CN106881695B - Rotary type hand-grab storehouse - Google Patents
Rotary type hand-grab storehouse Download PDFInfo
- Publication number
- CN106881695B CN106881695B CN201510947211.0A CN201510947211A CN106881695B CN 106881695 B CN106881695 B CN 106881695B CN 201510947211 A CN201510947211 A CN 201510947211A CN 106881695 B CN106881695 B CN 106881695B
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- CN
- China
- Prior art keywords
- pin shaft
- fixed
- limiting part
- sprocket
- rotating table
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Helmets And Other Head Coverings (AREA)
- Warehouses Or Storage Devices (AREA)
- Handcart (AREA)
Abstract
The invention relates to a rotary type gripper warehouse, which comprises a supporting frame (1), a fixed table (2), a rotating table (3), gripper supporting frames (4) and power components, wherein the fixed table (2) is fixed above the supporting frame (1), the rotating table (3) is arranged above the fixed table (2), the power components are connected with the rotating table (3) and drive the rotating table (3) to rotate on the fixed table (2), and the gripper supporting frames (4) are provided with at least two and are fixed on the rotating table (3). Compared with the prior art, the invention has the advantages of simple structure, wide application range, safety, reliability, strong universality and the like.
Description
Technical Field
The invention relates to a hand grab warehouse, in particular to a rotary hand grab warehouse.
Background
At present, a palletizing robot is an industrial robot used for executing tasks such as grabbing, carrying, palletizing, unstacking and the like of a large number of workpieces and packages in the industrial production process, and is a high-new electromechanical product integrating machine electronics, information, intelligent technology and computer science subjects. Along with the continuous development of the robot industry in China, the technical and research fields reach a certain level, and the technical level of the palletizing robot is rapidly developed. At present, the multifunctional grabbing of the grippers in the stacking system of many stacking robot manufacturing enterprises is difficult to achieve, so that the grippers must be replaced if the types of products are replaced in the stacking process, the replacement of the grippers is complicated, and the grippers occupy space for on-site storage. Some hand grip storage devices are also applied in the market, but most of the hand grip storage devices are stored by single hand grip, the occupied space is large, the hand grip replacement is troublesome, and the storage general type is single.
Disclosure of Invention
The object of the present invention is to overcome the above-mentioned drawbacks of the prior art by providing a rotary gripper magazine.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a rotary type tongs storehouse, includes braced frame, fixed station, rolling table, tongs support frame and power component, the fixed station fix in braced frame top, the rolling table set up in the fixed station top, power component connect the rolling table and drive the rolling table and rotate on the fixed station, the tongs support frame be equipped with at least two and be fixed in the rolling table.
The rotary table is characterized in that a plurality of supporting wheels are uniformly arranged on the lower surface of the rotary table along the periphery of the rotary table, the supporting wheels are in contact with the fixed table, when the rotary table rotates, the supporting wheels roll along the surface of the fixed table, the plurality of supporting wheels are arranged to play a role in supporting the rotary table, and meanwhile, when the rotary table rotates, the supporting wheels can assist in driving the rotary table to rotate.
The power component comprises a first sprocket, a second sprocket, a third sprocket, a hand wheel, a transmission shaft and a speed reducer, wherein the first sprocket, the second sprocket and the third sprocket are meshed through a chain, the first sprocket, the second sprocket and the speed reducer are distributed along the vertical direction and fixed on a supporting frame, the third sprocket is parallel to the second sprocket and fixed on the supporting frame, the third sprocket is connected with the speed reducer through the transmission shaft, a main shaft of the speed reducer penetrates through the middle of a fixed table and is fixedly connected with the rotating table, power transmission is achieved through a sprocket transmission mode, the structure is simple, implementation is easy, and the cost is low.
The hand wheel is also connected with a driving motor, and the hand wheel is driven by the driving motor to automatically rotate, so that manual operation is reduced, and the automation level is improved.
The gripper warehouse further comprises a limiting part, the limiting part comprises an upper limiting part and a lower limiting part, the upper limiting part is provided with one limiting part and is fixed on the edge of the rotating table, the lower limiting part is provided with at least one limiting part and is fixed at the set position of the edge of the fixed table, the rotating table rotates and drives the upper limiting part to move to the upper side of the lower limiting part, the upper limiting part is clamped with the lower limiting part and is limited and fixed, the accurate positioning of the rotating angle of the rotating table is realized through a mechanical limiting device, the reliability is high, and the gripper warehouse is easy to realize.
The upper limiting component comprises an upper pin shaft fixing seat, an upper pin shaft sleeve, an upper spring, an upper pin shaft and balls, wherein the upper pin shaft sleeve is arranged at the edge of the rotating table along the vertical direction and is fixed through the upper pin shaft fixing seat, the upper spring and the upper pin shaft are sleeved into the upper pin shaft sleeve in sequence, the upper end of the upper spring is fixedly connected with the inner wall of the upper pin shaft, the lower end of the upper spring is fixedly connected with the upper end of the upper pin shaft, and the lower end of the upper pin shaft is connected with the balls.
The lower limiting part comprises a limiting groove which is arranged on the fixed table and matched with the ball, the rotating table rotates, the ball moves on the fixed table, and when the ball moves to a set position, the ball falls into the limiting groove to realize positioning.
The hand grip warehouse also comprises an unlocking component, wherein the unlocking component is arranged right below the limiting groove, the unlocking component comprises a lower pin shaft fixing seat, a lower pin shaft sleeve, a lower spring, a lower pin shaft and an unlocking lever, the lower pin shaft sleeve is arranged at the edge of the fixing table along the vertical direction and is fixed through the lower pin shaft fixing seat, the lower pin shaft sleeve is communicated with the limiting groove, one end of the lower pin shaft is sleeved into the lower pin shaft sleeve, the other end of the lower pin shaft sleeve is connected with the end part of the lower pin shaft sleeve through the lower spring, and the unlocking lever is movably connected with the lower pin shaft;
when the unlocking lever is locked, the lower pin shaft is fixed in the lower pin shaft sleeve, and when the unlocking lever is unlocked, the lower pin shaft moves up and down in the lower pin shaft sleeve.
The support frame comprises three support legs and a triangular fixing piece, wherein the support legs form a triangular structure and are fixedly connected through the triangular fixing piece, and the support frame is designed into the triangular structure and has stronger stability.
Compared with the prior art, the invention has the following advantages:
(1) The application range is wide: the rotary type gripper warehouse can be suitable for storing various types of grippers, the product can reliably run in grabbing, the adaptability is strong, corresponding functional parameter changes can be made according to the requirements of customers, and the requirements of the customers are met;
(2) Safety and reliability: the mechanical limiting component of the rotary gripper warehouse can accurately position the gripper bearing turntable accurately;
(3) The universality of the parts is good: the rotary type hand-grab garage has the advantages that the structure is simple, the disassembly is convenient, the parts can be directly replaced when damaged, and the production cannot be influenced;
(4) Light and reliable: the rotary type hand-grab garage has the advantages of firm and reliable structure, attractive appearance, high strength and long service period.
Drawings
FIG. 1 is a schematic perspective view of a rotary gripper warehouse of the present invention;
FIG. 2 is a front view of a rotary gripper according to the present invention;
FIG. 3 is an enlarged schematic view of the portion A in FIG. 2;
FIG. 4 is an enlarged schematic view of the portion B in FIG. 2;
fig. 5 is a side view of the rotary gripper of the present invention.
In the figure, 1 is a supporting frame, 2 is a fixed table, 3 is a rotating table, 4 is a gripper supporting frame, 5 is a first sprocket, 6 is a second sprocket, 7 is a third sprocket, 8 is a hand wheel, 9 is a transmission shaft, 10 is a speed reducer, 11 is a reinforcing rib, 12 is a supporting roller, 13 is a bearing, 14 is an upper pin fixing seat, 15 is an upper pin sleeve, 16 is an upper spring, 17 is an upper pin, 18 is a ball, 19 is a lower pin fixing seat, 20 is a lower pin sleeve, 21 is a lower spring, 22 is a lower pin, 23 is an unlocking lever, 24 is an upper contact piece, 25 is a lower contact piece, 26 is a first sprocket cover, and 27 is a second sprocket cover.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Examples
As shown in fig. 1 to 5, a rotary gripper warehouse comprises a supporting frame 1, a fixed table 2, a rotating table 3, gripper supporting frames 4 and power components, wherein the fixed table 2 is fixed above the supporting frame 1, the rotating table 3 is arranged above the fixed table 2, the power components are connected with the rotating table 3 and drive the rotating table 3 to rotate on the fixed table 2, and the gripper supporting frames 4 are provided with at least two gripper supporting frames and are fixed on the rotating table 3.
The supporting frame 1 comprises three supporting legs and triangular fixing pieces, wherein the supporting legs form a triangular structure and are fixedly connected through the triangular fixing pieces, and the supporting frame 1 is designed into the triangular structure and has stronger stability.
The lower surface of the rotating table 3 is uniformly provided with a plurality of supporting wheels along the periphery of the rotating table 3, and the supporting wheels are contacted with the fixed table 2, and 8 supporting wheels are arranged in the embodiment. The supporting wheel comprises a supporting roller 12 and a bearing 13, the supporting roller 12 is horizontally arranged below the rotating table 3 and fixedly connected with a reinforcing rib 11 of the rotating table 3, the bearing 13 is sleeved on the supporting roller 12, and the bearing 13 is in contact with the fixed table 2. When the rotating table 3 rotates, the supporting wheels roll along the surface of the fixed table 2, a plurality of supporting wheels are arranged to play a role in supporting the rotating table 3, and meanwhile, when the rotating table 3 rotates, the supporting wheels can assist in driving the rotating table 3 to rotate.
The power component comprises a first sprocket 5, a second sprocket 6 and a third sprocket 7 which are meshed through a chain, a hand wheel 8, a transmission shaft 9 and a speed reducer 10, wherein the first sprocket 5 and the second sprocket 6 are distributed along the vertical direction and are fixed on a supporting frame 1, the third sprocket 7 is parallel to the second sprocket 6 and is fixed on the supporting frame 1, the third sprocket 7 is connected with the speed reducer 10 through the transmission shaft 9, a main shaft of the speed reducer 10 passes through the middle part of a fixed table 2 and is fixedly connected with the rotating table 3, and the power transmission is realized through a sprocket transmission mode. In addition, the first chain wheel 5 and the second chain wheel 6 are covered by a first chain wheel cover 26, the second chain wheel 6 and the third chain wheel 7 are covered by a second chain wheel cover 27, and the safety of the device is ensured. The hand wheel 8 is also connected with a driving motor, and the hand wheel 8 is driven by the driving motor to automatically rotate, so that manual operation is reduced, and the automation level is improved.
The gripper warehouse further comprises a limiting part, the limiting part comprises an upper limiting part and a lower limiting part, the upper limiting part is provided with one limiting part and is fixed on the edge of the rotating table 3, the lower limiting part is provided with at least one limiting part and is fixed at the set position of the edge of the fixed table 2, and the rotating table 3 rotates and drives the upper limiting part to move to the upper side of the lower limiting part, and the upper limiting part is clamped with the lower limiting part and is limited and fixed. In this embodiment, the number of the lower limit members is 3, so that the rotation table 3 can be positioned at the set 3 positions. The upper limiting component comprises an upper pin shaft fixing seat 14, an upper pin shaft sleeve 15, an upper spring 16, an upper pin shaft 17 and balls 18, wherein the upper pin shaft sleeve 15 is arranged at the edge of the rotating table 3 along the vertical direction and is fixed through the upper pin shaft 17 fixing seat 14, the upper spring 16 and the upper pin shaft 17 are sleeved into the upper pin shaft sleeve 15 in sequence, the upper end of the upper spring 16 is fixedly connected with the inner wall of the upper pin shaft 17, the lower end of the upper pin shaft 17 is fixedly connected with the upper end of the upper pin shaft 17, and the lower end of the upper pin shaft 17 is connected with the balls 18. The lower limiting component comprises a limiting groove which is arranged on the fixed table 2 and matched with the ball 18, the rotating table 3 rotates, the upper spring 16 is in a tightening state, the ball 18 moves on the fixed table 2, the friction force during movement can be effectively reduced because the ball 18 is arranged at the bottom of the upper pin shaft 17, when the rotating table 3 rotates to a set position, the ball 18 falls into the limiting groove to realize positioning, and the mechanical limiting device is used for realizing accurate positioning of the rotating angle of the rotating table 3. The gripper warehouse further comprises an unlocking component, the unlocking component is arranged right below the limiting groove, the unlocking component comprises a lower pin fixing seat 19, a lower pin shaft sleeve 20, a lower spring 21, a lower pin shaft 22 and an unlocking lever 23, the lower pin shaft sleeve 20 is arranged at the edge of the fixing table 2 along the vertical direction and is fixed through the lower pin shaft fixing seat 19, the lower pin shaft sleeve 20 is communicated with the limiting groove, one end of the lower pin shaft 22 is sleeved into the lower pin shaft sleeve 20, the other end of the lower pin shaft 22 is connected with the end of the lower pin shaft sleeve 20 through the lower spring 21, the unlocking lever 23 is movably connected with the lower pin shaft 22, when the unlocking lever 23 is locked, the lower pin shaft 22 is fixed in the lower pin shaft sleeve 20, and when the unlocking lever 23 is unlocked, the lower pin shaft 22 moves up and down in the lower pin shaft sleeve 20. The rotation and unlocking of the rotating table 3 are realized by the cooperation of the limiting component and the unlocking component, and the method specifically comprises the following steps: when the rotating table 3 rotates, the upper spring 16 is in a tightening state, when the upper spring moves to the corresponding position of the lower pin sleeve 20, the balls 18 fall into the limiting grooves, meanwhile, a certain space is reserved in the lower pin sleeve 20, and the upper tightening spring is automatically loosened, so that the upper pin 17 descends and is clamped in the lower pin sleeve 20, and the positioning function is realized. If the rotary movement is required again, the unlocking lever 23 is manually pulled to tighten the lower spring 21, the lower pin 22 is extended, and the upper pin 17 is ejected, at this time, the upper spring 16 is automatically tightened. When the hand wheel 8 is rotated again, the upper rotating platform is rotated to drive the upper positioning pin shaft to move.
In addition, the edge of the rotating table 3 at one side of the upper limiting part is also provided with an upper contact piece 24, the fixed table 2 at the corresponding position at one side of the lower limiting part is provided with a lower contact piece 25, and after the rotating table 3 rotates in place, the upper contact piece 24 is contacted with the lower contact piece 25 and sends out an in-place signal to an external control system, and the manipulator automatically installs a required gripper.
The working principle of the rotary gripper warehouse provided by the invention is as follows: in the production process, when the grippers need to be replaced, the grippers installed by the robot are stored back to the original positions, then the unlocking lever 23 is opened manually, the required grippers are rotated to the designated replacement positions through the rotary disc, and the required grippers are automatically installed by the mechanical hand. Meanwhile, a cylinder can be connected to the unlocking lever 23, and the cylinder is controlled to automatically open and close the unlocking lever 23, so that full-automatic processing is realized.
Claims (5)
1. The rotary type hand grip warehouse is characterized by comprising a supporting frame (1), a fixed table (2), a rotating table (3), a hand grip supporting frame (4) and a power component, wherein the fixed table (2) is fixed above the supporting frame (1), the rotating table (3) is arranged above the fixed table (2), the power component is connected with the rotating table (3) and drives the rotating table (3) to rotate on the fixed table (2), and the hand grip supporting frame (4) is provided with at least two hand grip supporting frames and is fixed on the rotating table (3);
the gripper warehouse also comprises a limiting part, wherein the limiting part comprises an upper limiting part and a lower limiting part, the upper limiting part is provided with one limiting part and is fixed on the edge of the rotating table (3), the lower limiting part is provided with at least one limiting part and is fixed at a set position of the edge of the fixed table (2), and when the rotating table (3) rotates and drives the upper limiting part to move above the lower limiting part, the upper limiting part and the lower limiting part are clamped and limited and fixed;
the upper limiting component comprises an upper pin shaft fixing seat (14), an upper pin shaft sleeve (15), an upper spring (16), an upper pin shaft (17) and balls (18), wherein the upper pin shaft sleeve (15) is arranged at the edge of the rotating table (3) along the vertical direction and is fixed through the upper pin shaft fixing seat (14), the upper pin shaft sleeve (15) is sleeved with the upper spring (16) and the upper pin shaft (17) in sequence, the upper end of the upper spring (16) is fixedly connected with the inner wall of the upper pin shaft (17), the lower end of the upper pin shaft (17) is fixedly connected with the upper end of the upper pin shaft (17), and the lower end of the upper pin shaft (17) is connected with the balls (18);
the lower limiting part comprises a limiting groove which is arranged on the fixed table (2) and matched with the ball (18);
the hand grip warehouse further comprises an unlocking component, the unlocking component is arranged right below the limiting groove, the unlocking component comprises a lower pin shaft fixing seat (19), a lower pin shaft sleeve (20), a lower spring (21), a lower pin shaft (22) and an unlocking lever (23), the lower pin shaft sleeve (20) is arranged at the edge of the fixed table (2) along the vertical direction and is fixed through the lower pin shaft fixing seat (19), the lower pin shaft sleeve (20) is communicated with the limiting groove, one end of the lower pin shaft (22) is sleeved into the lower pin shaft sleeve (20), the other end of the lower pin shaft sleeve is connected with the end of the lower pin shaft sleeve (20) through the lower spring (21), and the unlocking lever (23) is movably connected with the lower pin shaft (22);
when the unlocking lever (23) is locked, the lower pin shaft (22) is fixed in the lower pin shaft sleeve (20), and when the unlocking lever (23) is unlocked, the lower pin shaft (22) moves up and down in the lower pin shaft sleeve (20).
2. The rotary hand-grab garage according to claim 1, wherein a plurality of supporting wheels are uniformly arranged on the lower surface of the rotary table (3) along the periphery of the rotary table (3), the supporting wheels are in contact with the fixed table (2), and the supporting wheels roll along the surface of the fixed table (2) when the rotary table (3) rotates.
3. The rotary hand-grab garage according to claim 1, wherein the power component comprises a first sprocket (5), a second sprocket (6) and a third sprocket (7) which are meshed through a chain, a hand wheel (8), a transmission shaft (9) and a speed reducer (10), the first sprocket (5) and the second sprocket (6) are distributed along the vertical direction and fixed on the supporting frame (1), the third sprocket (7) is parallel to the second sprocket (6) and fixed on the supporting frame (1), the third sprocket (7) is connected with the speed reducer (10) through the transmission shaft (9), and a main shaft of the speed reducer (10) penetrates through the middle part of the fixed table (2) and is fixedly connected with the rotating table (3).
4. A rotary hand-grip magazine according to claim 3, characterized in that the hand-wheel (8) is further connected with a drive motor.
5. A rotary hand-grab garage according to claim 1, characterized in that the supporting frame (1) comprises three supporting legs and a triangular fixing member, the supporting legs form a triangular structure and are fixedly connected through the triangular fixing member.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510947211.0A CN106881695B (en) | 2015-12-16 | 2015-12-16 | Rotary type hand-grab storehouse |
| PT168680882T PT3379960T (en) | 2015-12-16 | 2016-11-14 | Protective bicycle helmet having a rear camera |
| SI201630855T SI3379960T1 (en) | 2015-11-25 | 2016-11-14 | Protective bicycle helmet having a rear camera |
| PL16868088T PL3379960T3 (en) | 2015-11-25 | 2016-11-14 | Protective bicycle helmet having a rear camera |
| ES16868088T ES2809708T3 (en) | 2015-12-16 | 2016-11-14 | Bicycle Safety Helmet with Rear Camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510947211.0A CN106881695B (en) | 2015-12-16 | 2015-12-16 | Rotary type hand-grab storehouse |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106881695A CN106881695A (en) | 2017-06-23 |
| CN106881695B true CN106881695B (en) | 2023-08-08 |
Family
ID=59175665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510947211.0A Active CN106881695B (en) | 2015-11-25 | 2015-12-16 | Rotary type hand-grab storehouse |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN106881695B (en) |
| ES (1) | ES2809708T3 (en) |
| PT (1) | PT3379960T (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128590A (en) * | 2013-03-12 | 2013-06-05 | 宁夏巨能机器人系统有限公司 | Drawer bin purely mechanical type capturing location device |
| CN103769490A (en) * | 2014-01-23 | 2014-05-07 | 伟本机电（上海）有限公司 | Automatic loading-unloading device of main pressure machine |
| CN104647104A (en) * | 2015-02-13 | 2015-05-27 | 苏州江源精密机械有限公司 | Rotary accessory head automatic replacing head library device for gantry machining center |
| CN205343063U (en) * | 2015-12-16 | 2016-06-29 | 上海沃迪自动化装备股份有限公司 | Rotation type tongs storehouse |
-
2015
- 2015-12-16 CN CN201510947211.0A patent/CN106881695B/en active Active
-
2016
- 2016-11-14 PT PT168680882T patent/PT3379960T/en unknown
- 2016-11-14 ES ES16868088T patent/ES2809708T3/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128590A (en) * | 2013-03-12 | 2013-06-05 | 宁夏巨能机器人系统有限公司 | Drawer bin purely mechanical type capturing location device |
| CN103769490A (en) * | 2014-01-23 | 2014-05-07 | 伟本机电（上海）有限公司 | Automatic loading-unloading device of main pressure machine |
| CN104647104A (en) * | 2015-02-13 | 2015-05-27 | 苏州江源精密机械有限公司 | Rotary accessory head automatic replacing head library device for gantry machining center |
| CN205343063U (en) * | 2015-12-16 | 2016-06-29 | 上海沃迪自动化装备股份有限公司 | Rotation type tongs storehouse |
Also Published As
| Publication number | Publication date |
|---|---|
| PT3379960T (en) | 2020-08-17 |
| ES2809708T3 (en) | 2021-03-05 |
| CN106881695A (en) | 2017-06-23 |
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