CN107160383A - A kind of palletizing apparatus - Google Patents
A kind of palletizing apparatus Download PDFInfo
- Publication number
- CN107160383A CN107160383A CN201710527267.XA CN201710527267A CN107160383A CN 107160383 A CN107160383 A CN 107160383A CN 201710527267 A CN201710527267 A CN 201710527267A CN 107160383 A CN107160383 A CN 107160383A
- Authority
- CN
- China
- Prior art keywords
- large arm
- main body
- secondary bar
- arm
- ball screw
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a kind of palletizing apparatus, including base, base is provided with bottom swivel base, bottom swivel base is provided with L-type erecting bed, L-type erecting bed is provided with outside end cap, provided with control main body in outside end cap, the horizontal plane of L-type erecting bed is provided with the first ball screw, first ball screw is connected with control main body, the vertical plane of L-type erecting bed is provided with the second ball screw, second ball screw is connected with control main body, one end of control main body is hinged with preceding large arm, the other end of control main body is hinged with the first large arm secondary bar and the second large arm secondary bar, first large arm secondary bar and the second large arm secondary bar are connected on tripod by bearing pin, upper arm is connected with tripod, on tripod upper torque arm is connected with through bearing pin, the connection of wrist body is handled in upper arm and upper torque arm, wrist body is provided with gripper.The present invention has the advantages that range of movement is big, handling efficiency is high.
Description
Technical field
The present invention relates to the big palletizing apparatus of a kind of palletizing apparatus, particularly a kind of range of movement for textile machine.
Background technology
At present, palletizing apparatus applies less in textile machinery industry, and the existing palletizing apparatus for textile machine is adopted
It is the motion of bottom swivel base and lifting platform coupler link, range of movement is small, needs to move whole when carrying thing is distant
Platform palletizing apparatus, handling efficiency is low.Therefore, the palletizing apparatus in existing textile machine has that range of movement is small, handling efficiency is low
Shortcoming.
The content of the invention
It is an object of the present invention to provide a kind of palletizing apparatus.It has the advantages that range of movement is big, handling efficiency is high.
Technical scheme：A kind of palletizing apparatus, including base, base are provided with bottom swivel base, bottom swivel base
Provided with L-type erecting bed, L-type erecting bed is provided with outside end cap, outside end cap provided with control main body, the level of L-type erecting bed
Face is provided with the first ball screw, and the first ball screw is connected with control main body, and the vertical plane of L-type erecting bed is provided with the second rolling
Ballscrew, the second ball screw is connected with control main body, and one end of control main body is hinged with preceding large arm, controls the other end of main body
The first large arm secondary bar and the second large arm secondary bar are hinged with, the first large arm secondary bar and the second large arm secondary bar are connected to triangle by bearing pin
On frame, the first large arm secondary bar, the second large arm secondary bar and bearing pin are both connected on first jiao of tripod, are sold at the top of preceding large arm
Axle is connected on second jiao of tripod, is connected with tripod through first jiao and second jiao in upper arm, the third angle of tripod
Upper torque arm is connected with through bearing pin, the connection of wrist body is handled in upper arm and upper torque arm, and wrist body is provided with gripper.
In foregoing palletizing apparatus, swivel base motor is provided with the bottom swivel base.
In foregoing palletizing apparatus, the wrist body is provided with gripper motor.
In foregoing palletizing apparatus, through being bolted together between the bottom swivel base and erecting bed.
The application method of foregoing palletizing apparatus：When needing to carry article, by controlling main body to adjust falling for gripper
Position, swivel base motor driving bottom swivel base does the motion of large arm before 360 ° of rotary motion, control main body control in the horizontal plane, preceding
Large arm is connected large arm before the motion of driving upper arm, control main body control with upper arm by tripod and done on the first ball screw directly
Line motion, the first large arm secondary bar of control and the second large arm secondary bar move along a straight line on the second ball screw, when gripper dropping place
During to the surface for carrying article, the startup of main body control gripper motor is controlled, gripper moves downward and opens crawl thing
Product.
Compared with prior art, it is of the invention by one L-type erecting bed of setting on the bottom swivel base of palletizing apparatus, then
A ball screw is respectively provided with the horizontal plane and vertical plane of L-type erecting bed to expand the range of movement of palletizing apparatus.Preceding large arm
The first ball screw and the second ball screw are connected respectively with large arm secondary bar, can be moved along ball screw rectilinear direction, plus
Upper palletizing apparatus in itself can be with 360 ° in the horizontal direction rotations, when carrying thing is distant from palletizing apparatus, without movement
Palletizing apparatus, can expand palletizing apparatus range of movement by the regulation of ball screw, improve handling efficiency.Therefore, this hair
It is bright to have the advantages that range of movement is big, handling efficiency is high.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Mark in accompanying drawing for：1- bases, end cap outside 2-, 3- bottoms swivel base, 4-L type erecting beds, 5- horizontal planes, 6- the
Large arm before one ball screw, 7- vertical planes, the ball screws of 8- second, 9-, 10- the first large arm secondary bars, 11- the second large arm secondary bars,
12- bearing pins, 13- tripods, first jiao of 14-, second jiao of 15-, 16- upper arm, 17- the third angles, the upper torque arm of 18-, 19- wrist bodies,
20- grippers, 21- swivel base motors, 22- gripper motors, 23- bolts, 24- control main bodys.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment：A kind of palletizing apparatus, is constituted as shown in figure 1, including base 1, base 1 is provided with bottom swivel base 3, bottom
Swivel base 3 is provided with L-type erecting bed 4, and L-type erecting bed 4 is provided with outside end cap 2, outside end cap 2 provided with control main body 24, L-type
The horizontal plane 5 of erecting bed 4 is provided with the first ball screw 6, and the first ball screw 6 is connected with control main body 24, L-type erecting bed 4
Vertical plane 7 be provided with the second ball screw 8, the second ball screw 8 with control main body 24 be connected, control main body 24 one end cut with scissors
Large arm 9 before being connected to, the other end of control main body 24 is hinged with the first large arm secondary bar 10 and the second large arm secondary bar 11, the first large arm pair
The large arm secondary bar 11 of bar 10 and second is connected on tripod 13 by bearing pin 12, the first large arm secondary bar 10, the second large arm secondary bar 11
It is both connected to bearing pin 12 on first jiao 14 of tripod 13, the top of preceding large arm 9 is connected to the of tripod 13 through bearing pin 12
It is connected with upper arm 16, the third angle 17 of tripod 13 and sells through first jiao 14 and second jiao 15 on two jiao 15, on tripod 13
Axle 12 is connected with torque arm 18, and upper arm 16 and upper torque arm 18 are connected through wrist body 19, and wrist body 19 is provided with gripper 20；It is described
Swivel base motor 21 is provided with bottom swivel base 3；The wrist body 19 is provided with gripper motor 22；The bottom swivel base 3 and L-type peace
Linked together between dress platform 4 through bolt 23；The control main body 24 includes and preceding large arm 9, the first large arm secondary bar 10, second largest
The galianconism that arm secondary bar 11 is hinged, galianconism two ends are respectively equipped with the quarter butt being hinged with the first ball screw 6 and the second ball screw 8.
When needing to carry article, by controlling main body to adjust the dropping place of gripper, swivel base motor driving bottom swivel base exists
The motion of large arm before 360 ° of rotary motion, control main body control is done on horizontal plane, preceding large arm is connected by tripod with upper arm
Large arm before the motion of upper arm, control main body control is driven to be moved along a straight line on the first ball screw, control the first large arm secondary bar
Moved along a straight line with the second large arm secondary bar on the second ball screw, when gripper dropping place is to the surface for carrying article, control
The startup of main body control gripper motor processed, gripper moves downward and opens crawl article.
The present invention controls the motion of whole device by controlling main body 24, when needing to carry article, can pass through control
Main body 24 processed adjusts the dropping place of gripper 20, and the driving bottom swivel base 3 of swivel base motor 21 can do 360 ° of rotation in the horizontal plane
Motion, the motion of large arm 9 before control main body 24 is controlled, preceding large arm 9 is connected the fortune of driving upper arm 9 by tripod 13 with upper arm 16
Dynamic, large arm 9 moves along a straight line on the first ball screw 6, controls the first large arm secondary bar 10 and second before control main body 24 is controlled
Large arm secondary bar 11 moves along a straight line on the second ball screw 8, expands the range of movement of palletizing apparatus, when the dropping place of gripper 20
During to the surface for carrying article, the startup of the control machine machinery claw motor 22 of main body 24 is controlled, gripper 20 is moved downward and opened
Capture article.
Claims (5)
1. a kind of palletizing apparatus, it is characterised in that：Including base (1), base (1) is provided with bottom swivel base (3), bottom swivel base
(3) L-type erecting bed (4) is provided with, L-type erecting bed (4) is provided with outside end cap (2), outside end cap (2) provided with control main body
(24), the horizontal plane (5) of L-type erecting bed (4) is provided with the first ball screw (6), the first ball screw (6) and control main body
(24) connect, the vertical plane (7) of L-type erecting bed (4) is provided with the second ball screw (8), and the second ball screw (8) is led with control
Body (24) is connected, and one end of control main body (24) is hinged with preceding large arm (9), and it is big that the other end of control main body (24) is hinged with first
Arm secondary bar (10) and the second large arm secondary bar (11), the first large arm secondary bar (10) and the second large arm secondary bar (11) are connected by bearing pin (12)
It is connected on tripod (13), the first large arm secondary bar (10), the second large arm secondary bar (11) and bearing pin (12) are both connected to tripod
(13) on first jiao (14), the top of preceding large arm (9) is connected on second jiao (15) of tripod (13) through bearing pin (12), and three
It is connected with upper arm (16), the third angle (17) of tripod (13) and sells through first jiao (14) and second jiao (15) on corner bracket (13)
Axle (12) is connected with torque arm (18), and upper arm (16) and upper torque arm (18) are connected through wrist body (19), and wrist body (19) is provided with
Gripper (20).
2. palletizing apparatus according to claim 1, it is characterised in that：Swivel base motor is provided with the bottom swivel base (3)
(21)。
3. palletizing apparatus according to claim 1, it is characterised in that：The wrist body (19) is provided with gripper motor
(22)。
4. palletizing apparatus according to claim 1, it is characterised in that：The bottom swivel base (3) and L-type erecting bed (4) it
Between linked together through bolt (23).
5. the application method of the palletizing apparatus according to claim 1,2,3 or 4, it is characterised in that：When need carry article
When, by controlling main body to adjust the dropping place of gripper, swivel base motor driving bottom swivel base does 360 ° of rotation fortune in the horizontal plane
Dynamic, the motion of large arm before control main body control, preceding large arm is connected the motion of driving upper arm with upper arm by tripod, controls main body
Large arm moves along a straight line on the first ball screw, controls the first large arm secondary bar and the second large arm secondary bar in the second ball before control
Moved along a straight line on screw mandrel, when gripper dropping place is to the surface for carrying article, control opening for main body control gripper motor
Dynamic, gripper moves downward and opens crawl article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710527267.XA CN107160383A (en) | 2017-06-30 | 2017-06-30 | A kind of palletizing apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710527267.XA CN107160383A (en) | 2017-06-30 | 2017-06-30 | A kind of palletizing apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160383A true CN107160383A (en) | 2017-09-15 |
Family
ID=59827067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710527267.XA Withdrawn CN107160383A (en) | 2017-06-30 | 2017-06-30 | A kind of palletizing apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160383A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051272A (en) * | 2018-01-17 | 2018-05-18 | 吴泠霏 | Method prepared by the automatic sand sample preparation facilities of robot and sand sample |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN111945354A (en) * | 2020-08-27 | 2020-11-17 | 安徽润雪医疗器械科技有限公司 | Non-woven fabric flattening device for mask production |
-
2017
- 2017-06-30 CN CN201710527267.XA patent/CN107160383A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051272A (en) * | 2018-01-17 | 2018-05-18 | 吴泠霏 | Method prepared by the automatic sand sample preparation facilities of robot and sand sample |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN111945354A (en) * | 2020-08-27 | 2020-11-17 | 安徽润雪医疗器械科技有限公司 | Non-woven fabric flattening device for mask production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170915 |