CN107214730A - Cylinder transshipment acitivity - Google Patents
Cylinder transshipment acitivity Download PDFInfo
- Publication number
- CN107214730A CN107214730A CN201710635948.8A CN201710635948A CN107214730A CN 107214730 A CN107214730 A CN 107214730A CN 201710635948 A CN201710635948 A CN 201710635948A CN 107214730 A CN107214730 A CN 107214730A
- Authority
- CN
- China
- Prior art keywords
- small footprint
- big base
- cylinder
- transshipment acitivity
- hook
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The present invention relates to the mechanism for capturing and transporting cylinder, specifically a kind of cylinder transshipment acitivity.Including small footprint, big base, negative pressure mechanism, swing mechanism and mechanical hook claw, multigroup mechanical hook claw is circumferentially connected with wherein big base, small footprint is located at the top of big base, and small footprint is hinged with multigroup mechanical hook claw, the swing mechanism being provided with for being connected with mechanical arm of small footprint；Negative pressure mechanism is connected with small footprint, and small footprint can be closer or far from big base, so that driving mechanical hook opens or closed by the driving of negative pressure mechanism.Automation of the present invention to adverse circumstances Raw material pail in storage and transport process, saves a large amount of labours, and Raw material pail will not be damaged during crawl, also will not the original posture of feed change bucket.
Description
Technical field
The present invention relates to the mechanism for capturing and transporting cylinder, specifically a kind of cylinder transshipment acitivity.
Background technology
Air floating platform is mainly used in crawl and the work of transhipment Raw material pail, and hook component is realized by negative pressure mechanism
Stretch with shrinking, be mainly used in highly intensive labour and severe working environment.During work, the positioning precision of grabbing device is not
It is very high, it is therefore desirable to have wobble component to cause grasping mechanism that there is higher flexibility, can be swung in a small range, from
And the requirement to positioning precision is reduced, realize more efficient crawl transloading equipment.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of cylinder transshipment acitivity, the cylinder transshipment acitivity is to disliking
Quick in bad environment to position and efficiently capture and transport Raw material pail, the requirement for positioning precision is relatively low, and is transporting
It is reliable and stable in journey, extruding will not be produced to grabbing workpiece, will not also change its original shape.
To achieve these goals, the present invention uses following technical scheme：
A kind of cylinder transshipment acitivity, including small footprint, big base, negative pressure mechanism, swing mechanism and hook component, wherein greatly
Circumferentially be connected with multigroup hook component on base, the small footprint is located at the top of big base, and the small footprint with it is many
Group hook member hinges, the swing mechanism being provided with for being connected with mechanical arm of the small footprint；The negative pressure mechanism and institute
Small footprint connection is stated, the small footprint can be closer or far from big base, so as to drive described by the driving of the negative pressure mechanism
Hook component opens or closed.
The hook component includes hook, connecting plate, straight pin and key seat, and wherein key seat is arranged in the outer rim of big base,
The hook is hinged with the key seat, and one end of the connecting plate is hinged with the small footprint, the other end by straight pin with it is described
Hook is hinged.
Hook component described in four groups is connected between the small footprint and big base.
The wobble component includes pedestal, hanging seat and connecting shaft, and wherein pedestal is connected with the small footprint, and the hanging seat leads to
Cross connecting shaft to be connected with pedestal rotation, the hanging seat is used to be connected with mechanical arm.
The connecting shaft is " ten " font structure, including X-axis and Y-axis, the wherein two ends of X-axis are rotated with the pedestal to be connected
Connect, the two ends of the Y-axis rotate with the hanging seat and are connected.
The hanging seat is located at the outside of the pedestal.
Big base is disc structure described in the small footprint, circumferentially arranged with multiple small on the excircle of the small footprint
Along circle to provided with corresponding with multiple small footprint radial protrusion difference many on base radial protrusion, the excircle of the big base
Individual big base radial protrusion, the small footprint radial protrusion and the big base radial protrusion are connected by the hook component.
The length of the big base radial protrusion is more than the length of the small footprint radial protrusion.
The negative pressure mechanism is in sucker and the groove that is arranged at below the small footprint.Advantages of the present invention and have
Beneficial effect is：
1. the present invention produces crawl effect in the case where not changing the shape of original workpiece.
2. the present invention uses Automated condtrol, reaction speed is fast, and operating efficiency is high.
3. the present invention is also with simple in construction, lightweight, own wt influences little to original capture apparatus.
4. present invention action is simple, active force is symmetrical on equipment center, will not produce additional interference power.
5. the invention belongs to position grasping mechanism, it can swing to reduce for positioning precision in a small range as needed
To remove and adapt to different types of workpiece.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the structural representation of connecting shaft in the present invention；
Working state figure when Fig. 4 is present invention crawl；
Fig. 5 is the off working state figure when present invention stretches.
Wherein：1 is hook, and 2 be base, and 3 be big base, and 4 be connecting plate, and 5 be straight pin, and 6 be key seat, and 7 be pedestal, and 8 are
Hanging seat, 9 be connecting shaft, and 91 be X-axis, and 92 be Y-axis, and 10 be workpiece.
Embodiment
In order that the purpose, technical scheme and advantage of invention are clearer, below in conjunction with the accompanying drawings with specific embodiment to this
Invention is described in detail.
As shown in Figure 1-2, a kind of cylinder transshipment acitivity that the present invention is provided, including small footprint 2, big base 3, Negative pressure machine
Structure, swing mechanism and hook component, wherein being circumferentially connected with multigroup hook component on big base 3, small footprint 2 is located at big base
3 top, and small footprint 2 and multigroup hook member hinges, the oscillating machine being provided with for being connected with mechanical arm of small footprint 2
Structure；Negative pressure mechanism is connected with small footprint 2, and small footprint 2 can be closer or far from big base 3, so that band by the driving of negative pressure mechanism
Dynamic hook component opens or closed.
The hook component includes hook 1, connecting plate 4, straight pin 5 and key seat 6, and wherein key seat 6 is arranged at the outer of big base 3
On edge, hook 1 is hinged with key seat 6, and one end and the small footprint 2 of connecting plate 4 are hinged, and the other end is hinged by straight pin 5 with hook 1.
In one embodiment of the invention, four groups of hook components are connected between small footprint 2 and big base 3.
The wobble component includes pedestal 7, hanging seat 8 and connecting shaft 9, and wherein pedestal 7 is fixed by bolt and small footprint 2 and connected
Connect, hanging seat 8 is rotated with pedestal 7 by connecting shaft 9 and is connected, hanging seat 8 is used to be connected with mechanical arm.Hanging seat 8 is located at the outer of pedestal 7
Side, it is convenient to be connected with mechanical arm, make compact overall structure.
As shown in figure 3, connecting shaft 9 is " ten " font structure, including X-axis 91 and Y-axis 92, the wherein two ends of X-axis 91 and base
Seat 7 rotates connection, and the two ends of Y-axis 92 are rotated with hanging seat 8 to be connected.Pedestal 7 can do the pendulum of certain angle around the X-axis 91 of connecting shaft 9
It is dynamic, so that with the free degree turned about the X axis；Hanging seat 8 can do the swing of certain angle around connecting shaft 9, so that with around Y-axis turn
The dynamic free degree.
The big base 3 of small footprint 2 is circumferentially arranged with multiple small footprints radial direction on disc structure, the excircle of small footprint 2
Along circle to provided with the multiple big base footpaths corresponding with multiple small footprint radial protrusion difference on projection, the excircle of big base 3
To projection, the length of big base radial protrusion is more than the length of small footprint radial protrusion.Small footprint radial protrusion and big base footpath
It is arranged on to the connection of hook component, the i.e. key seat 6 of hook component is projected through on big base radial protrusion, for support hook 1,
The negative pressure mechanism driving hook 1 is rotated around key seat 6, realizes the change of its position.Small footprint radial protrusion and hook component
One end of connecting plate 4 is hinged.
Small footprint 2 is provided with negative pressure mechanism, is connected by forming negative pressure so as to realize with the compression of big base 3.Small footprint 2
When being in impaction state with big base 3, hook component is in extended configuration；When small footprint 2 is in released state with big base 3,
Hook component is in contraction state.
The negative pressure mechanism is sucker and is arranged in the groove of the lower section of small footprint 2.The drive that small footprint 2 passes through sucker
It is dynamic vertically to make elevating movement, so as to drive hook component movement, change the position of hook component, so as to change hook
Seized condition of the pawl to raw material bung.
In one embodiment of the invention, the sucker is commercial products, purchases limited in Shi Maici (Shanghai) vacuum technology
Company, model：SPL-HT-90-FPM-F-65-G1/4-AG.
The course of work of the present invention is as follows：
The grasping mechanism main body moves to reach specified location with mechanical arm, and the negative pressure mechanism starts working, will be small
Base 2 and big base 3 are connected, while hook component is in extended configuration, as shown in Figure 5；When big base 3 touches workpiece 10
Afterwards, negative pressure mechanism is stopped, and small footprint 2 and big base 3 are separated, and hook component is changed into contraction state from extended configuration, and
Clamping workpiece 10, realizes that grasping mechanism drives workpiece 10 to be transported through, as shown in Figure 4.
The swing mechanism of the grasping mechanism upper end, when mechanical arm drive grasping mechanism navigates to 10 surface of workpiece, be
Requirement of the reduction to positioning precision, therefore increase swing mechanism, are adapted to, in the case where positioning precision is relatively low, to realize handgrip
The swing of mechanism, so that grabbing workpiece.
The present invention causes grasping mechanism to have higher flexibility by wobble component, can be swung in a small range,
So as to reduce the requirement to positioning precision, more efficient crawl transloading equipment is realized.The present invention is being deposited to adverse circumstances Raw material pail
Automation in storage and transport process, saves a large amount of labours, and Raw material pail will not be damaged during crawl,
Will not the original posture of feed change bucket.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent substitution and improvements, the extension made etc., be all contained in protection scope of the present invention
It is interior.
Claims (9)
1. a kind of cylinder transshipment acitivity, it is characterised in that including small footprint (2), big base (3), negative pressure mechanism, swing mechanism and
Hook component, wherein being circumferentially connected with multigroup hook component on big base (3), the small footprint (2) is located at big base (3)
Top, and the small footprint (2) and multigroup hook member hinges, being provided with for the small footprint (2) are used to connect with mechanical arm
The swing mechanism connect；The negative pressure mechanism is connected with the small footprint (2), and the small footprint (2) passes through the negative pressure mechanism
Driving can be closer or far from big base (3), so as to drive the hook component to open or close.
2. cylinder transshipment acitivity according to claim 1, it is characterised in that the hook component includes hook (1), connecting plate
(4), straight pin (5) and key seat (6), wherein key seat (6) are arranged in the outer rim of big base (3), the hook (1) and the pin
Seat (6) is hinged, and one end and the small footprint (2) of the connecting plate (4) are hinged, and the other end passes through straight pin (5) and the hook
(1) it is hinged.
3. cylinder transshipment acitivity according to claim 2, it is characterised in that between the small footprint (2) and big base (3)
It is connected with hook component described in four groups.
4. cylinder transshipment acitivity according to claim 1, it is characterised in that the wobble component includes pedestal (7), hanging seat
(8) and connecting shaft (9), wherein pedestal (7) is connected with the small footprint (2), and the hanging seat (8) passes through connecting shaft (9) and pedestal
(7) connection is rotated, the hanging seat (8) is used to be connected with mechanical arm.
5. cylinder transshipment acitivity according to claim 4, it is characterised in that the connecting shaft (9) is " ten " font structure,
Including X-axis (91) and Y-axis (92), the wherein two ends of X-axis (91) rotate with the pedestal (7) and are connected, the two ends of the Y-axis (92)
Rotate and be connected with the hanging seat (8).
6. cylinder transshipment acitivity according to claim 4, it is characterised in that the hanging seat (8) is located at the pedestal (7)
Outside.
7. cylinder transshipment acitivity according to claim 1, it is characterised in that small footprint (2) the big base (3) is
For disc structure, circumferentially arranged with multiple small footprint radial protrusions on the excircle of the small footprint (2), the big base (3)
Excircle on along circle to provided with the multiple big base radial protrusions corresponding with multiple small footprint radial protrusion difference, it is described small
Base radial protrusion and the big base radial protrusion are connected by the hook component.
8. cylinder transshipment acitivity according to claim 7, it is characterised in that the length of the big base radial protrusion is more than
The length of the small footprint radial protrusion.
9. cylinder transshipment acitivity according to claim 1, it is characterised in that the negative pressure mechanism is sucker and set
In groove below the small footprint (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635948.8A CN107214730A (en) | 2017-07-28 | 2017-07-28 | Cylinder transshipment acitivity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710635948.8A CN107214730A (en) | 2017-07-28 | 2017-07-28 | Cylinder transshipment acitivity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214730A true CN107214730A (en) | 2017-09-29 |
Family
ID=59954067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710635948.8A Pending CN107214730A (en) | 2017-07-28 | 2017-07-28 | Cylinder transshipment acitivity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214730A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2243452Y (en) * | 1995-10-25 | 1996-12-25 | 芮元生 | Safety loading lifter for chest of oil press |
| CN203359784U (en) * | 2013-07-16 | 2013-12-25 | 中广核工程有限公司 | Lifting device for nuclear power station radioactive waste barrel |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN203973560U (en) * | 2014-08-02 | 2014-12-03 | 泉州市永茂电子科技有限公司 | A kind of oscillatory type palletizing mechanical pawl |
| CN204295697U (en) * | 2014-10-30 | 2015-04-29 | 中国电器科学研究院有限公司 | A kind of end picking-up device for robot |
| CN204712068U (en) * | 2015-06-19 | 2015-10-21 | 宁波亚大金属表面处理有限公司 | A kind of structure improved mechanical paw |
| CN105690170A (en) * | 2016-04-28 | 2016-06-22 | 黄斌 | Three-claw clamp |
| CN205817898U (en) * | 2016-05-27 | 2016-12-21 | 昆山福亿特精密自动化设备有限公司 | A kind of three-jaw grasping mechanism |
-
2017
- 2017-07-28 CN CN201710635948.8A patent/CN107214730A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2243452Y (en) * | 1995-10-25 | 1996-12-25 | 芮元生 | Safety loading lifter for chest of oil press |
| CN203359784U (en) * | 2013-07-16 | 2013-12-25 | 中广核工程有限公司 | Lifting device for nuclear power station radioactive waste barrel |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN203973560U (en) * | 2014-08-02 | 2014-12-03 | 泉州市永茂电子科技有限公司 | A kind of oscillatory type palletizing mechanical pawl |
| CN204295697U (en) * | 2014-10-30 | 2015-04-29 | 中国电器科学研究院有限公司 | A kind of end picking-up device for robot |
| CN204712068U (en) * | 2015-06-19 | 2015-10-21 | 宁波亚大金属表面处理有限公司 | A kind of structure improved mechanical paw |
| CN105690170A (en) * | 2016-04-28 | 2016-06-22 | 黄斌 | Three-claw clamp |
| CN205817898U (en) * | 2016-05-27 | 2016-12-21 | 昆山福亿特精密自动化设备有限公司 | A kind of three-jaw grasping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106112999B (en) | The multi-functional shipment robot of six degree of freedom | |
| CN203371542U (en) | Mechanical arm for carrying | |
| CN205771904U (en) | A kind of packaging bag handgrip | |
| CN206029938U (en) | Novel industrial robot gripper | |
| WO2016206422A1 (en) | Intelligent robot gripper for palletizing system | |
| CN207172109U (en) | A kind of flexible multi-finger manipulator of logistics | |
| CN209240013U (en) | A kind of mechanical gripper with slewing limit structure | |
| CN118083055A (en) | Shore garbage salvage ship and shore garbage salvage system | |
| CN107214730A (en) | Cylinder transshipment acitivity | |
| CN205968991U (en) | Novel crawler -type walking transfer robot | |
| CN108527351A (en) | A kind of storage robot and its mechanical arm | |
| CN209111069U (en) | A kind of machining rotary machine hand | |
| CN205166922U (en) | Carrying mechanical arm | |
| CN204183035U (en) | The robot device of circular saw bit | |
| CN115890614A (en) | Material handling robot | |
| CN105253614A (en) | Material transferring device | |
| CN205838005U (en) | A kind of automatic material taking pay-off | |
| CN205132520U (en) | Material transportation device | |
| CN205801676U (en) | A kind of packing crates is lain on one's side powder charge turning device | |
| CN213796470U (en) | Mobile carrying manipulator | |
| CN107775626A (en) | One kind has suctorial manipulator mechanism | |
| CN207417913U (en) | A kind of automatic cabinet palletizing apparatus | |
| CN207915451U (en) | A kind of split type robot | |
| CN207077460U (en) | A kind of manipulator for preventing that material from coming off | |
| CN207209438U (en) | A kind of effective multi-functional code pipe machine of spheroidal graphite cast-iron |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170929 |