CN107472899A - A kind of carrying implement machinery claw - Google Patents
A kind of carrying implement machinery claw Download PDFInfo
- Publication number
- CN107472899A CN107472899A CN201710902950.7A CN201710902950A CN107472899A CN 107472899 A CN107472899 A CN 107472899A CN 201710902950 A CN201710902950 A CN 201710902950A CN 107472899 A CN107472899 A CN 107472899A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- clamping
- connecting plate
- movable block
- pressure
- 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
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0285—Postal items, e.g. letters, parcels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The present invention relates to material flows automation Sorting Technique field, specially a kind of carrying implement machinery claw, including connecting plate, connecting plate rear end is provided with the connecting seat being connected with mechanical arm, clamping jaw is provided with the downside of connecting plate, two chutes are provided with connecting plate, the projection coordinated with chute is provided with above clamping jaw, a movable block is connected with jointly above projection on each clamping jaw, movable block is connected with clamping device, pressure-detecting device is provided with clamping jaw, pressure-detecting device and control device chain man, load-bearing device is provided with below clamping jaw, control device control is connected with clamping device and load-bearing device.The present invention on clamping jaw by setting pressure-detecting device, the clamping force to parcel can be controlled, control device is receiving the pressure value of pressure-detecting device detection, and then control the position of clamping device, prevent the excessive clamping to parcel from causing to deform, load-bearing device is set in the lower section of clamping jaw, ensures the steady transhipment to parcel.
Description
Technical field
The present invention relates to material flows automation Sorting Technique field, specially a kind of carrying implement machinery claw.
Background technology
The ratio of present Logistics Developing is very fast, and express delivery amount is also to explode year after year, in order to improve the efficiency of express delivery sorting, mesh
Preceding is all to use special materials-sorting system, is sorted to go out accordingly by sorting system by scanning the bar code superscribed
Mouthful, afterwards by robot grasp handling to AGV dollies, being put into corresponding deposit position afterwards, it is easy to follow-up logistics to transport
It is defeated.In order to improve the efficiency of carrying in the application of reality, big handgrip, a grippers parcel can be used, or use
Identical handgrip goes to capture different parcels, but because some include being breakables, it is impossible to too big external force is born, is just led
Cause in crawl, stress is excessive, it is impossible to reach breakage-proof requirement, and excessive grasp force can also destroy the bag in parcel outside
Dress.
The content of the invention
The technical problem to be solved in the present invention is：Mechanical arm in present materials-sorting system in crawl using
Identical tonicity and clamping force, parcel is caused to deform or can not reach breakage-proof effect, in order to solve the above technical problems, using
A kind of carrying implement machinery claw.
A kind of carrying implement machinery claw, including connecting plate, connecting plate rear end are provided with the connecting seat being connected with mechanical arm, are connecting
Clamping jaw is provided with the downside of plate, two chutes are provided with connecting plate, the projection coordinated with chute are provided with above clamping jaw, often
A movable block is connected with jointly above projection on individual clamping jaw, and movable block is connected with clamping device, and pressure is provided with clamping jaw
Force checking device, pressure-detecting device and control device chain man, load-bearing device, control device control are provided with below clamping jaw
It is connected with clamping device and load-bearing device.
Clamping device is included in the clamping jaw cylinder set in the middle part of connecting plate, and contiguous block is connected with above clamping jaw cylinder, even
Connect and connecting rod is connected between block and movable block, connecting rod both ends are hinged with contiguous block and movable block respectively, are connected on clamping jaw cylinder
The electromagnetic valve I connect is connected with control device.
Fixed column is provided with connecting plate, fixed column is arranged on the outside of movable block, in the same side of two movable blocks
Same connect band altogether is connected, the through hole of connect band is provided with movable block.
The link with being connected band connection is provided with connecting plate, connect band end set has square duct and connecting hole
II, connecting hole II are connected with square duct, and swivel becket is provided with connecting hole II, and the diameter of swivel becket and connecting hole II matches
Close, set on swivel becket jagged, the width of breach and the width of square duct are adapted, and extension is connected with the outside of swivel becket
Ear, connecting hole I is provided with connect band, is connected by screw between hangers and connecting hole I.
Pressure-detecting device is included in the through hole set on clamping jaw, and guide pillar is provided with through hole, and guide pillar stretches out the outer of clamping jaw
Side is provided with fixed cover, and two one end of guide pillar are provided with portable plate, friction plate are provided with the outside of portable plate, in portable plate
Spring is provided between side and clamping jaw, pressure sensor is provided with the medial surface of clamping jaw, is set on the outside of pressure sensor
Pad is equipped with, spring is arranged between pad and portable plate, and pressure sensor is connected with control device.
Load-bearing device is included in two heavy burden cylinders that the downside of each clamping jaw is set, and the piston of two heavy burden cylinders is common
A supporting plate is connected, supporting plate is arranged on above piston, and the electromagnetic valve II being connected with control device is provided with heavy burden cylinder.
Relative to prior art, the present invention can control the folder to parcel by setting pressure-detecting device on clamping jaw
Clamp force, control device is receiving the pressure value of pressure-detecting device detection, and then controls the position of clamping device, prevents to bag
The transition wrapped up in, which clamps, to be caused to deform, and is set load-bearing device in the lower section of clamping jaw, is ensured the steady transhipment to parcel.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is Fig. 1 top views.
Fig. 3 is connect band joint design schematic diagram.
In figure, 1. clamping jaw cylinders；2. connect band；3. fixed column；4. connecting plate；5. clamping jaw；6. guide pillar；7. pressure sensing
Device；8. spring；9. heavy burden cylinder；10. piston；11. supporting plate；12. portable plate；13. friction plate；14. movable block；15. connecting rod；
16. contiguous block；17. chute；18. connecting seat；19. connecting hole I；20. swivel becket；21. connecting hole II；22. square duct；23.
Hangers.
Embodiment
As shown in Figure 1-Figure 3, a kind of carrying implement machinery claw, including connecting plate 4, the rear end of connecting plate 4 is provided with to be connected with mechanical arm
The connecting seat 18 connect, the downside of connecting plate 4 is provided with clamping jaw 5, two chutes 17, the top of clamping jaw 5 are provided with connecting plate 4
The projection coordinated with chute 17 is provided with, a movable block 14, movable block 14 are connected with jointly above the projection on each clamping jaw
Clamping jaw 5 is connected on connecting plate 4, the middle part of connecting plate 4 is provided with clamping jaw cylinder 1, the top of clamping jaw cylinder 1 is connected with connection
Block 16, is connected with connecting rod 15 between contiguous block 16 and movable block 14, connecting rod both ends respectively with contiguous block 16 and movable block 14
It is be hinged.
Through hole is provided with clamping jaw 5, guide pillar 6 is provided with through hole, the outside that guide pillar 6 stretches out clamping jaw 5 is provided with fixation
Set, two one end of guide pillar 6 are provided with portable plate 12, the outside of portable plate 12 are provided with friction plate 13, in the inner side of portable plate 12
Spring 8 is provided between clamping jaw 5, pressure sensor 7 is provided with the medial surface of clamping jaw 5, in the outside of pressure sensor 7
Pad is provided with, spring 8 is arranged between pad and portable plate.Pressure sensor 7 is connected with control device.During crawl, activity
Plate 12 first contacts with parcel, and in crawl, portable plate 12 can compress parcel and pressure transmission is passed to pressure by spring 8 simultaneously
Sensor 7,7 pressure transmission measured of pressure sensor are to control device.
Two heavy burden cylinders 9, the connection one jointly of piston 10 of two heavy burden cylinders 9 are provided with the downside of each clamping jaw 5
Individual supporting plate 11, supporting plate 11 are arranged on the top of piston 10.And it is provided with clamping jaw cylinder 1 and heavy burden cylinder 9 and connects with control device
The magnetic valve connect.First set one to guarantee contact parcel in control device but the pressure value model for including deformation will not be made
Enclose, when the pressure value that control device receives reaches the pressure limit of setting, the air inlet of clamping jaw cylinder 1 stops, and position is fixed
Position at this moment, now, while the piston 10 in heavy burden cylinder 9 is controlled to stretch out, supporting plate 11 holds the lower end of parcel, makes parcel
It can stablize fixed and hold, be transported to suitable position in the presence of mechanical arm afterwards.
Fixed column 3 is provided with connecting plate 4, fixed column 3 is arranged on the outside of movable block 14, and two movable blocks 14 pass through
One connect band 2 connects, and in order to save the use length of connect band 2, connect band 2 can be connected to two directions of movable block 14
Identical side, the left side or right side of two movable blocks 14 are such as connected to simultaneously, connect band 2 is provided with movable block 14
Through hole.Two associated movements of movable block 14 when the effect of connection connect band 2 on portable plate 14 is, and move more steady.
In order that resistance is smaller when movable block 14 moves, roller can be set in the lower section of movable block.
The link being connected with connect band 2 is provided with connecting plate 4, the end set of connect band 2 has square duct 22 and connected
Hole II21 is met, connecting hole II21 connects with square duct 22, swivel becket 20 is provided with connecting hole II21, swivel becket 20 is with connecting
The diameter for meeting hole II21 is engaged, and sets jagged on swivel becket 20, and the width of the width and square duct 22 of breach is adapted,
Hangers 23 is connected with the outside of swivel becket 20, connecting hole I19 is provided with connect band 2, between hangers 23 and connecting hole I19
It is connected by screw.When connect band 2 when the number used excessively causes connect band to fluff, it is necessary to change connect band, first twist off
Hangers 23 and connecting hole I19 screw is connected, swivel becket 20 is rotated by hangers 23 afterwards, makes the breach on swivel becket 20 and side
Shape passage 22 overlaps, and pulls connect band 2 afterwards, the link on connecting plate 4 is skidded off from square duct 22, using above-mentioned steps
The other end of connect band 2 and link are separated, i.e., old connect band 2 is removed, connect band 2 is made using above-mentioned opposite step afterwards
It is connected with link, just completes the replacing of connect band 2, the benefit of this structure of connect band end set is exactly to be conveniently replaceable, and
Swivel becket 20 may be reused.
The use process of the present invention is that two clamping jaws 5 first are located at the both ends of chute 17 respectively, and clamping jaw 5 is positioned at parcel
Both ends, clamping jaw cylinder 1 drive contiguous block 16 to move upwards, and contiguous block 16 pulls movable block 14 to be leaned on to middle part by connecting rod 15
Hold together, for two movable blocks 14 in motion, the connect band 2 of two movable blocks 14 of connection drives two movable blocks 14 to be synchronized with the movement, living
Motion block 14 drives clamping jaw 5 to be drawn close to middle part, when portable plate 12 contacts parcel and reaches control in the pressure that pressure sensor 7 measures
During the pressure limit of device setting, when only a pressure sensor transmits pressure, control device control machinery arm rotates one
Individual angle, two clamping jaws are made to try one's best accurately positioned at the both sides of parcel.Afterwards, the electromagnetic valve I of control device control clamping jaw cylinder,
The position of clamping jaw cylinder 1 now is fixed, while controls the electromagnetic valve II of heavy burden cylinder 9, stretches out piston 10, on piston 10
Supporting plate 11 holds the lower end of parcel, parcel is consolidated fixation, and the friction plate 13 on portable plate 12 prevents from rocking before and after parcel.
Parcel is transported to corresponding position by mechanical arm afterwards.
When being transported to relevant position, piston 10 in heavy burden cylinder 9 drives supporting plate 11 to retract, rear clip-claw cylinder 1 drive
Contiguous block 16 moves downward, and contiguous block 16 drives clamping jaw 5 to move out by connecting rod 15, when the pressure of pressure sensor transmission
When being zero, mechanical arm driving mechanical pawl departs from the position for wrapping up and going to crawl parcel.
Claims (6)
- A kind of 1. carrying implement machinery claw, it is characterised in that：Including connecting plate, connecting plate rear end is provided with the connection being connected with mechanical arm Seat, is provided with clamping jaw on the downside of connecting plate, and two chutes are provided with connecting plate, is provided with above clamping jaw and coordinates with chute Projection, be connected with a movable block jointly above the projection on each clamping jaw, movable block is connected with clamping device, on clamping jaw Pressure-detecting device, pressure-detecting device and control device chain man are provided with, load-bearing device is provided with below clamping jaw, is controlled Device control is connected with clamping device and load-bearing device.
- A kind of 2. carrying implement machinery claw according to claim 1, it is characterised in that：Clamping device, which is included in the middle part of connecting plate, to be set The clamping jaw cylinder put, contiguous block is connected with above clamping jaw cylinder, connecting rod, connecting rod are connected between contiguous block and movable block Both ends are hinged with contiguous block and movable block respectively, and the electromagnetic valve I connected on clamping jaw cylinder is connected with control device.
- A kind of 3. carrying implement machinery claw according to claim 1 or 2, it is characterised in that：Fixed column is provided with connecting plate, Fixed column is arranged on the outside of movable block, is set in the common same connect band of the same side connection of two movable blocks, movable block There is the through hole by connect band.
- A kind of 4. carrying implement machinery claw according to claim 3, it is characterised in that：It is provided with connecting plate and connects with connect band The link connect, connect band end set have square duct and connecting hole II, and connecting hole II connects with square duct, in connecting hole II Swivel becket is inside provided with, swivel becket is engaged with connecting hole II diameter, and jagged, the width of breach and side are set on swivel becket The width of shape passage is adapted, and hangers is connected with the outside of swivel becket, and connecting hole I, hangers and company are provided with connect band Connect and be connected by screw between the I of hole.
- A kind of 5. carrying implement machinery claw according to claim 1, it is characterised in that：Pressure-detecting device, which is included on clamping jaw, to be set The through hole put, guide pillar is provided with through hole, guide pillar, which is stretched out on the outside of clamping jaw, is provided with fixed cover, and two one end of guide pillar are provided with work Dynamic plate, friction plate is provided with the outside of portable plate, spring is provided between clamping jaw on the inside of portable plate, in the inner side of clamping jaw Pressure sensor is provided with face, pad is provided with the outside of pressure sensor, spring is arranged between pad and portable plate, Pressure sensor is connected with control device.
- A kind of 6. carrying implement machinery claw according to claim 1, it is characterised in that：Load-bearing device is included under each clamping jaw Two heavy burden cylinders that side is set, one supporting plate of connection, supporting plate are arranged on above piston the piston of two heavy burden cylinders jointly, are born The electromagnetic valve II being connected with control device is provided with weight cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902950.7A CN107472899A (en) | 2017-09-29 | 2017-09-29 | A kind of carrying implement machinery claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710902950.7A CN107472899A (en) | 2017-09-29 | 2017-09-29 | A kind of carrying implement machinery claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107472899A true CN107472899A (en) | 2017-12-15 |
Family
ID=60605556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710902950.7A Pending CN107472899A (en) | 2017-09-29 | 2017-09-29 | A kind of carrying implement machinery claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107472899A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357916A (en) * | 2018-03-26 | 2018-08-03 | 韩忠彬 | Waste transfer device in a kind of medical experiment |
| CN108529215A (en) * | 2018-04-27 | 2018-09-14 | 赵起龙 | A kind of logistics transportation article fixing device |
| CN108557646A (en) * | 2017-12-26 | 2018-09-21 | 太原重工股份有限公司 | The horizontal coil clamp automatic control system and method for unmanned crane |
| CN108657812A (en) * | 2018-07-11 | 2018-10-16 | 苏州太阳井新能源有限公司 | A kind of polysilicon chip electromagnetism folding clamp |
| CN109733870A (en) * | 2019-03-15 | 2019-05-10 | 黄浩 | A kind of intelligence high-precision robot palletizer |
| CN109940644A (en) * | 2017-12-21 | 2019-06-28 | 沈阳新松机器人自动化股份有限公司 | A kind of general rotation centralizer |
| CN112643698A (en) * | 2020-12-24 | 2021-04-13 | 天津亿海生物科技有限公司 | Biological kit grabbing device that stability is high |
| CN113727918A (en) * | 2019-05-13 | 2021-11-30 | 村田机械株式会社 | Overhead transport vehicle |
-
2017
- 2017-09-29 CN CN201710902950.7A patent/CN107472899A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940644A (en) * | 2017-12-21 | 2019-06-28 | 沈阳新松机器人自动化股份有限公司 | A kind of general rotation centralizer |
| CN109940644B (en) * | 2017-12-21 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | Universal rotary centering fixture |
| CN108557646A (en) * | 2017-12-26 | 2018-09-21 | 太原重工股份有限公司 | The horizontal coil clamp automatic control system and method for unmanned crane |
| CN108357916A (en) * | 2018-03-26 | 2018-08-03 | 韩忠彬 | Waste transfer device in a kind of medical experiment |
| CN108529215A (en) * | 2018-04-27 | 2018-09-14 | 赵起龙 | A kind of logistics transportation article fixing device |
| CN108657812A (en) * | 2018-07-11 | 2018-10-16 | 苏州太阳井新能源有限公司 | A kind of polysilicon chip electromagnetism folding clamp |
| CN109733870A (en) * | 2019-03-15 | 2019-05-10 | 黄浩 | A kind of intelligence high-precision robot palletizer |
| CN113727918A (en) * | 2019-05-13 | 2021-11-30 | 村田机械株式会社 | Overhead transport vehicle |
| CN112643698A (en) * | 2020-12-24 | 2021-04-13 | 天津亿海生物科技有限公司 | Biological kit grabbing device that stability is high |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171215 |