CN106041904A - Mechanical claw type stacker - Google Patents
Mechanical claw type stacker Download PDFInfo
- Publication number
- CN106041904A CN106041904A CN201610470806.6A CN201610470806A CN106041904A CN 106041904 A CN106041904 A CN 106041904A CN 201610470806 A CN201610470806 A CN 201610470806A CN 106041904 A CN106041904 A CN 106041904A
- Authority
- CN
- China
- Prior art keywords
- joint
- brake
- pole
- holder
- connecting rod
- 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.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 14
- 239000000178 monomer Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000000725 suspension Substances 0.000 abstract 5
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of stacking machines, in particular to a mechanical claw type stacker. The mechanical claw type stacker comprises a fixing base, a horizontal rotation joint, a first longitudinal rotation joint, a second longitudinal rotation joint, a transverse rotation joint, a connecting tail end, a suspension control device and a clamping mechanical claw. The suspension control device is arranged on the horizontal rotation joint and comprises a brake piece, a brake motor, a speed changer, a drive gear, a rotating shaft and a roller. The brake piece is fixed to the first longitudinal rotation joint. The brake motor is fixed to the horizontal rotation joint below the brake motor and connected with the drive gear through the speed changer. The rotating shaft is arranged on the horizontal rotation joint and rotationally connected with the horizontal rotation joint. The roller is arranged on the rotating shaft. The clamping mechanical claw is arranged on the connecting tail end. The suspension control device is arranged between mechanical arms, suspension of the mechanical arms is controlled by changing the friction manner between the mechanical arms, in the suspension state, the mechanical joints are free of energy losses, and energy can be greatly saved.
Description
Technical field
The present invention relates to palletizing mechanical field, a kind of machinery claw stacking machine.
Background technology
At present, the various special purpose machinery of the many employings of industrial automation production field or mechanical arm realize carrying and the heap of material
Code, to improve working performance and overall production.Kind condition according to production line and the difference of the volume weight etc. of material, this
A little equipment come in every shape.For special purpose machinery, mechanical arm is little due to floor space, simple in construction, flexible operation, can be real
The advantages such as existing flexible job, obtain universal application in carrying and the pile field of material.The version of mechanical arm compares
More representational such as universal joint type industrial machine mechanical arm, or SCARA shape plane coordinates mechanical arm etc..
The most industrial utilize motor-driven stacking machine mechanical arm in use, if needing to hover in midair goods
In, inherently expending substantial amounts of energy, and these energy are equivalent to waste, the use of current mechanical arm more comes
The most universal, if do not improved, this useless energy consumption will get more and more.
Summary of the invention
For the problems of the prior art, the invention provides a kind of machinery claw stacking machine, install between mechanical arm
Hovering control device, controls the hovering of mechanical arm, and this mechanical joint noenergy loss during floating state by friction, can be big
Save greatly energy, reach the purpose of energy-conserving and environment-protective.
The technical solution adopted for the present invention to solve the technical problems is: a kind of machinery claw stacking machine, including fixing seat,
Horizontally rotate joint, No. one longitudinally rotate joint, No. two longitudinally rotate joint, lateral rotation joint, connect end, Hovering control
Device and clamping gripper.
The described joint that horizontally rotates is arranged on above fixing seat and is rotatably connected with fixing seat；A described longitudinal direction turns
Movable joint is in " H " shape, and this No. one longitudinally rotates joint base and clamps and horizontally rotate joint hinged with it；No. two described longitudinal directions
Cradle head is hinged on No. one and longitudinally rotates above joint；Described lateral rotation joint is arranged on No. two and longitudinally rotates on joint
Side also rotates connection；Described connection end is arranged on lateral rotation joint and hinged with it；Described clamping machinery
Pawl is arranged on connection end.
Described Hovering control device is arranged on and horizontally rotates on joint, and Hovering control device includes brake(-holder) block, braking electricity
Machine, variator, driving gear, rotating shaft and cylinder；Described brake(-holder) block is in disk form, brake(-holder) block is provided with three and passes through axle center
Disc, and the disc of brake(-holder) block is fixed on No. one and longitudinally rotates lower end, joint, the central axis and of brake(-holder) block place disk
Number longitudinally rotate joint to overlap around the rotary shaft horizontally rotating joint；Described braking motor is fixed on and horizontally rotates joint
On；Described variator one end couples with the output shaft of braking motor, and this variator other end couples with driving gear；Described
Rotating shaft is arranged on and horizontally rotates on joint and rotate connection, and rotating shaft is cylinder, the face of cylinder of rotating shaft is provided with main
The tooth of moving gear engagement, and turn the tip of the axis and be provided with holding frame；Described cylinder is arranged in holding frame and the company of rotating
Connect, the wheel face of cylinder is provided with rubber layer, and this rubber layer contacts with the side of brake(-holder) block, time properly functioning, rubber layer
And rolling friction between brake(-holder) block, after braking motor drives cylinder rotated ninety degrees, realizes static friction between cylinder and brake(-holder) block
And reach braking effect.
Preferably, described clamping gripper includes gripper shoe, pole, clamping plate, connecting rod and push rod；Described gripper shoe is solid
It is scheduled on connection end；Described pole is bar shaped, and pole quantity is two, and two poles be arranged in parallel on the supporting plate, pole
Middle part is provided with branch's bar；Described clamping plate are positioned at inside pole and parallel with pole, and the cross section of clamping plate is L-shaped, and clamping plate
Rough surface；Described connecting rod is divided into two groups, often group connecting rod quantity be two, often group connecting rod in monomer connecting rod two ends all with prop up
Bar and clamping plate are hinged, and often the monomer connecting rod in group connecting rod is parallel to each other, and described push rod one end is hinged with branch bar end, this
The push rod other end is hinged with clamping plate, and push rod elongation can make two clamping plates close and clamp.
The invention has the beneficial effects as follows: a kind of machinery claw stacking machine of the present invention, hovering control is installed between mechanical arm
Device processed, controls the hovering of mechanical arm, and this mechanical joint during floating state by changing the friction mode between mechanical arm
Noenergy is lost, and can be greatly saved energy, reach the purpose of energy-conserving and environment-protective.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view at visual angle, front of the present invention；
Fig. 2 is the perspective view at visual angle, the back side of the present invention；
Fig. 3 is the perspective view of clamping gripper；
Fig. 4 is the perspective view of Hovering control device；
In figure: fixing seat (1), horizontally rotate joint (2), No. one longitudinally rotate joint (3), No. two longitudinally rotate joint
(4), lateral rotation joint (5), connection end (6), Hovering control device (7), clamping gripper (8), brake(-holder) block (71), braking
Motor (72), variator (73), driving gear (74), rotating shaft (75), cylinder (76), gripper shoe (81), pole (82), clamping plate
(83), connecting rod (84), push rod (85), holding frame (751), branch's bar (821).
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Close detailed description of the invention, the present invention is expanded on further.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, a kind of machinery claw stacking machine of the present embodiment, including fixing seat 1, horizontally rotate pass
Save 2, No. one longitudinally rotate joint 3, two longitudinally rotate joint 4, lateral rotation joint 5, connect end 6, Hovering control device 7
With clamping gripper 8.
The described joint 2 that horizontally rotates is arranged on above fixing seat 1 and is rotatably connected with fixing seat 1；Described No. one is indulged
To cradle head 3 in " H " shape, this No. one longitudinally rotates to clamp bottom joint 3 and horizontally rotates joint 2 hinged with it；Described
No. two longitudinally rotate joint 4 and are hinged on No. one and longitudinally rotate above joint 3；Described lateral rotation joint 5 is arranged on No. two and indulges
Above cradle head 4 and rotate connection；Described connection end 6 is arranged on lateral rotation joint 5 and hinged with it；
Described clamping gripper 8 is arranged on connection end 6.
Described Hovering control device 7 is arranged on and horizontally rotates on joint 2, and Hovering control device 7 includes brake(-holder) block 71, system
Galvanic electricity machine 72, variator 73, driving gear 74, rotating shaft 75 and cylinder 76；Described brake(-holder) block 71 is in disk form, on brake(-holder) block 71
It is provided with three disc by axle center, and the disc of brake(-holder) block 71 is fixed on No. one and longitudinally rotates lower end, joint 3, brake(-holder) block 71
The central axis of place disk and No. one longitudinally rotate joint 3 and overlap around the rotary shaft horizontally rotating joint 2；Described braking
Motor 72 is fixed on and horizontally rotates on joint 2；Described variator 73 one end couples with the output shaft of braking motor 72, this speed change
Device 73 other end couples with driving gear 74；Described rotating shaft 75 is arranged on and horizontally rotates on joint 2 and rotate connection, turns
Axle 75, in cylinder, the face of cylinder of rotating shaft 75 is provided with the tooth engaged with driving gear 74, and the end of rotating shaft 75 is provided with
Holding frame 751；In described cylinder 76 is arranged on holding frame 751 and rotate connection, the wheel face of cylinder 76 is provided with rubber
Glue-line, and this rubber layer contacts with the side of brake(-holder) block 71, time properly functioning, rolling friction between rubber layer and brake(-holder) block,
After braking motor drives cylinder rotated ninety degrees, realize static friction between cylinder and brake(-holder) block and reach braking effect.
Described clamping gripper 8 includes gripper shoe 81, pole 82, clamping plate 83, connecting rod 84 and push rod 85；Described support
Plate 81 is fixed on connection end 6；Described pole 82 is in bar shaped, and pole 82 quantity is two, and two poles 82 are set in parallel in
In gripper shoe 81, in the middle part of pole 82, it is provided with branch's bar 821；Described clamping plate 83 are positioned at inside pole 82 and flat with pole 82
OK, the cross section of clamping plate 83 is L-shaped, and the rough surface of clamping plate 83；Described connecting rod 84 is divided into two groups, often group connecting rod 84 quantity
Being two, often in group connecting rod 84, the two ends of monomer connecting rod are all hinged with pole 82 and clamping plate 83, and often organize the monomer in connecting rod 84 even
Bar is parallel to each other, and described push rod 85 one end is hinged with branch bar 821 end, and this push rod 85 other end is hinged with clamping plate 83, pushes away
Bar elongation can make two clamping plates close and clamp.
A kind of machinery claw stacking machine of the present embodiment in use, the rotation of the rotating direction of cylinder 76 and brake(-holder) block 71
Direction is tangent, and No. one longitudinally rotates joint 3 and can move around horizontally rotating joint 2；When needs hover, braking motor 72 passes through
Variator 73 drives driving gear 74 to rotate, owing to rotating shaft 75 side is engaged with driving gear 74 so that rotating shaft 75 rotates, and then
The rotating direction making cylinder 76 is vertical with the rotation direction of brake(-holder) block 71 so that due to friction between cylinder 76 and brake(-holder) block 71
And geo-stationary, be finally presented as that No. one longitudinally rotates joint 3 and horizontally rotates geo-stationary between joint 2, and two joint it
Between without energy maintain, reach energy-conservation purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the description in above-mentioned embodiment and description the present invention is simply described
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within the scope of protection of present invention.Claimed scope is by appending claims and equivalence thereof
Thing defines.
Claims (2)
1. a mechanical claw stacking machine, including fixing seat (1), horizontally rotate joint (2), No. one longitudinally rotate joint (3), two
Number longitudinally rotate joint (4), lateral rotation joint (5) and connect end (6), it is characterised in that: also include Hovering control device
(7) and clamping gripper (8)；
The described joint (2) that horizontally rotates is arranged on fixing seat (1) top and is rotatably connected with fixing seat (1)；Described No. one
Longitudinally rotating joint (3) in " H " shape, this No. one longitudinally rotates bottom, joint (3) and clamps and horizontally rotate joint (2) and cut with scissors with it
Connect；Described No. two longitudinally rotate joint (4) be hinged on No. one longitudinally rotate joint (3) top；Described lateral rotation joint
(5) it is arranged on No. two longitudinally rotate top, joint (4) and rotate connection；Described connection end (6) is arranged on and laterally turns
Movable joint (5) is upper and hinged with it；Described clamping gripper (8) is arranged in connection end (6)；
Described Hovering control device (7) is arranged on and horizontally rotates on joint (2), and Hovering control device (7) includes brake(-holder) block
(71), braking motor (72), variator (73), driving gear (74), rotating shaft (75) and cylinder (76)；Described brake(-holder) block (71)
In disk form, brake(-holder) block (71) is provided with three disc by axle center, and the disc of brake(-holder) block (71) is fixed on No. one and indulges
To cradle head (3) lower end, the central axis of brake(-holder) block (71) place disk and No. one longitudinally rotate joint (3) and turn around level
The rotary shaft of movable joint (2) overlaps；Described braking motor (72) is fixed on and horizontally rotates on joint (2)；Described variator
(73) one end couples with the output shaft of braking motor (72), and this variator (73) other end couples with driving gear (74)；Described
Rotating shaft (75) be arranged on that to horizontally rotate joint (2) upper and rotate connection, rotating shaft (75) in cylinder, the circle of rotating shaft (75)
It is provided with the tooth engaged with driving gear (74) on cylinder, and the end of rotating shaft (75) is provided with holding frame (751)；Described rolling
Cylinder (76) is arranged in holding frame (751) and rotates connection, and the wheel face of cylinder (76) is provided with rubber layer, and this rubber
Layer contacts with the side of brake(-holder) block (71).
A kind of machinery claw stacking machine the most according to claim 1, it is characterised in that: described clamping gripper (8) bag
Include gripper shoe (81), pole (82), clamping plate (83), connecting rod (84) and push rod (85)；Described gripper shoe (81) is fixed on connection
On end (6)；Described pole (82) is in bar shaped, and pole (82) quantity is two, and two poles (82) are set in parallel in gripper shoe
(81), on, pole (82) middle part is provided with branch's bar (821)；Described clamping plate (83) are positioned at pole (82) inner side and pole
(82) parallel, the cross section of clamping plate (83) is L-shaped, and the rough surface of clamping plate (83)；Described connecting rod (84) is divided into two groups, often
Group connecting rod (84) quantity is two, often organizes the two ends of monomer connecting rod in connecting rod (84) all hinged with pole (82) and clamping plate (83), and
Often organizing the monomer connecting rod in connecting rod (84) parallel to each other, described push rod (85) one end is hinged with branch bar (821) end, and this pushes away
Bar (85) other end is hinged with clamping plate (83).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470806.6A CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470806.6A CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041904A true CN106041904A (en) | 2016-10-26 |
| CN106041904B CN106041904B (en) | 2018-05-25 |
Family
ID=57167153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470806.6A Active CN106041904B (en) | 2016-06-23 | 2016-06-23 | A kind of machinery claw stacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041904B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426129A (en) * | 2016-12-26 | 2017-02-22 | 重庆乐铠机器人技术开发有限责任公司 | Multi-section mechanical arm device |
| CN108214464A (en) * | 2018-02-06 | 2018-06-29 | 苏州功业肆点零智能科技有限公司 | A kind of compound clamp arm of industrial robot |
| CN108381587A (en) * | 2018-02-13 | 2018-08-10 | 饶榕琦 | A kind of automatic power construction robot |
| CN109129539A (en) * | 2018-09-29 | 2019-01-04 | 上海泰屹信息技术有限公司 | A kind of manually mould group clamping jaw |
| CN110919630A (en) * | 2019-11-13 | 2020-03-27 | 北京机械设备研究所 | Hydraulic oil cylinder installation manipulator and installation method |
| CN111169358A (en) * | 2020-01-20 | 2020-05-19 | 浙江大工新能源有限公司 | Loading robot for logistics distribution |
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| EP2263592A2 (en) * | 1996-12-12 | 2010-12-22 | Intuitive Surgical Operations, Inc. | Multi-component telepresence system and method |
| CN102229397A (en) * | 2011-06-09 | 2011-11-02 | 上海微频莱机电科技有限公司 | Lifting device of tower cylinder lifter |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN105196284A (en) * | 2015-11-02 | 2015-12-30 | 哈尔滨工业大学 | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm |
-
2016
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| EP2263592A2 (en) * | 1996-12-12 | 2010-12-22 | Intuitive Surgical Operations, Inc. | Multi-component telepresence system and method |
| CN101691190A (en) * | 2009-09-29 | 2010-04-07 | 秦皇岛天业通联重工股份有限公司 | Bulk cargo crane with energy saving and high efficiency |
| CN102229397A (en) * | 2011-06-09 | 2011-11-02 | 上海微频莱机电科技有限公司 | Lifting device of tower cylinder lifter |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN105196284A (en) * | 2015-11-02 | 2015-12-30 | 哈尔滨工业大学 | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426129A (en) * | 2016-12-26 | 2017-02-22 | 重庆乐铠机器人技术开发有限责任公司 | Multi-section mechanical arm device |
| CN106426129B (en) * | 2016-12-26 | 2018-11-02 | 重庆乐铠机器人技术开发有限责任公司 | A kind of multi-section type robot arm device |
| CN108214464A (en) * | 2018-02-06 | 2018-06-29 | 苏州功业肆点零智能科技有限公司 | A kind of compound clamp arm of industrial robot |
| CN108381587A (en) * | 2018-02-13 | 2018-08-10 | 饶榕琦 | A kind of automatic power construction robot |
| CN109129539A (en) * | 2018-09-29 | 2019-01-04 | 上海泰屹信息技术有限公司 | A kind of manually mould group clamping jaw |
| CN110919630A (en) * | 2019-11-13 | 2020-03-27 | 北京机械设备研究所 | Hydraulic oil cylinder installation manipulator and installation method |
| CN111169358A (en) * | 2020-01-20 | 2020-05-19 | 浙江大工新能源有限公司 | Loading robot for logistics distribution |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041904B (en) | 2018-05-25 |
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| 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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Han Tengchao Inventor after: Zhao Huan Inventor before: Liu Changmiao |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20180425 Address after: 277300 Yang Lou village, Wu Lin Street office, Yicheng District, Zaozhuang, Shandong Applicant after: Zaozhuang Zheng Xia automation equipment Co., Ltd. Address before: 246001 four four, Longshan Road, Yingjiang District, Anqing, Anhui Applicant before: ANHUI LIANTAI ELECTRONIC TECHNOLOGY CO., LTD. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 277300 No. 23 Kodazhong Road, Yicheng Economic Development Zone, Zaozhuang City, Shandong Province Patentee after: Shandong Zhengxia Automation Equipment Co., Ltd. Address before: 277300 Yang Lou village, Wu Lin Street office, Yicheng District, Zaozhuang, Shandong Patentee before: Zaozhuang Zheng Xia automation equipment Co., Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Mechanical claw type stacker Effective date of registration: 20181227 Granted publication date: 20180525 Pledgee: Zaozhuang rural commercial bank Limited by Share Ltd Yicheng sub branch Pledgor: Shandong Zhengxia Automation Equipment Co., Ltd. Registration number: 2018370000236 |