circuit or break when rotating
Open control circuit；Spring is also associated between two claws；The inner side of claw front end is provided with rubber blanket and zigzag striped.
2. a kind of rotary reclaimer robot according to claim 1, it is characterised in that：Claw by pneumatic apparatus or
The executive component that surges driving realization is closed up and opened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510415470.9A CN105059913B (en) | 2015-07-15 | 2015-07-15 | A kind of rotary reclaimer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510415470.9A CN105059913B (en) | 2015-07-15 | 2015-07-15 | A kind of rotary reclaimer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105059913A CN105059913A (en) | 2015-11-18 |
| CN105059913B true CN105059913B (en) | 2017-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510415470.9A Active CN105059913B (en) | 2015-07-15 | 2015-07-15 | A kind of rotary reclaimer robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105059913B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109794952B (en) * | 2017-11-17 | 2022-03-15 | 鲁班嫡系机器人（深圳）有限公司 | End effector, end shaft assembly, robot and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659A1 (en) * | 1995-02-16 | 1996-08-23 | Peugeot | Gripping claws for manipulator mounted on rotary barrel for use in car industry |
| CN2728727Y (en) * | 2004-07-30 | 2005-09-28 | 华寿庆 | Mechanical cripping device |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN203495966U (en) * | 2013-09-26 | 2014-03-26 | 北京利德曼生化股份有限公司 | Mechanical arm device capable of gripping and releasing reaction cup stably |
| CN204172042U (en) * | 2014-09-18 | 2015-02-25 | 江门职业技术学院 | Anti-loosing type mechanical gripper |
| CN204823213U (en) * | 2015-07-15 | 2015-12-02 | 苏州金牛精密机械有限公司 | Rotation type qu liao manipulator |
-
2015
- 2015-07-15 CN CN201510415470.9A patent/CN105059913B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659A1 (en) * | 1995-02-16 | 1996-08-23 | Peugeot | Gripping claws for manipulator mounted on rotary barrel for use in car industry |
| CN2728727Y (en) * | 2004-07-30 | 2005-09-28 | 华寿庆 | Mechanical cripping device |
| CN102239804A (en) * | 2011-05-03 | 2011-11-16 | 中国农业大学 | Automatic seedling picking paw mechanism and seedling picking method thereof |
| CN203495966U (en) * | 2013-09-26 | 2014-03-26 | 北京利德曼生化股份有限公司 | Mechanical arm device capable of gripping and releasing reaction cup stably |
| CN204172042U (en) * | 2014-09-18 | 2015-02-25 | 江门职业技术学院 | Anti-loosing type mechanical gripper |
| CN204823213U (en) * | 2015-07-15 | 2015-12-02 | 苏州金牛精密机械有限公司 | Rotation type qu liao manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105059913A (en) | 2015-11-18 |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Duan Zhongda Inventor before: Zhou Jianrong |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170906 Address after: 325025 11 camphor Road, Wenzhou economic and Technological Development Zone, Zhejiang, China Applicant after: Duan Zhongda Address before: 215000 Suzhou high tech Industrial Development Zone, Jiangsu, No. 236 Songshan Road Applicant before: Suzhou Taurus Precision Machinery Co., Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190805 Address after: 211600 No. 688 Tongtai Avenue, Jinhu Economic Development Zone, Huaian City, Jiangsu Province Patentee after: Jinhu Kang Wen Electronics Co., Ltd. Address before: 325025 No. 11 Xiangzhang Road, Wenzhou Economic and Technological Development Zone, Zhejiang Province Patentee before: Duan Zhongda |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 211600 No.1 Workshop, 688 Tongtai Avenue, Jinhu Economic Development Zone, Huai'an City, Jiangsu Province Patentee after: Jiangsu Feima New Material Technology Co.,Ltd. Address before: 211600 No.1 Workshop, 688 Tongtai Avenue, Jinhu Economic Development Zone, Huai'an City, Jiangsu Province Patentee before: JINHU KANGWEN ELECTRONIC CO.,LTD. |
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| CP01 | Change in the name or title of a patent holder |