CN106241137B - A kind of mechanical arm and rubbish van - Google Patents
A kind of mechanical arm and rubbish van Download PDFInfo
- Publication number
- CN106241137B CN106241137B CN201610879744.4A CN201610879744A CN106241137B CN 106241137 B CN106241137 B CN 106241137B CN 201610879744 A CN201610879744 A CN 201610879744A CN 106241137 B CN106241137 B CN 106241137B
- Authority
- CN
- China
- Prior art keywords
- connector
- rack
- dustbin
- mechanical arm
- pressure rack
- 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.)
- Active
Links
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
-
- 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
-
- 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 present invention provides a kind of mechanical arm and rubbish vans, 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 to clamp dustbin.Clamping device includes rack, first driving means, fixed pressure rack and activity pressure rack, and fixed pressure rack is fixedly connected with rack, and activity pressure rack is connected with gantry rotation, and first driving means are used to that activity pressure rack to be driven to rotate and make activity pressure rack closer or far from fixed pressure rack.Weighing device is arranged on activity pressure rack, and when gripper mechanism grips dustbin and when being rotated under switching mechanism acts on, dustbin is inconsistent with weighing device.In to dustbin toppling process, weighing device can measure the weight of dustbin, and mechanical arm is avoided to overload and be destroyed.Include 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
With the continuous propulsion of urbanization process, more and more people concentrate to city, into cell set, decorating house
People is also more, generates substantial amounts of building waste.The continuous improvement of simultaneous people’s lives level, house refuse are also more next
More, this results in the rubbish in dustbin increasingly heavier.
Toppling over for the rubbish in bulky refuse case is generally completed using rubbish van at present, and rubbish van is generally logical
Mechanical arm is crossed the action dumped rubbish is clamped and completed to dustbin.Inventor has found, in practice, dustbin
In rubbish all far beyond the specified value of dustbin carrying, the mechanical arm of rubbish van is easy in toppling process is completed
It is damaged, most directly affects the service life of rubbish van at last.
The content of the invention
It is an object of the invention to provide a kind of mechanical arms, it is intended in providing a kind of mechanical arm with function of weighing, keep away
Exempt from mechanical arm overload and be damaged.
It is an object of the invention to provide a kind of rubbish vans, it is intended to turn in providing a kind of rubbish with function of weighing
Vehicle is transported, ensures its normal service life.
What the present invention was realized in：
Based on above-mentioned first purpose, the present invention provides a kind of mechanical arm, including clamping device, switching mechanism and dress of weighing
It puts.
Clamping device is connected with switching mechanism, and switching mechanism can drive clamping device to rotate, and clamping device is used to clamp
Dustbin.
Clamping device includes rack, first driving means, fixation pressure rack on the inside of dustbin and outside dustbin
The activity pressure rack of side, fixed pressure rack are fixedly connected with rack, and activity pressure rack is connected with gantry rotation, and first driving means are used to drive
Dynamic activity pressure rack rotates and makes activity pressure rack closer or far from fixed pressure rack.
Weighing device is arranged on activity pressure rack, when gripper mechanism grips dustbin and when being rotated under switching mechanism acts on, rubbish
Rubbish case and weighing device are inconsistent.
Further, weighing device includes pressure sensor and triggering block, and pressure sensor is fixedly connected with activity pressure rack,
Triggering block is slidably connected with activity pressure rack, and when dustbin and triggering block conflict, triggering block can be slided simultaneously with respect to activity pressure rack
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
In the 3rd connector, the first connector is connected with the 3rd connector by the second connector.
Pressure sensor is arranged on the 3rd connector, and the first connector is equipped with the first bar shaped close to the one side of the 3rd connector
Through hole, the 3rd connector are equipped with the second strip through-hole close to the one side of the first connector, and triggering block both ends are respectively equipped with the first card
Portion and the second holding section are held, 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
It being slidably connected, the 3rd connector includes the second fixed body and the second extrusome, and the second extrusome is slidably connected with the second fixed body,
First fixed body is connected with the second fixed body by the second connector.
Clamping device further includes the second driving device, and the second driving device includes first hydraulic cylinder and second hydraulic cylinder, the
For one hydraulic cylinder for the first extrusome to be driven to be slided with respect to the first fixed body, second hydraulic cylinder is opposite for driving the second extrusome
Second fixed body slides.
Further, the first extrusome includes connector and the cramping body for being contacted with dustbin lateral wall, connector
It is slidably connected with the first fixed body, cramping body is arranged on the one end of connector 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 of the first link and the second link are rotatablely connected, the 3rd hydraulic cylinder
For rack to be driven to be rotated relative to the first link, the 4th hydraulic cylinder turns for the first link of driving with respect to the second link
It is dynamic.
Further, the first link is connected including adjustable shelf, fixed frame and the 5th hydraulic cylinder, adjustable shelf with rack, Gu
Determine frame with the second link to be connected, adjustable shelf is slidably connected with fixed frame, and the 5th hydraulic cylinder is used to that adjustable shelf to be driven 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 are arranged on car body, and car body top is equipped with pour spout, and the switching mechanism in mechanical arm is rotated with car body to be connected
It connects, for the 6th hydraulic cylinder for mechanical arm to be driven to be rotated relative to car body, the switching mechanism in mechanical arm drives clamping device to rotate energy
Enough make clamping device closer or far from pour spout, the plane where mechanical arm rotates is hung down with the plane where clamping device rotation
Directly.
Further, car body is equipped with arc guide rail, and switching mechanism is equipped with sliding block, and sliding block is slided with arc guide rail to be connected
It connects.
Further, rubbish van further includes control device, and the weighing device in mechanical arm is electrically connected with control device,
Control device is used for the first driving means action in control machinery arm.
The beneficial effects of the invention are as follows：
The present invention provides a kind of mechanical arm, and the effect of clamping device is clamping dustbin, and the effect of switching mechanism is to rubbish
Rubbish in rubbish case is toppled over.And clamping device is equipped with weighing device, when dustbin is clamped mechanism clamping and is overturning
Under mechanism effect and when ground departs from, dustbin is contacted with weighing device at this time, and weighing device will measure dustbin entirety
Weight avoids mechanical arm from overloading and be damaged.
The present invention provides a kind of rubbish van, including above-mentioned mechanical arm, has function of weighing, it is ensured that it normally makes
Use the service life.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structure diagram for the mechanical arm that the embodiment of the present invention 1 provides；
Fig. 2 is the structure diagram of clamping device shown in FIG. 1；
Fig. 3 is the structure diagram of rack shown in Fig. 2；
Fig. 4 is the structure diagram of fixed pressure rack shown in Fig. 2；
Fig. 5 is the structure diagram of activity pressure rack shown in Fig. 2；
Fig. 6 is the structure diagram of the first extrusome shown in Fig. 5；
Fig. 7 is weighing device shown in Fig. 1 and the connection diagram of activity pressure rack；
Fig. 8 is the structure diagram of triggering block shown in Fig. 7；
Fig. 9 is the structure diagram of switching mechanism shown in FIG. 1；
Figure 10 is the structure diagram of the first link shown in Fig. 9；
Figure 11 is the structure diagram of the second link shown in Fig. 9；
Figure 12 is the operating diagram for the rubbish van that the embodiment of the present invention 2 provides；
Figure 13 is the connection diagram of the mechanical arm and car body shown in Figure 12.
Icon：100- mechanical arms；10- clamping devices；11- racks；111- frame bodies；112- connecting portions；12- fixes pressure rack；
The first pressing plates of 121-；The second pressing plates of 122-；123- connecting plates；13- activity pressure racks；The first connectors of 131-；1311- first is fixed
Body；The first extrusomes of 1312-；1313- connectors；The first bending parts of 13131-；The second bending parts of 13132-；13133- the 3rd is curved
Folding part；1314- cramping bodies；13141- strip grooves；1315- the first sliding grooves；The second connectors of 132-；The 3rd connectors of 133-；
The second fixed bodies of 1331-；The second extrusomes of 1332-；The second sliding slots of 1333-；The first strip through-holes of 134-；The second bar shapeds of 135- are led to
Hole；14- first driving means；The second driving devices of 15-；151- first hydraulic cylinders；152- second hydraulic cylinders；20- weighing devices；
21- pressure sensors；22- triggering blocks；The first holding sections of 221-；The second holding sections of 222-；30- switching mechanisms；31- first is connected
Frame；311- adjustable shelfs；312- fixed frames；The 5th hydraulic cylinders of 313-；The second links of 32-；The first supporting racks of 321-；3211-
One horizontal part；The first vertical portions of 3212-；The second supporting racks of 322-；The second horizontal parts of 3221-；The second vertical portions of 3222-；33-
Three hydraulic cylinders；The 4th hydraulic cylinders of 34-；200- rubbish vans；201- car bodies；2011- arc guide rails；2012- sliding blocks；202- vehicles
Compartment；2021- pour spouts；The 6th hydraulic cylinders of 203-.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can configure to arrange and design with a variety of.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to which explanation, indicating position or position relationship are based on orientation shown in the drawings
Or the position relationship invention product using when the orientation usually put or position relationship or people in the art
The orientation that usually understands of member or position relationship or the invention product using when the orientation usually put or position relationship, only
It is that the present invention must have specifically with the device for describing rather than indicate or imply meaning or element is simplified for ease of description
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " the
Two ", " 3rd " etc. is only used for distinguishing description, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in the present invention is understood with concrete condition.
Embodiment 1
As 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 shown in Fig. 2, clamping device 10 includes rack 11, the fixation pressure rack 12 on the inside of dustbin, positioned at rubbish
Activity pressure rack 13,14 and second driving device 15 of first driving means on the outside of rubbish case, fixed pressure rack 12 is fixed with rack 11 to be connected
It connects, activity pressure rack 13 is rotatablely connected with rack 11, and first driving means 14 are used to that activity pressure rack 13 to be driven to rotate and make movable pressure
Frame 13 is closer or far from fixed pressure rack 12.
In the present embodiment, as shown in figure 3, rack 11 includes frame body 111 and connecting portion 112, connecting portion 112 and frame body 111
It is fixedly connected, connecting portion 112 is set with frame body 111 in angle.
As shown in figure 4, fixed pressure rack 12 is H-shaped structure, fixed pressure rack 12 includes the first pressing plate 121,122 and of the second pressing plate
Connecting plate 123.First pressing plate 121 is fixedly connected parallel to the second pressing plate 122, one end of connecting plate 123 with the first pressing plate 121,
The other end of connecting plate 123 is fixedly connected with the second pressing plate 122.The section of first pressing plate 121 and the second pressing plate 122 is U-shaped.
The fixation pressure rack 12 of this structure has preferable structural stability, and bearing capacity is stronger.
As shown in figure 5, activity pressure rack 13 includes the first connector 131, the second connector 132 and the 3rd connector 133, the
A connection piece 131 passes through the second connector 132 parallel to the 3rd connector 133, the first connector 131 and the 3rd connector 133
Connection.Wherein, the first connector 131 includes the first fixed body 1311 and the first extrusome 1312, the first extrusome 1312 and the
One fixed body 1311 is slidably connected, and the 3rd connector 133 includes the second fixed body 1331 and the second extrusome 1332.Second is flexible
Body 1332 is slidably connected with the second fixed body 1331.
First fixed body 1311 is identical with 1331 structure of the second fixed body, and the section of the two is U-shaped, the first fixed body
1311 form the first sliding groove 1315, and the second fixed body 1331 forms the second sliding slot 1333,1315 and second sliding slot of the first sliding groove
1333 be dovetail groove.The first strip through-hole 134, the length side of the first strip through-hole 134 are offered on first fixed body 1311
To identical with the length direction of the first fixed body 1311, the second strip through-hole 135, Article 2 are offered on the second fixed body 1331
The length direction of shape through hole 135 is identical with the length direction of the second fixed body 1331.
As shown in fig. 6, the first extrusome 1312 includes connector 1313 and the clamping for being contacted with dustbin lateral wall
Body 1314.Connector 1313 is zigzag configuration, including the first bending part 13131, the second bending part 13132 and the 3rd bending part
13133, the first bending part 13131, the second bending part 13132 and the 3rd bending part 13133 are sequentially connected, the first bending part
13131 and the 3rd bending part 13133 be located at different planes, the plane where the first bending part 13131 and the 3rd bending part
Plane where 13133 is parallel.Cramping body 1314 is rectangular parallelepiped structure, and cramping body 1314 is rubber material, and cramping body 1314 has
There is clamping face, clamping face is the plane contacted with dustbin, multiple strip grooves 13141 is offered on clamping face, with increase
Frictional force after being contacted with dustbin.The one side opposite with clamping face of cramping body 1314 is fixed with the 3rd bending part 13133.
Second extrusome 1332 is identical with the structure of the first extrusome 1312, and details are not described herein.
As shown in figure 5, during installation activity pressure rack 13, the both ends of the second connector 132 respectively with the first fixed body 1311 and
Second fixed body 1331 is fixedly connected and makes the first strip through-hole 134 and the second strip through-hole 135 is opposite.First extrusome 1312
The first bending part 13131 be arranged on the first fixed body 1311 the first sliding groove 1315 in, the first extrusome 1312 can first slide
It is slided in slot 1315, since the first sliding groove 1315 is dovetail groove, the first extrusome 1312 can only be along 1311 length of the first fixed body
It slides in direction.Equally, the first bending part 13131 of the second extrusome 1332 is arranged on the second sliding slot 1333 of the second fixed body 1331
Interior, the second extrusome 1332 can only also be slided along the length direction of the second fixed body 1331.First extrusome 1312 and second is stretched
Contracting body 1332 is in sliding process, and in the second bending part 13132 and the second extrusome 1332 in the first extrusome 1312
Two bending parts 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 or non-telescoping structure, i.e. the first connector 131 are overall structure, and the 3rd connects
Fitting 133 is also overall structure.Certainly, in other specific embodiments, the first extrusome 1312 in the first connector 131 with
The second extrusome 1332 slideably, in the 3rd connector 133 of second fixed body 1331 and the cunning of the second fixed body 1331
Dynamic shape can also be realized by other structures, for example, being realized by way of T-slot and trapezoid block cooperation.
In the present embodiment, first driving means 14 are hydraulic cylinder, and first driving means 14 are used to drive 13 turns of activity pressure rack
It is dynamic.Second driving device 15 includes first hydraulic cylinder 151 and second hydraulic cylinder 152, and first hydraulic cylinder 151 is stretched for driving first
Contracting body 1312 is slided with respect to the second fixed body 1331, and second hydraulic cylinder 152 is solid for driving the second extrusome 1332 opposite second
Determine body 1331 to slide.
As shown in Fig. 2, when clamping device 10 assembles, the first pressing plate 121 and the second pressing plate 122 of fixed pressure rack 12 are fixed on
The one end of the frame body 111 of rack 11 away from connecting portion 112 is simultaneously vertical with frame body 111.The cylinder body and frame body of first hydraulic cylinder 151
111 is hinged, and the first fixed body 1311 is fixedly connected with the cylinder body of first hydraulic cylinder 151, the piston rod of first hydraulic cylinder 151 and the
The connector 1313 of one extrusome 1312 is fixedly connected.The cylinder body of second hydraulic cylinder 152 is hinged with frame body 111, the second fixed body
1331 are fixedly connected with the cylinder body of second hydraulic cylinder 152, the connection of the piston rod of second hydraulic cylinder 152 and the second extrusome 1332
Body 1313 is fixedly connected.The cylinder body of hydraulic cylinder (first driving means 14) is hinged with the connecting portion 112 of rack 11, the work of hydraulic cylinder
Stopper rod and the second connector 132 of activity pressure rack 13 are hinged.
In the present embodiment, as shown in fig. 7, weighing device 20 includes pressure sensor 21, triggering block 22 and display, pressure
21 inside of sensor has foil gauge, and triggering block 22 makes foil gauge for triggering foil gauge under being acted in triggering block 22
The pressure value that foil gauge is born can be shown during deformation, in display.
Wherein, as shown in figure 8, triggering block 22 is the rectangular configuration of board material splice, 22 one end of triggering block is equipped with the first clamping
Portion 221, the other end of triggering block 22 are equipped with the second holding section 222, and the first holding section 221 and the second holding section 222 are cylinder
Shape.
As shown in figure 9, switching mechanism 30 includes the first link 31, the second link 32, the 3rd hydraulic cylinder 33 and the 4th
Hydraulic cylinder 34.
As shown in Figure 10, the first link 31 includes adjustable shelf 311,312 and the 5th hydraulic cylinder 313 of fixed frame.Fixed frame
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 frame 312 connects.When the 5th hydraulic cylinder 313 elongates or shortens, the first link 31 will also elongate or shorten therewith.
As shown in figure 11, the second link 32 includes the first supporting rack 321 and the second supporting rack 322.First supporting rack 321
Including 3211 and first vertical portion 3212 of first horizontal portion, one end of one end of first horizontal portion 3211 and the first vertical portion 3212
It is fixedly connected；Second supporting rack 322 includes the second horizontal part 3221 and the second vertical portion 3222, one end of the second horizontal part 3221
It is fixedly connected with one end of the second vertical portion 3222；The one end of first horizontal portion 3211 away from the first vertical portion 3212 and the second water
The one end of flat portion 3221 away from the second vertical portion 3222 is set in angle, 3212 parallel and the second vertical portion of the first vertical portion
3222；The equal length of the length of first horizontal portion 3211 and the second horizontal part 3221, the length of the first vertical portion 3212 and the
The equal length of two vertical portions 3222.Second link 32 of this structure has preferable stability and fastness.
As shown in figure 9, when switching mechanism 30 assembles, the one end of fixed frame 312 away from adjustable shelf 311 is arranged on the first vertical portion
3212 and second are rotatablely connected between vertical portion 3222 and with the first vertical portion 3212 and the second vertical portion 3222.4th hydraulic cylinder
34 cylinder body is hinged with 3211 and second horizontal part of first horizontal portion, 3221 junction, the piston rod of the 4th hydraulic cylinder 34 and fixation
Frame 312 is hinged, and when the 4th hydraulic cylinder 34 elongates or shortens, the first link 31 is rotated 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 shown in fig. 7, the pressure sensor 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 higher than the first fixed body 1311 away from first
One end of contracting body 1312.After 22 upper limb stress of triggering block, triggering block 22 will be along the first strip through-hole 134 and the second strip through-hole
135 slide and are contacted with the sensing chip in pressure sensor.Track determines in 22 sliding process of triggering block, can accurately with sense
Piece is answered to contact.As shown in Figure 1, the one end of adjustable shelf 311 away from fixed frame 312 in switching mechanism 30 in clamping device 10
One end rotation connection of the frame body 111 away from fixed pressure rack 12, the piston rod and connecting portion 112 of the 3rd hydraulic cylinder 33 are away from frame body
111 one end is hinged.The axis that the axis and the first link 31 that frame body 111 is rotated around adjustable shelf 311 are rotated around the second link 32
It is parallel.
When mechanical arm 100 works, fixed pressure rack 12 is located on the inside of dustbin, and activity pressure rack 13 is located at the outside of dustbin,
By first hydraulic cylinder 151 and second hydraulic cylinder 152 respectively to the position of the first extrusome 1312 and the second extrusome 1332 into
Row is adjusted, and the bottom for making 1314 phase dustbin of cramping body in the first extrusome 1312 and the second extrusome 1332 is close, logical
Crossing first driving means 14 makes activity pressure rack 13 is whole to rotate relative to frame body 111 and close to fixed pressure rack 12, complete to dustbin
First clamping.After clamping device 10 clamps dustbin for the first time, the top edge of dustbin is just stuck in weighing device 20
In triggering block 22, the gravity of dustbin is all undertaken by weighing device 20, and activity pressure rack 13 and fixation in clamping device 10
Pressure rack 12 does not generate clamping force to dustbin, at this point, activity pressure rack 13 and fixed pressure rack 12 play position-limiting action, avoids rubbish
Case departs from triggering block 22.Hereafter, the 3rd hydraulic cylinder 33 and the 4th hydraulic cylinder 34 start to act, and clamping device 10 will drive dustbin
It is rotated up together, when dustbin just departs from ground, the weight of dustbin uniformly passes to pressure by triggering block 22
Force snesor, and pass through the weight of display reading dustbin.When the weight measured is more than the bearing value of mechanical arm 100, lead to
Control first driving means 14 are crossed, clamping device 10 is made to unclamp dustbin, so as to ensure the security of mechanical arm 100, are avoided
It is destroyed due to overload；When bearing value of the weight measured not less than mechanical arm 100, by controlling first driving means 14,
Clamping device 10 is made to clamp dustbin again, at this point, between activity pressure rack 13 and fixed pressure rack 12 huge pressure will be generated
Power, the weight of dustbin are mainly undertaken by activity pressure rack 13 and fixed pressure rack 12, avoid weighing device 20 because be subject to for a long time compared with
Big pressure and destroyed.After clamping device 10 clamps dustbin again, the 3rd hydraulic cylinder 33 and the 4th hydraulic cylinder 34 continue work
Make, clamping device 10 and dustbin is driven to continue to overturn, is finally completed and topples over action.
Clamping device 10 in the first clamping process of dustbin, the effect of weighing device 20 is to weigh the weight of dustbin,
Triggering block 22 in weighing device 20 can by the weight of dustbin and pass to pressure sensor, ensure the numerical value measured
It is more accurate.Clamping device 10 is in dustbin again clamping process, the triggering block 22 in weighing device 20 has certain hold
The small part weight of loading capability, i.e. dustbin is undertaken by triggering block 22.
In toppling process, the 3rd hydraulic cylinder 33 driving clamping device 10 is rotated relative to the first link 31, the 4th hydraulic pressure
Cylinder 34 drives the first link 31 to be rotated relative to the second link 32 so that has for opposite second link 32 of clamping device 10
There is the slewing area of bigger, ensure that the rubbish in dustbin can be poured out completely.Certainly, in real process, according to dustbin
The difference of position can also be adjusted the length of the first link 31 by the 5th hydraulic cylinder 313, to ensure clamping machine
Structure 10 can accurately clamp dustbin.
In the present embodiment, activity pressure rack 13 is stretching structure, i.e., the first extrusome 1312 in adjustable shelf 311 is in the first liquid
Can be close to dustbin bottom under the action of cylinder pressure 151, the second extrusome 1332 also can be under the action of second hydraulic cylinder 152
The bottom of dustbin is close, during dumping rubbish, the cramping body on the first extrusome 1312 and the second extrusome 1332
1314 are located at away from remote position at the top of dustbin, are not easy to be broken off after 13 stress of activity pressure rack.Further, since activity pressure rack 13
With the fixed pressure rack 12 support line that may make up two parallel, when clamping device 10 clamps dustbin again, 13 He of activity pressure rack
Fixed pressure rack 12 has dustbin preferable fitting ability, it is ensured that the stability of dustbin.Due to the first extrusome 1312
It is zigzag configuration with the connector 1313 in the second extrusome 1332, the first extrusome 1312 and second of this structure is flexible
Body 1332 has well that rigidity, when the first extrusome 1312 and larger 1332 stress of the second extrusome can locally deform,
It after external force removes and can restore to the original state so that the first extrusome 1312 and the second extrusome 1332 are not easy to be broken off.
In practical operation, when clamping device 10 is when clamping the centre position of dustbin present position not in dustbin,
In toppling process, dustbin is to the pressure that the first extrusome 1312 and the second extrusome 1332 apply by difference, the two stress
Larger is easily deformed, and dustbin will be tilted to a side after deformation, can also make the first extrusome 1312 and second flexible when serious
Stress is larger in body 1332 is broken off.But since the first extrusome 1312 and the second extrusome 1332 are respectively by first hydraulic cylinder
151 and second hydraulic cylinder 152 drive, can be by the first extrusome 1312 and the second extrusome if eccentric phenomena occurs in dustbin
1332 are adjusted to the position of different depth, so as to ensure the balance of dustbin, ensure the first extrusome 1312 and the second extrusome
1332 security and stability.
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 realization method is preferred embodiment, and in other specific embodiments, clamping device 10, weighing device 20 and switching mechanism 30
Structure and realization method can also be other forms.In addition, in the clamping of mechanical arm 100 and toppling process, signified dustbin
Weight refer to rubbish in the weight and dustbin of dustbin itself weight summation.
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
Mechanical arm 100 in hydraulic cylinder 203, control device and above-described embodiment.
Wherein, compartment 202 is hollow structure, and 202 top of compartment has pour spout 2021, and compartment 202 is mounted on car body 201
Rear side.
As shown in figure 13,3211 and second horizontal part of first horizontal portion, 3221 junction in mechanical arm 100 and car body 201
Rotation connection, car body 201 are equipped with arc guide rail 2011, the first vertical portion 3212 and the second vertical portion in mechanical arm 100
3222 are equipped with sliding block 2012, and sliding block 2012 can be slided along arc guide rail 2011, cylinder body and the car body 201 of the 6th hydraulic cylinder 203
Hinged, the piston rod of the 6th hydraulic cylinder 203 is hinged with the first horizontal portion 3211 of mechanical arm 100.In the work of the 6th hydraulic cylinder 203
It can be rotated with lower mechanical arm 100 is whole relative to car body 201 along arc guide rail 2011, mechanical arm 100 rotates the plane and folder at place
It is vertical to hold plane of the mechanism 10 relative to the rotation of switching mechanism 30 place, so that the clamping device 10 in machinery has the activity of bigger
Scope.For mechanical arm 100 in rotation process, arc guide rail 2011 can ensure it with preferable stability.
In the present embodiment, the pressure sensor of the weighing device 20 in mechanical arm 100 is electrically connected with control device, control dress
The first driving means 14 put in controllable mechanical arm 100 act.When mechanical arm 100 lifts dustbin and weighs to it,
The weight signal that pressure sensor is sensed will transfer a control device, and the weight signal is compared in control device, if should
Weight signal is more than preset value, and control device will control first driving means 14 to act, clamping device 10 is made to unclamp dustbin,
Ensure the security of mechanical arm 100, ensure the normal service life of rubbish van 200.Certainly, weigh not less than default
Value, mechanical arm 100 works normally, and completes the clamping of mechanical arm 100 and topples over action, most at last the rubbish in dustbin from compartment
The pour spout 2021 at 202 tops is poured onto in compartment 202.
Remaining structure of the present embodiment is same as Example 1, and details are not described herein.
It these are only the preferred embodiment of the present invention, be not intended to limit the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of mechanical arm, which is characterized in that including clamping device, switching mechanism and weighing device；
The clamping device is connected with the switching mechanism, and the switching mechanism can drive the clamping device to rotate, described
Clamping device is used to clamp dustbin；
The clamping device includes rack, first driving means, the fixation pressure rack on the inside of the dustbin and positioned at described
Activity pressure rack on the outside of dustbin, the fixed pressure rack are fixedly connected with the rack, and the activity pressure rack turns with the rack
Dynamic connection, the first driving means are used to that the activity pressure rack to be driven to rotate and make the activity pressure rack closer or far from described
Fixed pressure rack；
The weighing device is arranged on the activity pressure rack, when dustbin described in the gripper mechanism grips and in the switching mechanism
When being rotated under effect, the dustbin and the weighing device are inconsistent；
The switching mechanism includes the first link, the second link, the 3rd hydraulic cylinder and the 4th hydraulic cylinder, first connection
Frame one end is connected with the gantry rotation, and the other end of first link is rotatablely connected with second link, described
For 3rd hydraulic cylinder for the rack to be driven to be rotated relative to first link, the 4th hydraulic cylinder is used to driving described the
One link is rotated relative to the second link.
2. mechanical arm according to claim 1, which is characterized in that the weighing device includes pressure sensor and triggering
Block, pressure sensor are fixedly connected with the activity pressure rack, and the triggering block is slidably connected with the activity pressure rack, when the rubbish
When rubbish case and the triggering block contradict, the triggering block can relatively described activity pressure rack slide and connect with the pressure sensor
It touches.
3. mechanical arm according to claim 2, which is characterized in that the activity pressure rack includes the first connector, the second company
Fitting and the 3rd connector, first connector is parallel to the 3rd connector, first connector and the described 3rd
Connector is connected by second connector；
The pressure sensor is arranged on the 3rd connector, and first connector is close to the one side of the 3rd connector
Equipped with the first strip through-hole, the 3rd connector is equipped with the second strip through-hole close to the one side of first connector, described
Triggering block both ends are respectively equipped with the first holding section and the second holding section, and first holding section is stuck in first strip through-hole
Interior, second holding section is stuck in second strip through-hole.
4. mechanical arm according to claim 3, which is characterized in that first connector includes the first fixed body and first
Extrusome, first extrusome are slidably connected with first fixed body, the 3rd connector include the second fixed body and
Second extrusome, second extrusome are slidably connected with second fixed body, and first fixed body is solid with described second
Determine body to connect by second connector；
The clamping device further includes the second driving device, and second driving device includes first hydraulic cylinder and the second hydraulic pressure
Cylinder, the first hydraulic cylinder is for driving relatively described first fixed body of first extrusome to slide, the second hydraulic cylinder
For relatively described second fixed body of second extrusome to be driven to slide.
5. mechanical arm according to claim 4, which is characterized in that first extrusome include connector and for institute
The cramping body of dustbin lateral wall contact is stated, the connector is slidably connected with first fixed body, and the cramping body is arranged on
The one end of the connector away from first fixed body, the connector are zigzag configuration.
6. mechanical arm according to claim 1, which is characterized in that first link include adjustable shelf, fixed frame and
5th hydraulic cylinder, the adjustable shelf are connected with the rack, and the fixed frame is connected with second link, the adjustable shelf
It is slidably connected with the fixed frame, the 5th hydraulic cylinder is used to that the relatively described fixed frame of the adjustable shelf to be driven to slide.
7. a kind of rubbish van, which is characterized in that including any one of car body, compartment, the 6th hydraulic cylinder and claim 1-6 institute
The mechanical arm stated, the compartment are arranged on the car body, and the car body top is equipped with pour spout, the tipper in the mechanical arm
Structure is rotatablely connected with the car body, and the 6th hydraulic cylinder is for driving the mechanical arm to be rotated relative to the car body, the machine
Switching mechanism in tool arm drives clamping device rotation that can make the clamping device closer or far from the pour spout, the machine
Plane where tool arm rotates is vertical with the plane where clamping device rotation.
8. rubbish van according to claim 7, which is characterized in that the car body is equipped with arc guide rail, described to turn over
Rotation mechanism is equipped with sliding block, and the sliding block is slidably connected with the arc guide rail.
9. rubbish van according to claim 7, which is characterized in that the rubbish van further includes control device,
Weighing device in the mechanical arm is electrically connected with the control device, and the control device is used for first in control machinery arm
Driving device acts.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106241137A CN106241137A (en) | 2016-12-21 |
| CN106241137B true CN106241137B (en) | 2018-06-01 |
Family
ID=57611362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610879744.4A Active CN106241137B (en) | 2016-09-30 | 2016-09-30 | A kind of mechanical arm and rubbish van |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106241137B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107910163A (en) * | 2017-11-10 | 2018-04-13 | 国网浙江省电力公司宁波供电公司 | A kind of transformer breather silica gel more changing device |
| CN108527427A (en) * | 2018-04-25 | 2018-09-14 | 河南工程学院 | A kind of mechanical automation grabbing device |
| CN108584251A (en) * | 2018-04-28 | 2018-09-28 | 北京时代凌宇科技股份有限公司 | A kind of dustbin lifting jack and garbage truck |
| CN111942781B (en) * | 2020-08-25 | 2023-07-14 | 杰维美亚机电设备（淮北）有限公司 | Dustbin fixing mechanism for garbage transport vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2415180A (en) * | 2003-03-17 | 2005-12-21 | Del Equipment | Lifting mechanism for lifting a receptacle |
| CN203612458U (en) * | 2013-12-20 | 2014-05-28 | 劲旅环境科技有限公司 | Loading system of dustbin |
| CN104309970A (en) * | 2014-09-12 | 2015-01-28 | 中汽商用汽车有限公司(杭州) | Novel self-loading and-unloading mechanism |
| CN204223598U (en) * | 2014-10-31 | 2015-03-25 | 湖南云马华盛汽车科技有限公司 | A kind of waste-skip feed mechanism and waste-skip |
| CN204751179U (en) * | 2015-06-19 | 2015-11-11 | 山东巨环专用汽车有限公司 | Promote weighing system from loading and unloading formula garbage truck |
| CN105600242A (en) * | 2015-12-25 | 2016-05-25 | 湖南大学科技园有限公司 | Garbage-truck intelligent mechanical arm |
| CN105883275A (en) * | 2015-12-25 | 2016-08-24 | 湖南大学科技园有限公司 | Intelligent self-loading and unloading-type garbage compression truck |
-
2016
- 2016-09-30 CN CN201610879744.4A patent/CN106241137B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2415180A (en) * | 2003-03-17 | 2005-12-21 | Del Equipment | Lifting mechanism for lifting a receptacle |
| CN203612458U (en) * | 2013-12-20 | 2014-05-28 | 劲旅环境科技有限公司 | Loading system of dustbin |
| CN104309970A (en) * | 2014-09-12 | 2015-01-28 | 中汽商用汽车有限公司(杭州) | Novel self-loading and-unloading mechanism |
| CN204223598U (en) * | 2014-10-31 | 2015-03-25 | 湖南云马华盛汽车科技有限公司 | A kind of waste-skip feed mechanism and waste-skip |
| CN204751179U (en) * | 2015-06-19 | 2015-11-11 | 山东巨环专用汽车有限公司 | Promote weighing system from loading and unloading formula garbage truck |
| CN105600242A (en) * | 2015-12-25 | 2016-05-25 | 湖南大学科技园有限公司 | Garbage-truck intelligent mechanical arm |
| CN105883275A (en) * | 2015-12-25 | 2016-08-24 | 湖南大学科技园有限公司 | Intelligent self-loading and unloading-type garbage compression truck |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106241137A (en) | 2016-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106241137B (en) | A kind of mechanical arm and rubbish van | |
| CN105600242B (en) | Garbage truck puma manipulator | |
| CA2419359A1 (en) | Measurement system and method for assessing lift vehicle stability | |
| CN108426720A (en) | A kind of automobile gauge of high smoothness | |
| CN203310611U (en) | Luggage wheel quality test machine | |
| CN110206499A (en) | One kind changing lever apparatus flexible retainer and drilling rod automatic centering system and method | |
| CN204286971U (en) | The charger of a kind of concrete sample corrosion test under effect of stress | |
| CN211103993U (en) | Multi-group parallel arm swinging manipulator | |
| CN111558951B (en) | Soft packet of battery manipulator | |
| CN208684294U (en) | The dynamic inspection lifting arm system of one kind | |
| CN208731834U (en) | Sled switching device | |
| CN206343197U (en) | A kind of experiment lifting platform | |
| CN214066801U (en) | Hardness detection device for integrated circuit board | |
| CN210893939U (en) | Tester for detecting tensile force of plastic film | |
| CN210081537U (en) | Signboard turnover device | |
| CN208530929U (en) | Fashioned iron overturns the fashioned iron packaging facilities to buckle device and containing the device | |
| CN206088019U (en) | Fixture and arm | |
| CN209272802U (en) | Rotate horizontally the verticallymovable clamping jaw of switching flexible welding workbench | |
| CN211496643U (en) | Crane hoisting part load capacity detection device | |
| CN108726083A (en) | Sled switching device | |
| CN109975103B (en) | Children game bed frame testing device | |
| CN215807884U (en) | Adjustable fixing frame for storing gas cylinders | |
| CN201034754Y (en) | Collapsible mobile type precast pile mechanical properties detecting station | |
| CN216050657U (en) | Detection apparatus for packing wine box | |
| CN219348507U (en) | Ampoule bottle detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221027 Address after: Room 409, Building South, East District, Jiayuan Square, Tinghu District, Yancheng City, Jiangsu Province, 224000 Patentee after: Yancheng xinghezi Technology Co.,Ltd. Address before: No. 1166, Shiji Avenue, Yancheng City, Jiangsu Province, 224000 Patentee before: YANCHENG INSTITUTE OF TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230103 Address after: 253000 in Leling Hi tech Industrial Park, Dezhou, Shandong Patentee after: DEZHOU DAOHANG MACHINERY CO.,LTD. Address before: Room 409, Building South, East District, Jiayuan Square, Tinghu District, Yancheng City, Jiangsu Province, 224000 Patentee before: Yancheng xinghezi Technology Co.,Ltd. |