CN105773649A - Mechanical paw for loading, unloading and stacking bagged materials - Google Patents
Mechanical paw for loading, unloading and stacking bagged materials Download PDFInfo
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- CN105773649A CN105773649A CN201610204633.3A CN201610204633A CN105773649A CN 105773649 A CN105773649 A CN 105773649A CN 201610204633 A CN201610204633 A CN 201610204633A CN 105773649 A CN105773649 A CN 105773649A
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- loading
- unloading
- materials
- stacking
- pallet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention belongs to the field of industrial automation, relates to a mechanical paw for loading, unloading and stacking bagged materials and relates to a handling robot with the mechanical paw. The mechanical paw comprises a connecting mechanism, a guide rail (2), a tray (3) and a loading and unloading mechanism, wherein the connecting mechanism is connected with a handling mechanical arm, the guide rail (2) is fixedly connected to the connecting mechanism and extends along the horizontal direction, the tray (3) is fixedly connected to the guide rail (2), the loading and unloading mechanism moves along the extension direction of the guide rail (2), and a space for containing the bagged materials is formed by the tray (3) and the loading and unloading mechanism. According to the mechanical paw for loading, unloading and stacking the bagged materials, the loading and unloading efficiency is improved, the environmental pollution is reduced, the operation is simple and convenient, and the mechanization and automation of loading and unloading agricultural materials are realized.
Description
Technical field
The invention belongs to industrial automation, in particular it relates to a kind of for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, further relate to a kind of transfer robot with described mechanical type paw.
Background technology
At present, the carrying of the warehouse of China's packed goods and materials and handling mode are mainly shoulder and shoulder and draw with dolly, and stevedore's not only labor intensity is big, inefficiency, and is work under the environment of dust, easily endangers physical and mental health.
The equipment being widely used in the handling of packed goods and materials both at home and abroad has two kinds: vacuum suction crane formula paw and mechanical type paw.For vacuum suction crane formula paw, though simple and quick, but the handling requirement in small space can not be met；For mechanical type paw, due to the structure that its paw generally bends, cause the packed goods and materials of intensive stacking cannot carry out crawl lossless, quick and handling.
In sum, handling facilities of the prior art are all poorly suitable for the handling of the packed goods and materials of intensive stacking, it is impossible to packed goods and materials carry out lossless quick crawl.
Therefore in the urgent need to a kind of mechanical type paw that can meet the quick and lossless handling of packed goods and materials and stacking.
Summary of the invention
The present invention is directed to the structure of existing machinery formula paw bending and need the problems such as the mode that working place is big, paw directly captures easily makes packaging bag damaged, provide a kind of for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, adopt and promote and pull the mode of packed goods and materials to carry out loading and unloading and stacking, solve a difficult problem for crawl process intermediate package bag cracky well.
For achieving the above object, the present invention is achieved by the following technical solutions:
A kind of for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, this mechanical type paw includes: bindiny mechanism, guide rail 2, pallet 3, charging crane and driving mechanism, and pallet 3 constitutes, with charging crane, the space holding packed goods and materials, wherein,
Two guide rails 2 are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam 18 is fixing, and the other end connects by pallet connecting cross beam 12 is fixing；
Described pallet 3 includes many vertically spaced apart " L " shape pallet bars that are connected fixing with pallet connecting cross beam 12, and described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is below guide rail 2；
Described bindiny mechanism is fixedly connected between the upper end of two guide rails 2；
Described charging crane includes slide block 8, link 9, first clamping plate 10 and the second clamping plate 11, wherein, described slide block 8 is slidably connected with guide rail 2, described link 9 is rectangular frame structure, it includes the first link side 19, second link side 20 and connect the crossbeam at the first link side 19 and the second link side 20 two ends respectively, first link side 19 is fixing with the lower end of slide block 8 to be connected, and vertically it is arranged at intervals with many first clamping plate 10, second link side 20 is vertically arranged at intervals with many second clamping plate 11, and first clamping plate 10 be disposed in proximity to the vertical portion of pallet 3, second clamping plate 11 are arranged at the vertical portion away from pallet 3；
Described driving mechanism includes either-rotation motor 13, ball-screw 14, nut 15, shaft coupling 16 and lobe 17, wherein, ball-screw 14 is arranged between two guide rails 2 and parallel with guide rail 2, ball-screw 14 one end is connected by shaft coupling 16 is fixing with the outfan of either-rotation motor 13, the other end is connected with the bearing block being fixed on inside guide rail connecting cross beam 18, lobe 17 is fixed on the first link side 19, lobe 17 has through hole, being connected in the through hole of described lobe 17 to described nut 15 interference fit, nut 15 is socketed on ball-screw 14.
The upper end of described bindiny mechanism is detachably connected with carrying implement mechanical arm.
Described bindiny mechanism includes connecting portion 1 and bracing frame 6；
Described connecting portion 1 is the disk-like structure of disk or square plate；
Support frame as described above 6 is frame structure, including cylinder 7, horizontal connecting plate 61, vertical connecting plate 62 and connection floor 63, wherein, the upper end of cylinder 7 is fixing with the lower end of connecting portion 1 to be connected, the lower end of described cylinder 7 is fixing with horizontal connecting plate 61 to be connected, the lower end of horizontal connecting plate 61 is fixing with the upper end of vertical connecting plate 62 to be connected, and the lower end of vertical connecting plate 62 is fixing with guide rail 2 to be connected, and the upper end of described horizontal connecting plate 61 is also fixedly connected with the connection floor 63 extended from cylinder 7 to edge.
Described connecting portion 1 outer rim is provided with bolt connecting hole, detachably connected by the carrying implement mechanical arm of bolt Yu robot.
Described connecting portion 1 is detachably connected with the carrying implement mechanical arm of robot by magnetic force.
Connecting portion 1 center is provided with through hole 4, and the center of horizontal connecting plate 61 is provided with hole, and the endoporus of cylinder 7 is corresponding with the hole on the through hole 4 of connecting portion 1 and horizontal connecting plate 61 respectively.
Spacing between described first clamping plate 10 and the second clamping plate 11 is be more than or equal to the width of packed goods and materials, and be more than or equal to the length of pallet 3 horizontal part.
Being additionally provided with position sensor 5 on described charging crane, position sensor 5 is connected on the second link side 20.
Described mechanical paw also includes controller, position sensor 5 and/or either-rotation motor 13 and is electrically connected to controller, and the signal according to position sensor 5, controller sends the signal making either-rotation motor 13 move or stop.
A kind of transfer robot having for loading and unloading the mechanical type paw with the packed goods and materials of stacking.
The beneficial effects of the present invention is:
The mechanical type paw loaded and unloaded with the packed goods and materials of stacking that is used for of the present invention adopts straight clamping plate to carry out vertically as well as horizontally so that the space that the motion of mechanical type paw is required is little, it does not have other hinder, and have and capture the features such as reliable, mobile flexible；Meanwhile, adopt either-rotation motor, utilize its rotating, just can realize two steps of loading, unloading to packed goods and materials.Load and unload occasion at the means of agricultural production and replace a dead lift, alleviate the labor intensity of stevedore, improve the efficiency of loading and unloading, reduce environmental pollution, make operation easier, it is achieved the mechanization of means of agricultural production handling and automatization.
Accompanying drawing explanation
Fig. 1 is the structural representation for loading and unloading the mechanical type paw with the packed goods and materials of stacking of the present invention.
Fig. 2 is the structural representation for loading and unloading mechanical type another angle of paw with the packed goods and materials of stacking of the present invention.
Accompanying drawing labelling
1 connecting portion 2 guide rail
3 pallet 4 through holes
5 position sensor 6 bracing frames
The 61 vertical connecting plates of horizontal connecting plate 62
63 connect floor
7 cylinder 8 slide blocks
9 link 10 first clamping plate
11 second clamping plate 12 pallet connecting cross beams
13 either-rotation motor 14 ball-screws
15 nut 16 shaft couplings
17 lobe 18 guide rail connecting cross beams
19 first link side 20 second link sides
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1-2, the mechanical type paw loaded and unloaded with the packed goods and materials of stacking that is used for of the present invention includes: bindiny mechanism, guide rail 2, pallet 3, charging crane and driving mechanism.Wherein, pallet 3 constitutes, with charging crane, the space holding packed goods and materials.
Two guide rails 2 are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam 18 is fixing, and the other end connects by pallet connecting cross beam 12 is fixing.
Pallet 3 includes many vertically spaced apart " L " shape pallet bars that are connected fixing with pallet connecting cross beam 12, and described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is below guide rail 2.Adopt the mode that interval arranges many pallet bars to replace integrated pallet can effectively alleviate mechanical paw weight, reduce power consumption.
Bindiny mechanism is fixedly connected between the upper end of two guide rails 2, and the upper end of bindiny mechanism is detachably connected with carrying implement mechanical arm, and bindiny mechanism includes connecting portion 1 and bracing frame 6.Connecting portion 1 is preferably the disk-like structure of disk or square plate, and center is provided with through hole 4.Connecting portion 1 outer rim is preferably provided with bolt connecting hole, detachably connected by the carrying implement mechanical arm of bolt Yu robot.Alternatively, connecting portion 1 can also be detachably connected with the carrying implement mechanical arm of robot by magnetic force.Bracing frame 6 is frame structure, including cylinder 7, horizontal connecting plate 61, vertical connecting plate 62 and connection floor 63, wherein, the upper end of cylinder 7 is fixing with the lower end of connecting portion 1 to be connected, the lower end of described cylinder 7 is fixing with horizontal connecting plate 61 to be connected, the center of horizontal connecting plate 61 is provided with hole, and the endoporus of cylinder 7 is corresponding with the hole on the through hole 4 of connecting portion 1 and horizontal connecting plate 61 respectively, it is easy to the wire harness traverse for connecting, making overall structure more compact, arranging of through hole can alleviate overall weight simultaneously.The lower end of horizontal connecting plate 61 is fixing with the upper end of vertical connecting plate 62 to be connected, and the lower end of vertical connecting plate 62 is fixing with guide rail 2 to be connected.The upper end of described horizontal connecting plate 61 is also fixedly connected with the connection floor 63 extended from cylinder 7 to edge, the structural strength overall to promote bindiny mechanism.
Charging crane includes slide block 8, link the 9, first clamping plate 10 and the second clamping plate 11.Wherein, described slide block 8 is slidably connected with guide rail 2, makes slide block 8 can slide along the bearing of trend of guide rail 2.Described link 9 is rectangular frame structure, it includes the first link side 19, second link side 20 and connect the crossbeam at the first link side 19 and the second link side 20 two ends respectively, first link side 19 is fixing with the lower end of slide block 8 to be connected, and vertically it is arranged at intervals with many first clamping plate 10, second link side 20 is vertically arranged at intervals with many second clamping plate 11, and first clamping plate 10 be disposed in proximity to the vertical portion of pallet 3, second clamping plate 11 are arranged at the vertical portion away from pallet 3, spacing between described first clamping plate 10 and the second clamping plate 11 is be more than or equal to the width of packed goods and materials, and be more than or equal to the length of pallet 3 horizontal part.
Driving mechanism includes either-rotation motor 13, ball-screw 14, the nut 15 on flanged limit, shaft coupling 16 and lobe 17.Wherein, ball-screw 14 is arranged between two guide rails 2 and parallel with guide rail 2, and ball-screw 14 one end is connected by shaft coupling 16 is fixing with the outfan of either-rotation motor 13, and the other end is connected with the bearing block being fixed on inside guide rail connecting cross beam 18.Lobe 17 is fixed on the first link side 19, and lobe 17 has through hole, is connected in the through hole of described lobe 17 to described nut 15 interference fit, and nut 15 is socketed on ball-screw 14, drives handler to move along guide rail 2 by either-rotation motor 13.When either-rotation motor 13 drives ball-screw 14 to rotate, nut 15 drive charging crane away from or close to either-rotation motor 13.
Being additionally provided with position sensor 5 on described charging crane, position sensor 5 is connected on the second link side 20, it is possible to be positioned at the diverse location of charging crane according to concrete occasion, is mainly used in sensing and measures the relative position of charging crane and packed goods and materials.
Described mechanical paw also includes controller, position sensor 5 and/or either-rotation motor 13 and is electrically connected to controller, the signal according to position sensor 5, and controller sends the signal making either-rotation motor 13 move or stop, to realize automatic loading and unloading.
The present invention also provides for a kind of transfer robot, and this transfer robot includes above-mentioned mechanical paw.
The work process of the mechanical type paw for loading and unloading packed goods and materials of the present invention is as follows:
By connecting portion 1, the mechanical type paw for loading and unloading packed goods and materials of the present invention is connected to the mechanical arm of transfer robot.
During work, either-rotation motor 13 drives ball-screw 14 to rotate, and nut 15 and lobe 17 are moved along the bearing of trend of guide rail 2, thus being further driven to charging crane to be moved outwardly to distalmost end along guide rail 2；
Then transfer robot drives the motion of mechanical type paw, after position sensor 5 finds the gap of vertical direction between packed goods and materials, transfer robot drives the second clamping plate 11 of mechanical type paw to move to the top in described gap, rear drive the second clamping plate 11 move downward, make the second clamping plate 11 be inserted among gap；
After dropping to appropriate depth, either-rotation motor 13 reverses, and the second clamping plate 11 back move along guide rail 2 under the drive of driving force, thus pulling packed goods and materials to be moved on pallet 3.
Mechanical type paw equipped with packed goods and materials is moved by the carrying implement mechanical arm of robot, when position is piled up in arrival, first clamping plate 10 promote packed goods and materials to leave pallet 3 under the effect of the driving force of either-rotation motor 13, it is achieved thereby that to the handling of packed goods and materials and stacking.
Claims (10)
1. one kind is used for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
This mechanical type paw includes: bindiny mechanism, guide rail (2), pallet (3), charging crane and driving mechanism, and pallet (3) constitutes, with charging crane, the space holding packed goods and materials, wherein,
Two guide rails (2) are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam (18) is fixing, and the other end connects by pallet connecting cross beam (12) is fixing；
Described pallet (3) includes many vertically spaced apart " L " shape pallet bars that are connected fixing with pallet connecting cross beam (12), described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is in guide rail (2) lower section；
Described bindiny mechanism is fixedly connected between the upper end of two guide rails (2)；
nullDescribed charging crane includes slide block (8)、Link (9)、First clamping plate (10) and the second clamping plate (11)，Wherein，Described slide block (8) and guide rail (2) are slidably connected，Described link (9) is rectangular frame structure，It includes the first link side (19)、Second link side (20) and connect the first link side (19) and the crossbeam at the second link side (20) two ends respectively，First link side (19) is fixing with the lower end of slide block (8) to be connected，And vertically it is arranged at intervals with many first clamping plate (10)，Second link side (20) is vertically arranged at intervals with many second clamping plate (11)，And first clamping plate (10) be disposed in proximity to the vertical portion of pallet (3)，Second clamping plate (11) are arranged at the vertical portion away from pallet (3)；
Described driving mechanism includes either-rotation motor (13), ball-screw (14), nut (15), shaft coupling (16) and lobe (17), wherein, ball-screw (14) is arranged between two guide rails (2) and parallel with guide rail (2), ball-screw (14) one end is connected by shaft coupling (16) is fixing with the outfan of either-rotation motor (13), the other end and the bearing block being fixed on guide rail connecting cross beam (18) inner side are connected, lobe (17) is fixed on the first link side (19), lobe (17) has through hole, it is connected in the through hole of described lobe (17) to described nut (15) interference fit, nut (15) is socketed on ball-screw (14).
2. according to claim 1 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
The upper end of described bindiny mechanism is detachably connected with carrying implement mechanical arm.
3. according to claim 1 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Described bindiny mechanism includes connecting portion (1) and bracing frame (6)；
The disk-like structure that described connecting portion (1) is disk or square plate；
Support frame as described above (6) is frame structure, including cylinder (7), horizontal connecting plate (61), vertical connecting plate (62) and connection floor (63), wherein, the upper end of cylinder (7) is fixing with the lower end of connecting portion (1) to be connected, the lower end of described cylinder (7) is fixing with horizontal connecting plate (61) to be connected, the lower end of horizontal connecting plate (61) is fixing with the upper end of vertical connecting plate (62) to be connected, the lower end of vertical connecting plate (62) is fixing with guide rail (2) to be connected, the upper end of described horizontal connecting plate (61) is also fixedly connected with the connection floor (63) extended from cylinder (7) to edge.
4. according to claim 3 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Described connecting portion (1) outer rim is provided with bolt connecting hole, detachably connected by the carrying implement mechanical arm of bolt Yu robot.
5. according to claim 3 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Described connecting portion (1) is detachably connected by the carrying implement mechanical arm of magnetic force Yu robot.
6. according to claim 3 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Connecting portion (1) center is provided with through hole (4), the center of horizontal connecting plate (61) is provided with hole, and the endoporus of cylinder (7) is corresponding with the hole on the through hole of connecting portion (1) (4) and horizontal connecting plate (61) respectively.
7. according to claim 1 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Spacing between described first clamping plate (10) and the second clamping plate (11) is be more than or equal to the width of packed goods and materials, and be more than or equal to the length of pallet (3) horizontal part.
8. according to claim 1 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Being additionally provided with position sensor (5) on described charging crane, position sensor (5) is connected on the second link side (20).
9. according to claim 8 for loading and unloading and the mechanical type paw of the packed goods and materials of stacking, it is characterised in that:
Described mechanical paw also includes controller, position sensor (5) and/or either-rotation motor (13) are electrically connected to controller, signal according to position sensor (5), controller sends the signal making either-rotation motor (13) motion or stopping.
10. the transfer robot for loading and unloading the mechanical type paw with the packed goods and materials of stacking having as described in one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610204633.3A CN105773649A (en) | 2016-04-05 | 2016-04-05 | Mechanical paw for loading, unloading and stacking bagged materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610204633.3A CN105773649A (en) | 2016-04-05 | 2016-04-05 | Mechanical paw for loading, unloading and stacking bagged materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105773649A true CN105773649A (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610204633.3A Pending CN105773649A (en) | 2016-04-05 | 2016-04-05 | Mechanical paw for loading, unloading and stacking bagged materials |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501030A (en) * | 2018-05-31 | 2018-09-07 | 徐宝恒 | Manipulator for copying bagged articles or barreled object mechanically |
| CN108656436A (en) * | 2018-04-23 | 2018-10-16 | 徐辉 | A kind of injection molding machine automatic feeding system |
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| CN103481289B (en) * | 2013-08-29 | 2016-01-27 | 合肥雄鹰自动化工程科技有限公司 | A kind of robot palletizer sponge sucking disc tongs device |
| CN205572457U (en) * | 2016-04-05 | 2016-09-14 | 中国农业大学 | Mechanical type hand claw and have transfer robot of this mechanical type hand claw |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01299124A (en) * | 1988-05-25 | 1989-12-01 | Mitsubishi Electric Corp | Hand device for palletizing robot |
| DE10353351A1 (en) * | 2003-11-14 | 2005-06-02 | Maschinenbau U. Konstruktion Gmbh Elmshorn | Industrial robot and clamping system for moving stacks of cardboard packaging material has lifting fork with three prongs underneath top holding clamps |
| US20100218464A1 (en) * | 2009-03-02 | 2010-09-02 | Michael Baumann | Gripper for an automated manipulator and method for operation of the gripper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656436A (en) * | 2018-04-23 | 2018-10-16 | 徐辉 | A kind of injection molding machine automatic feeding system |
| CN108501030A (en) * | 2018-05-31 | 2018-09-07 | 徐宝恒 | Manipulator for copying bagged articles or barreled object mechanically |
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Application publication date: 20160720 |