CN106241137A - A kind of mechanical arm and rubbish van - Google Patents
A kind of mechanical arm and rubbish van Download PDFInfo
- Publication number
- CN106241137A CN106241137A CN201610879744.4A CN201610879744A CN106241137A CN 106241137 A CN106241137 A CN 106241137A CN 201610879744 A CN201610879744 A CN 201610879744A CN 106241137 A CN106241137 A CN 106241137A
- Authority
- CN
- China
- Prior art keywords
- connector
- mechanical arm
- pressure rack
- hydraulic cylinder
- refuse bin
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/0223—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising elements for holding the receptacle
- B65F2003/023—Gripper arms for embracing the receptacle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/025—Constructional features relating to actuating means for lifting or tipping containers
Abstract
The invention provides a kind of mechanical arm and rubbish van, belong to environmental sanitation vehicles field.Wherein, mechanical arm includes clamping device, switching mechanism and weighing device.Clamping device is connected with switching mechanism, and switching mechanism can drive clamping device to rotate, and clamping device is used for clamping refuse bin.Clamping device includes frame, the first driving means, fixing pressure rack and activity pressure rack, and fixing pressure rack is fixing with frame to be connected, and activity pressure rack is connected with gantry rotation, and the first driving means is used for driving activity pressure rack to rotate and making activity pressure rack closer or far from fixing pressure rack.Weighing device is located at activity pressure rack, and when when gripper mechanism grips refuse bin and rotating under switching mechanism effect, refuse bin is inconsistent with weighing device.To in refuse bin toppling process, the weight of refuse bin can be measured by weighing device, it is to avoid mechanical arm overloads and is destroyed.Including the rubbish van of this mechanical arm, there is function of weighing, it is ensured that its normal service life.
Description
Technical field
The present invention relates to environmental sanitation vehicles field, in particular to a kind of mechanical arm and rubbish van.
Background technology
Along with the continuous propelling of urbanization process, increasing people concentrates to city, in cell set, decorating house
People is the most more, produces substantial amounts of building waste.Improving constantly of the living standard of simultaneous people, house refuse is the most more come
The most, this rubbish resulted in refuse bin is more and more heavier.
The general employing rubbish van of toppling over of the rubbish in bulky refuse case completes at present, and rubbish van is the most logical
Cross mechanical arm refuse bin is clamped and completes the action dumped rubbish.Inventor finds, in practice, and refuse bin
In rubbish all far beyond the setting of refuse bin carrying, the mechanical arm of rubbish van in completing toppling process easily
Damaged, directly affect the service life of rubbish van the most at last.
Summary of the invention
It is an object of the invention to provide a kind of mechanical arm, it is intended in providing a kind of mechanical arm with function of weighing, keep away
Exempt from mechanical arm overload and damaged.
It is an object of the invention to provide a kind of rubbish van, it is intended to turn in providing a kind of rubbish with function of weighing
Fortune car, it is ensured that its normal service life.
The present invention is achieved in that
Based on above-mentioned first purpose, the present invention provides a kind of mechanical arm, including clamping device, switching mechanism and dress of weighing
Put.
Clamping device is connected with switching mechanism, and switching mechanism can drive clamping device to rotate, and clamping device is used for clamping
Refuse bin.
Clamping device includes frame, the first driving means, is positioned at the fixing pressure rack inside refuse bin and is positioned at outside refuse bin
The activity pressure rack of side, fixing pressure rack is fixing with frame to be connected, and activity pressure rack is connected with gantry rotation, and the first driving means is used for driving
Dynamic activity pressure rack rotates and makes activity pressure rack closer or far from fixing pressure rack.
Weighing device is located at activity pressure rack, when when gripper mechanism grips refuse bin and rotating under switching mechanism effect, and rubbish
Rubbish case is inconsistent with weighing device.
Further, weighing device includes pressure transducer and triggering block, and pressure transducer is fixing with activity pressure rack to be connected,
Triggering block is slidably connected with activity pressure rack, and when refuse bin is conflicted with triggering block, triggering block can relative motion pressure rack be slided also
With pressure sensor contacts.
Further, activity pressure rack includes the first connector, the second connector and the 3rd connector, and the first connector is parallel
Connected by the second connector in the 3rd connector, the first connector and the 3rd connector.
Pressure transducer is located on the 3rd connector, and the first connector is provided with the first bar shaped near the side of the 3rd connector
Through hole, the 3rd connector is provided with the second strip through-hole near the side of the first connector, and triggering block is respectively arranged at two ends with the first card
Holding portion and the second holding section, the first holding section is stuck in the first strip through-hole, and the second holding section is stuck in the second strip through-hole.
Further, the first connector includes the first fixed body and the first extrusome, the first extrusome and the first fixed body
Being slidably connected, the 3rd connector includes that the second fixed body and the second extrusome, the second extrusome and the second fixed body are slidably connected,
First fixed body and the second fixed body are connected by the second connector.
Clamping device also includes that the second driving means, the second driving means include the first hydraulic cylinder and the second hydraulic cylinder, the
One hydraulic cylinder is for driving the first extrusome to slide relative to the first fixed body, and the second hydraulic cylinder is for driving the second extrusome relative
Second fixed body slides.
Further, the first extrusome includes connector and the cramping body for contacting, connector with refuse bin lateral wall
Being slidably connected with the first fixed body, cramping body is located at connector one end away from the first fixed body, and connector is zigzag configuration.
Further, switching mechanism includes the first link, the second link, the 3rd hydraulic cylinder and the 4th hydraulic cylinder, the
One link one end is connected with gantry rotation, and the other end and second link of the first link are rotationally connected, the 3rd hydraulic cylinder
For driving frame to rotate relative to the first link, the 4th hydraulic cylinder turns relative to the second link for driving the first link
Dynamic.
Further, the first link includes adjustable shelf, fixed mount and the 5th hydraulic cylinder, and adjustable shelf is connected with frame, Gu
Determining frame and the second link is connected, adjustable shelf is slidably connected with fixed mount, and the 5th hydraulic cylinder is used for driving adjustable shelf to be relatively fixed
Frame slides.
Based on above-mentioned second purpose, the present invention provides a kind of rubbish van, including car body, compartment, the 6th hydraulic cylinder and
Above-mentioned mechanical arm, compartment is located on car body, and car body top is provided with pour spout, and the switching mechanism in mechanical arm rotates even with car body
Connecing, the 6th hydraulic cylinder is used for driving mechanical arm to rotate relative to car body, and the switching mechanism in mechanical arm drives clamping device rotational
Enough making clamping device closer or far from pour spout, mechanical arm rotates the plane at place and hangs down with the plane that clamping device rotates place
Directly.
Further, car body is provided with arc guide rail, and switching mechanism is provided with slide block, and slide block slides even with arc guide rail
Connect.
Further, rubbish van also includes controlling device, and the weighing device in mechanical arm electrically connects with controlling device,
Control device for the first driving means action controlling in mechanical arm.
The invention has the beneficial effects as follows:
The present invention provides a kind of mechanical arm, and the effect of clamping device is clamping refuse bin, and the effect of switching mechanism is to rubbish
Rubbish in rubbish case is toppled over.And clamping device is provided with weighing device, when the clamping of refuse bin held mechanism and in upset
When mechanism's effect is lower and ground departs from, now refuse bin contacts with weighing device, and weighing device will measure refuse bin entirety
Weight, it is to avoid mechanical arm overload and damaged.
The present invention provides a kind of rubbish van, including above-mentioned mechanical arm, has function of weighing, it is ensured that it makes normally
Use the life-span.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
The structural representation of the mechanical arm that Fig. 1 provides for the embodiment of the present invention 1；
Fig. 2 is the structural representation of the clamping device shown in Fig. 1；
Fig. 3 is the structural representation of the frame shown in Fig. 2；
Fig. 4 is the structural representation of the fixing pressure rack shown in Fig. 2；
Fig. 5 is the structural representation of the activity pressure rack shown in Fig. 2；
Fig. 6 is the structural representation of the first extrusome shown in Fig. 5；
Fig. 7 is the connection diagram of weighing device shown in Fig. 1 and activity pressure rack；
Fig. 8 is the structural representation of the triggering block shown in Fig. 7；
Fig. 9 is the structural representation of the switching mechanism shown in Fig. 1；
Figure 10 is the structural representation of the first link shown in Fig. 9；
Figure 11 is the structural representation of the second link shown in Fig. 9；
The operating diagram of the rubbish van that Figure 12 provides for the embodiment of the present invention 2；
Figure 13 is the connection diagram of the mechanical arm shown in Figure 12 and car body.
Icon: 100-mechanical arm；10-clamping device；11-frame；111-support body；112-connecting portion；12-fixes pressure rack；
121-the first pressing plate；122-the second pressing plate；123-connecting plate；13-activity pressure rack；131-the first connector；1311-first fixes
Body；1312-the first extrusome；1313-connector；13131-the first kink；13132-the second kink；13133-the 3rd is curved
Folding part；1314-cramping body；13141-strip groove；1315-the first chute；132-the second connector；133-the 3rd connector；
1331-the second fixed body；1332-the second extrusome；1333-the second chute；134-the first strip through-hole；135-the second bar shaped is led to
Hole；14-the first driving means；15-the second driving means；151-the first hydraulic cylinder；152-the second hydraulic cylinder；20-weighing device；
21-pressure transducer；22-triggering block；221-the first holding section；222-the second holding section；30-switching mechanism；31-first connects
Frame；311-adjustable shelf；312-fixed mount；313-the 5th hydraulic cylinder；32-the second link；321-the first bracing frame；3211-
One horizontal part；3212-the first vertical portion；322-the second bracing frame；3221-the second horizontal part；3222-the second vertical portion；33-
Three hydraulic cylinders；34-the 4th hydraulic cylinder；200-rubbish van；201-car body；2011-arc guide rail；2012-slide block；202-car
Railway carriage or compartment；2021-pour spout；203-the 6th hydraulic cylinder.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Generally implement with the present invention illustrated described in accompanying drawing herein
The assembly of example can be arranged with various different configurations and design.
Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed below
The scope of the present invention, but be merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into the model of present invention protection
Enclose.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Combination mutually.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.
In describing the invention, it should be noted that indicating position or position relationship are based on orientation shown in the drawings
Or position relationship, or the orientation usually put or position relationship when this invention product uses, or people in the art
The usual orientation understood of member or position relationship, or the orientation usually put when this invention product uses or position relationship, only
It is for the ease of the description present invention and to simplify description rather than instruction or imply that the device of indication or element must have specifically
Orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, term " first ", " the
Two ", " the 3rd " etc. is only used for distinguishing and describes, and it is not intended that instruction or hint relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " arrange ",
" install ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or connect integratedly
Connect；Can be to be directly connected to, it is also possible to be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
Above-mentioned term concrete meaning in the present invention is understood with concrete condition.
Embodiment 1
As it is shown in figure 1, the present invention provides a kind of mechanical arm 100, including clamping device 10, weighing device 20 and switching mechanism
30。
Wherein, as in figure 2 it is shown, clamping device 10 includes frame 11, is positioned at the fixing pressure rack 12 inside refuse bin, is positioned at rubbish
Activity pressure rack the 13, first driving means 14 outside rubbish case and the second driving means 15, fixing pressure rack 12 is fixing with frame 11 even
Connecing, activity pressure rack 13 is rotationally connected with frame 11, and the first driving means 14 is used for driving activity pressure rack 13 to rotate and makes movable pressure
Frame 13 is closer or far from fixing pressure rack 12.
In the present embodiment, as it is shown on figure 3, frame 11 includes support body 111 and connecting portion 112, connecting portion 112 and support body 111
Fixing connection, connecting portion 112 and support body 111 are arranged in angle.
As shown in Figure 4, fixing pressure rack 12 is H-shaped structure, and fixing pressure rack 12 includes first pressing plate the 121, second pressing plate 122 and
Connecting plate 123.First pressing plate 121 is parallel to the second pressing plate 122, and one end of connecting plate 123 is fixing with the first pressing plate 121 to be connected,
The other end of connecting plate 123 and the second fixing connection of pressing plate 122.The cross section of the first pressing plate 121 and the second pressing plate 122 is U-shaped.
The fixing pressure rack 12 of this structure has preferable structural stability, and bearing capacity is stronger.
As it is shown in figure 5, activity pressure rack 13 includes the first connector the 131, second connector 132 and the 3rd connector 133, the
A connection piece 131 is parallel to the 3rd connector 133, and the first connector 131 and the 3rd connector 133 are by the second connector 132
Connect.Wherein, the first connector 131 includes the first fixed body 1311 and the first extrusome 1312, the first extrusome 1312 and
One fixed body 1311 is slidably connected, and the 3rd connector 133 includes the second fixed body 1331 and the second extrusome 1332.Second stretches
Body 1332 is slidably connected with the second fixed body 1331.
First fixed body 1311 is identical with the second fixed body 1331 structure, and both cross sections are U-shaped, the first fixed body
1311 form the first chute 1315, and the second fixed body 1331 forms the second chute 1333, the first chute 1315 and the second chute
1333 are dovetail groove.The first strip through-hole 134, the length side of the first strip through-hole 134 is offered on first fixed body 1311
To identical with the length direction of the first fixed body 1311, the second fixed body 1331 offers the second strip through-hole 135, Article 2
The length direction of shape through hole 135 and the length direction of the second fixed body 1331 are identical.
As shown in Figure 6, the first extrusome 1312 includes connector 1313 and the clamping for contacting with refuse bin lateral wall
Body 1314.Connector 1313 is zigzag configuration, and it includes the first kink the 13131, second kink 13132 and the 3rd kink
13133, first kink the 13131, second kink 13132 and the 3rd kink 13133 are sequentially connected with, the first kink
13131 and the 3rd kink 13133 be positioned at different planes, the plane at the first kink 13131 place and the 3rd kink
The plane at 13133 places is parallel.Cramping body 1314 is rectangular structure, and cramping body 1314 is quality of rubber materials, and cramping body 1314 has
There are clamping face, clamping face to be the plane contacted with refuse bin, clamping face offers multiple strip groove 13141, to increase
Frictional force after contacting with refuse bin.The side that cramping body 1314 is relative with clamping face is fixed with the 3rd kink 13133.
Second extrusome 1332 is identical with the structure of the first extrusome 1312, does not repeats them here.
As it is shown in figure 5, during installation activity pressure rack 13, the two ends of the second connector 132 respectively with the first fixed body 1311 and
Second fixed body 1331 is fixing to be connected and makes the first strip through-hole 134 relative with the second strip through-hole 135.First extrusome 1312
The first kink 13131 be located in the first chute 1315 of the first fixed body 1311, the first extrusome 1312 can be sliding first
Sliding in groove 1315, owing to the first chute 1315 is dovetail groove, the first extrusome 1312 can only be along the first fixed body 1311 length
Slide in direction.Equally, the first kink 13131 of the second extrusome 1332 is located at the second chute 1333 of the second fixed body 1331
In, the second extrusome 1332 also can only slide along the length direction of the second fixed body 1331.First extrusome 1312 and second is stretched
Contracting body 1332 in sliding process, the second kink 13132 in the first extrusome 1312 and in the second extrusome 1332
Two kinks 13132 can play position-limiting action.
In the present embodiment, the first connector 131 and the 3rd connector 133 are stretching structure, in other specific embodiments,
First connector 131 and the 3rd connector 133 are alternatively non-telescoping structure, and the i.e. first connector 131 is overall structure, and the 3rd even
Fitting 133 is also overall structure.Certainly, in other specific embodiments, the first extrusome 1312 in the first connector 131 with
Second extrusome 1332 and the cunning of the second fixed body 1331 slideably, in the 3rd connector 133 of the second fixed body 1331
Dynamic shape also can be realized by other structures, such as, realizes by the way of T-slot and trapezoid block cooperation.
In the present embodiment, the first driving means 14 is hydraulic cylinder, and the first driving means 14 is used for driving activity pressure rack 13 turns
Dynamic.Second driving means 15 includes the first hydraulic cylinder 151 and the second hydraulic cylinder 152, and the first hydraulic cylinder 151 is stretched for driving first
Relative second fixed body 1331 of contracting body 1312 slides, and the second hydraulic cylinder 152 is for driving the second extrusome 1332 relative second solid
Determine body 1331 to slide.
During as in figure 2 it is shown, clamping device 10 assembles, the first pressing plate 121 and second pressing plate 122 of fixing pressure rack 12 are fixed on
The support body 111 of frame 11 is away from one end of connecting portion 112 vertical with support body 111.The cylinder body of the first hydraulic cylinder 151 and support body
111 is hinged, and the cylinder body of the first fixed body 1311 and the first hydraulic cylinder 151 is fixing to be connected, the piston rod of the first hydraulic cylinder 151 and the
The connector 1313 of one extrusome 1312 is fixing to be connected.The cylinder body of the second hydraulic cylinder 152 is hinged with support body 111, the second fixed body
1331 fixing with the cylinder body of the second hydraulic cylinder 152 are connected, the piston rod of the second hydraulic cylinder 152 and the connection of the second extrusome 1332
Body 1313 is fixing to be connected.The cylinder body of hydraulic cylinder (the first driving means 14) is hinged with the connecting portion 112 of frame 11, the work of hydraulic cylinder
Stopper rod is hinged with the second connector 132 of activity pressure rack 13.
In the present embodiment, as it is shown in fig. 7, weighing device 20 includes pressure transducer 21, triggering block 22 and display, pressure
Sensor 21 is internal has foil gauge, and triggering block 22 is used for triggering foil gauge, makes foil gauge occur under acting in triggering block 22
During deformation, display can be shown that the force value that foil gauge is born.
Wherein, as shown in Figure 8, triggering block 22 is the rectangular configuration of board material splice, and triggering block 22 one end is provided with the first clamping
Portion 221, the other end of triggering block 22 is provided with the second holding section 222, and the first holding section 221 and the second holding section 222 are cylinder
Shape.
As it is shown in figure 9, switching mechanism 30 includes first link the 31, second link the 32, the 3rd hydraulic cylinder 33 and the 4th
Hydraulic cylinder 34.
As shown in Figure 10, the first link 31 includes adjustable shelf 311, fixed mount 312 and the 5th hydraulic cylinder 313.Fixed mount
312 are placed on outside adjustable shelf 311, and the piston rod of the 5th hydraulic cylinder 313 is connected with adjustable shelf 311, the cylinder body of the 5th hydraulic cylinder 313 with
Fixed mount 312 connects.When the 5th hydraulic cylinder 313 elongates or shortens, the first link 31 also will elongate or shorten therewith.
As shown in figure 11, the second link 32 includes the first bracing frame 321 and the second bracing frame 322.First bracing frame 321
One end including the first horizontal part 3211 and the first vertical portion 3212, one end of the first horizontal part 3211 and the first vertical portion 3212
Fixing connection；Second bracing frame 322 includes the second horizontal part 3221 and the second vertical portion 3222, one end of the second horizontal part 3221
Fix with one end of the second vertical portion 3222 and be connected；First horizontal part 3211 is away from one end and second water of the first vertical portion 3212
Flat portion 3221 is that angle is arranged away from one end of the second vertical portion 3222, and the first vertical portion 3212 is parallel with the second vertical portion
3222；The length of the first horizontal part 3211 is equal with the length of the second horizontal part 3221, the length of the first vertical portion 3212 and the
The length of two vertical portions 3222 is equal.Second link 32 of this structure has preferable stability and fastness.
During as it is shown in figure 9, switching mechanism 30 assembles, fixed mount 312 is located at the first vertical portion away from one end of adjustable shelf 311
3212 and second are rotationally connected between vertical portion 3222 and with the first vertical portion 3212 and the second vertical portion 3222.4th hydraulic cylinder
The cylinder body of 34 and the first horizontal part 3211 and the second horizontal part 3221 junction are hinged, and the piston rod of the 4th hydraulic cylinder 34 is with fixing
Frame 312 is hinged, and when the 4th hydraulic cylinder 34 elongates or shortens, the first link 31 rotates relative to the second link 32.3rd hydraulic pressure
The cylinder body of cylinder 33 is hinged with adjustable shelf 311.
When mechanical arm 100 assembles, as it is shown in fig. 7, the pressure transducer in weighing device 20 is fixed in activity pressure rack 13
The second connector 132 on, the first holding section 221 in triggering block 22 is stuck in the first strip through-hole 134, in triggering block 22
Second holding section 222 is stuck in the second strip through-hole 135, and the upper limb of triggering block 22 is stretched away from first higher than the first fixed body 1311
One end of contracting body 1312.When, after triggering block 22 upper limb stress, triggering block 22 will be along the first strip through-hole 134 and the second strip through-hole
135 slide and contact with the sensing chip in pressure transducer.In triggering block 22 sliding process, track determines, it is possible to accurately with sense
Sheet is answered to contact.As it is shown in figure 1, adjustable shelf 311 in switching mechanism 30 away from fixed mount 312 one end with in clamping device 10
Support body 111 is rotationally connected away from one end of fixing pressure rack 12, and the piston rod of the 3rd hydraulic cylinder 33 and connecting portion 112 are away from support body
One end of 111 is hinged.Axle that support body 111 rotates around adjustable shelf 311 and the axle that the first link 31 rotates around the second link 32
Parallel.
When mechanical arm 100 works, fixing pressure rack 12 is positioned at inside refuse bin, and activity pressure rack 13 is positioned at the outside of refuse bin,
Respectively the position of the first extrusome 1312 and the second extrusome 1332 is entered by the first hydraulic cylinder 151 and the second hydraulic cylinder 152
Row regulation, the bottom making cramping body 1314 phase refuse bin in the first extrusome 1312 and the second extrusome 1332 is close, logical
Cross the first driving means 14 make activity pressure rack 13 entirety rotate relative to support body 111 and near fixing pressure rack 12, complete refuse bin
First clamping.After refuse bin is clamped by clamping device 10 for the first time, the top edge of refuse bin is just stuck in weighing device 20
In triggering block 22, the gravity of refuse bin is all undertaken by weighing device 20, and the activity pressure rack 13 in clamping device 10 is with fixing
Pressure rack 12 does not produce clamping force to refuse bin, and now, activity pressure rack 13 and fixing pressure rack 12 play position-limiting action, it is to avoid rubbish
Case departs from triggering block 22.Hereafter, the 3rd hydraulic cylinder 33 and the 4th hydraulic cylinder 34 start action, and clamping device 10 will drive refuse bin
Being rotated up together, when refuse bin just departs from ground, the weight of refuse bin passes to pressure uniformly by triggering block 22
Force transducer, and the weight of refuse bin is read by display.When the weight measured exceedes the bearing value of mechanical arm 100, logical
Cross control the first driving means 14, make clamping device 10 be unclamped by refuse bin, thus ensure the safety of mechanical arm 100, it is to avoid
It is destroyed because of overload；When the weight measured is not less than the bearing value of mechanical arm 100, by controlling the first driving means 14,
Make clamping device 10 that refuse bin to be clamped again, now, between activity pressure rack 13 and fixing pressure rack 12, huge pressure will be produced
Power, the weight of refuse bin is mainly undertaken by activity pressure rack 13 and fixing pressure rack 12, it is to avoid weighing device 20 is subject to relatively because of long-time
Big pressure and destroyed.After clamping device 10 clamps refuse bin again, the 3rd hydraulic cylinder 33 and the 4th hydraulic cylinder 34 continue work
Make, drive clamping device 10 and refuse bin to continue upset, be finally completed and topple over action.
In clamping device 10 clamping process first to refuse bin, the effect of weighing device 20 is the weight weighing refuse bin,
Triggering block 22 in weighing device 20 can by the weight of refuse bin all and pass to pressure transducer, it is ensured that the numerical value measured
More accurate.Clamping device 10 is in refuse bin again clamping process, and the triggering block 22 in weighing device 20 has certain holding
The small part weight of loading capability, i.e. refuse bin is undertaken by triggering block 22.
In toppling process, the 3rd hydraulic cylinder 33 drives clamping device 10 to rotate relative to the first link 31, the 4th hydraulic pressure
Cylinder 34 drives the first link 31 to rotate relative to the second link 32 so that have for relative second link 32 of clamping device 10
There is bigger slewing area, it is ensured that the rubbish in refuse bin can be poured out completely.Certainly, in real process, according to refuse bin
The difference of position, is adjusted the length of the first link 31 also by the 5th hydraulic cylinder 313, to ensure clamping machine
Refuse bin can be clamped by structure 10 accurately.
In the present embodiment, activity pressure rack 13 is stretching structure, and i.e. the first extrusome 1312 in adjustable shelf 311 is at the first liquid
Can be close bottom refuse bin under the effect of cylinder pressure 151, the second extrusome 1332 also can be under the effect of the second hydraulic cylinder 152
The bottom of refuse bin is close, the cramping body during dumping rubbish, on the first extrusome 1312 and the second extrusome 1332
1314 are positioned at and are difficult to be broken off behind remote position, refuse bin top, activity pressure rack 13 stress.Additionally, due to activity pressure rack 13
All may make up two parallel support lines, when clamping device 10 clamps refuse bin again, activity pressure rack 13 He with fixing pressure rack 12
Fixing pressure rack 12 has preferable laminating ability to refuse bin, it is ensured that the stability of refuse bin.Due to the first extrusome 1312
Being zigzag configuration with the connector 1313 in the second extrusome 1332, the first extrusome 1312 and second of this structure stretches
Body 1332 has good rigidity, and the first extrusome 1312 and the second extrusome 1332 stress can locally deform time bigger,
External force can restore to the original state again after removing so that the first extrusome 1312 and the second extrusome 1332 are difficult to be broken off.
In practical operation, when clamping device 10 is when clamping not centre position at refuse bin, refuse bin present position,
In toppling process, the pressure that the first extrusome 1312 and the second extrusome 1332 are applied by refuse bin by difference, both stress
Bigger is easily deformed, and after deformation, refuse bin will tilt to a side, and the first extrusome 1312 and second also can be made time serious to stretch
Bigger being broken off of stress in body 1332.But owing to the first extrusome 1312 and the second extrusome 1332 are respectively by the first hydraulic cylinder
151 and second hydraulic cylinder 152 drive, if there is eccentric phenomena in refuse bin, can be by the first extrusome 1312 and the second extrusome
1332 regulate the position to different depth, thus ensure the balance of refuse bin, it is ensured that the first extrusome 1312 and the second extrusome
The security and stability of 1332.
It should be noted that in the present embodiment, the concrete structure of clamping device 10, weighing device 20 and switching mechanism 30 with
And implementation is preferred version, in other specific embodiments, clamping device 10, weighing device 20 and switching mechanism 30
Structure and implementation can also is that other forms.Additionally, in mechanical arm 100 clamping and toppling process, the refuse bin of indication
Weight refer to the summation of the weight of refuse bin self and the weight of the rubbish in refuse bin.
Embodiment 2
As shown in figure 12, the embodiment of the present invention provides a kind of rubbish van 200, including car body 201, compartment the 202, the 6th
Hydraulic cylinder 203, the mechanical arm 100 controlled in device and above-described embodiment.
Wherein, compartment 202 is hollow structure, and top, compartment 202 has pour spout 2021, and compartment 202 is arranged on car body 201
Rear side.
As shown in figure 13, the first horizontal part 3211 in mechanical arm 100 and the second horizontal part 3221 junction and car body 201
Being rotationally connected, car body 201 is provided with arc guide rail 2011, the first vertical portion 3212 and the second vertical portion in mechanical arm 100
3222 are provided with slide block 2012, and slide block 2012 can slide along arc guide rail 2011, the cylinder body of the 6th hydraulic cylinder 203 and car body 201
Hinged, the piston rod of the 6th hydraulic cylinder 203 is hinged with the first horizontal part 3211 of mechanical arm 100.Work at the 6th hydraulic cylinder 203
Can rotate along arc guide rail 2011 relative to car body 201 by lower mechanical arm 100 entirety, mechanical arm 100 rotates plane and the folder at place
Hold mechanism 10 and rotate the plane at place vertically relative to switching mechanism 30, so that the clamping device 10 in machinery has bigger activity
Scope.Mechanical arm 100 is in rotation process, and arc guide rail 2011 can ensure that it has preferable stability.
In the present embodiment, the pressure transducer of the weighing device 20 in mechanical arm 100 electrically connects with controlling device, controls dress
Put the first driving means 14 action that can control in mechanical arm 100.When mechanical arm 100 is mentioned refuse bin and weighs it,
Transmission is controlled device by the weight signal that pressure transducer is sensed, and controls device and compares this weight signal, if should
Weight signal exceedes preset value, controls device and will control the first driving means 14 action, makes clamping device 10 be unclamped by refuse bin,
Ensure the safety of mechanical arm 100, it is ensured that the normal service life of rubbish van 200.Certainly, weighed not less than presetting
Value, mechanical arm 100 normally works, and completes the clamping of mechanical arm 100 and topples over action, and the rubbish in refuse bin is from compartment the most at last
The pour spout 2021 at 202 tops is poured onto in compartment 202.
Remaining structure of the present embodiment is same as in Example 1, does not repeats them here.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For Yuan, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a mechanical arm, it is characterised in that include clamping device, switching mechanism and weighing device；
Described clamping device is connected with described switching mechanism, and described switching mechanism can drive described clamping device to rotate, described
Clamping device is used for clamping refuse bin；
Described clamping device includes frame, the first driving means, is positioned at the fixing pressure rack inside described refuse bin and is positioned at described
Activity pressure rack outside refuse bin, described fixing pressure rack is fixing with described frame to be connected, and described activity pressure rack turns with described frame
Being dynamically connected, described first driving means is used for driving described activity pressure rack to rotate and making described activity pressure rack closer or far from described
Fixing pressure rack；
Described weighing device is located at described activity pressure rack, when refuse bin described in described gripper mechanism grips and at described switching mechanism
When rotating under effect, described refuse bin is inconsistent with described weighing device.
Mechanical arm the most according to claim 1, it is characterised in that described weighing device includes pressure transducer and triggering
Block, pressure transducer is fixing with described activity pressure rack to be connected, and described triggering block is slidably connected with described activity pressure rack, when described rubbish
When rubbish case is conflicted with described triggering block, described triggering block the most described activity pressure rack can be slided and connect with described pressure transducer
Touch.
Mechanical arm the most according to claim 2, it is characterised in that described activity pressure rack includes the first connector, the second company
Fitting and the 3rd connector, described first connector is parallel to described 3rd connector, described first connector and the described 3rd
Connector is connected by described second connector；
Described pressure transducer is located on described 3rd connector, and described first connector is near the side of described 3rd connector
Being provided with the first strip through-hole, described 3rd connector is provided with the second strip through-hole near the side of described first connector, described
Triggering block is respectively arranged at two ends with the first holding section and the second holding section, and described first holding section is stuck in described first strip through-hole
In, described second holding section is stuck in described second strip through-hole.
Mechanical arm the most according to claim 3, it is characterised in that described first connector includes the first fixed body and first
Extrusome, described first extrusome is slidably connected with described first fixed body, described 3rd connector include the second fixed body and
Second extrusome, described second extrusome is slidably connected with described second fixed body, and described first fixed body is solid with described second
Determine body to be connected by described second connector；
Described clamping device also includes that the second driving means, described second driving means include the first hydraulic cylinder and the second hydraulic pressure
Cylinder, described first hydraulic cylinder is used for driving the most described first fixed body of described first extrusome to slide, described second hydraulic cylinder
For driving the most described second fixed body of described second extrusome to slide.
Mechanical arm the most according to claim 4, it is characterised in that described first extrusome include connector and for institute
Stating the cramping body of refuse bin lateral wall contact, described connector is slidably connected with described first fixed body, and described cramping body is located at
Described connector is away from one end of described first fixed body, and described connector is zigzag configuration.
Mechanical arm the most according to claim 1, it is characterised in that described switching mechanism includes the first link, the second company
Connecing frame, the 3rd hydraulic cylinder and the 4th hydraulic cylinder, described first link one end is connected with described gantry rotation, and described first connects
The other end of frame is rotationally connected with described second link, and described 3rd hydraulic cylinder is used for driving described frame the most described first
Link rotates, and described 4th hydraulic cylinder is used for driving described first link to rotate relative to the second link.
Mechanical arm the most according to claim 6, it is characterised in that described first link include adjustable shelf, fixed mount and
5th hydraulic cylinder, described adjustable shelf is connected with described frame, and described fixed mount is connected with described second link, described adjustable shelf
Being slidably connected with described fixed mount, described 5th hydraulic cylinder is used for driving the most described fixed mount of described adjustable shelf to slide.
8. a rubbish van, it is characterised in that include car body, compartment, the 6th hydraulic cylinder and any one of claim 1-7 institute
The mechanical arm stated, described compartment is located on described car body, and described car body top is provided with pour spout, the tipper in described mechanical arm
Structure is rotationally connected with described car body, and described 6th hydraulic cylinder is used for driving described mechanical arm to rotate relative to described car body, described machine
Switching mechanism in mechanical arm drives clamping device rotation that described clamping device can be made closer or far from described pour spout, described machine
The plane that mechanical arm rotates place is vertical with the plane that described clamping device rotates place.
Rubbish van the most according to claim 8, it is characterised in that described car body is provided with arc guide rail, described in turn over
Rotation mechanism is provided with slide block, and described slide block is slidably connected with described arc guide rail.
Rubbish van the most according to claim 8, it is characterised in that described rubbish van also includes controlling device,
Weighing device in described mechanical arm electrically connects with described control device, and described control device is for controlling first in mechanical arm
Driving means action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879744.4A CN106241137B (en) | 2016-09-30 | 2016-09-30 | A kind of mechanical arm and rubbish van |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610879744.4A CN106241137B (en) | 2016-09-30 | 2016-09-30 | A kind of mechanical arm and rubbish van |
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| CN106241137B CN106241137B (en) | 2018-06-01 |
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| CN108974729A (en) * | 2018-07-20 | 2018-12-11 | 湖南瑭桥科技发展有限公司 | A kind of automatic lifting clamp arm of vertically folded dustbin |
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| CN106241137B (en) | 2018-06-01 |
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