CN107867560A - A kind of irregularly shaped object special manipulator handling device - Google Patents
A kind of irregularly shaped object special manipulator handling device Download PDFInfo
- Publication number
- CN107867560A CN107867560A CN201711252949.0A CN201711252949A CN107867560A CN 107867560 A CN107867560 A CN 107867560A CN 201711252949 A CN201711252949 A CN 201711252949A CN 107867560 A CN107867560 A CN 107867560A
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- CN
- China
- Prior art keywords
- connecting rod
- driven gear
- hinged
- frame
- shaped object
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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
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G2201/0214—Articles of special size, shape or weigh
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of irregularly shaped object special manipulator handling device, including gripping body, incidence regulating mechanism, level(l)ing mechanism and vertical lifting mechanism, the gripping body includes frame, servomotor is provided with below frame, the output shaft of servomotor is provided with driving gear, driving gear side is provided with the first driven gear, first the second driven gear of driven gear opposite side, first driven gear and the second driven gear are provided with grabbing assembly, grabbing assembly includes first connecting rod component, one end of first connecting rod component is hinged with second connecting rod, the other end of second connecting rod is provided with gripping portion, gripping portion connects gripper assembly, gripper assembly includes plinth, the center of plinth is provided with rotary table top, rotary table top end face is provided with clamp jaw, vertical rotating device is provided with the outside of plinth.Present invention accomplishes required ear nail all requirements in irregular items handling process, handling efficiency is improved, saves manpower and materials.
Description
Technical field
The present invention relates to clamp device field, more particularly to a kind of irregularly shaped object special manipulator handling device.
Background technology
To in the handling process of some irregular objects, it is often necessary to overturn or need adjustment angle or even need
Suitable gripping dynamics is used, therefore the existing carrying work to irregular items is mostly carried using artificial, waste be present
The problem of manpower and materials handling efficiency is low.
The content of the invention
It is an object of the invention to：Effect is carried to solve the existing carrying work wasting manpower and material resources to irregular items
The problem of rate is low, spy provide a kind of irregularly shaped object special manipulator handling device.
The technical solution adopted by the present invention is as follows：
A kind of irregularly shaped object special manipulator handling device, including be sequentially connected gripping body, incidence regulating mechanism,
Level(l)ing mechanism and vertical lifting mechanism, the gripping body include frame, servomotor, institute are provided with below the frame
The output shaft for stating servomotor is provided with driving gear, and the driving gear is located at machine frame inside, driving gear side be provided with
First driven gear of driving gear engagement, the first driven gear opposite side are provided with second engaged with the first driven gear
Driven gear, identical grabbing assembly, the grabbing assembly are arranged with first driven gear and the second driven gear
Including first connecting rod component, one end of first connecting rod component is fixedly connected with driven gear or the second driven gear, first connecting rod
The other end of component is hinged with second connecting rod, and the other end of second connecting rod is provided with gripping portion, and the gripping portion connects gripper assembly,
The gripper assembly includes the plinth being connected with gripping portion, and the center of the plinth is provided with circular rotary table top,
The relative end face of the rotary table top is provided with clamp jaw, and vertical rotating device is provided with the outside of the plinth, described vertical
Rotating device is connected with the center of rotary table top.
In such scheme, gag lever post is hinged with the middle part of the second connecting rod, the other end of gag lever post is hinged in frame.
In such scheme, the gag lever post is provided with two groups, and the both ends of two groups of gag lever posts pass through a jointed shaft respectively
It is hinged in frame and second connecting rod.
In such scheme, the first connecting rod component includes upper connecting rod and the lower link being stacked, the upper connecting rod one
End is fixedly connected with the first driven gear or the second driven gear, and the first driven gear or the second driven gear pass through with lower link
Same root jointed shaft is hinged in frame, and the upper connecting rod other end and the lower link other end are hinged to second by same root jointed shaft
On connecting rod.
In such scheme, motor housing is provided with below the frame, the servomotor is arranged in motor housing, servomotor
The through hole that passes in frame of output shaft be connected with driving gear.
In such scheme, some gear teeth, the gear teeth are evenly equipped with along the circumference of the second driven gear on second driven gear
The ratio of the girth of the second driven gear covered and the girth of the second driven gear is 5:12.
In such scheme, the vertical rotating device is small type stepping motor, and the output shaft of the small type stepping motor connects
The center of rotary table top is connect, the step angle of the stepper motor is 180 °.
In such scheme, the vertical lifting mechanism includes top plate and bottom plate, and the top plate bottom is provided with upper bracket, described
Head rod and the second connecting rod are hinged with upper bracket, in the midpoint of the head rod and second connecting rod
It is point articulated；The lower end of second connecting rod is hinged with the 3rd connecting rod, and the lower end of the head rod is hinged with the 4th company
Extension bar, it is point articulated in the midpoint of the 3rd connecting rod and the 4th connecting rod；3rd connecting rod and the 4th connecting rod
Lower end is be hinged to be arranged on the undersetting at the top of bottom plate, and the upper bracket is hinged with telescopic cylinder, the telescopic cylinder it is defeated
Be hinged in the middle part of shaft and the 3rd connecting rod, the bottom plate connects level(l)ing mechanism.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1. clamp device of the present invention will need the article carried to clamp, then by level(l)ing mechanism, vertical lifting mechanism,
Realize carry, it is necessary to when can also be realized and rotated by vertical rotating device, met again by incidence regulating mechanism adjustable inclination
Required ear nail all requires in irregular items handling process, improves handling efficiency, saves manpower and materials.
2. the present invention serves the effect of support to grabbing assembly, improves single unit system by the setting of gag lever post
Stability, handling efficiency is improved, save manpower and materials.
3. gag lever post is arranged to two groups by the present invention, the mode of both sides above and below second connecting rod is respectively hinged at, is improved whole
The stability of body device.
4. first connecting rod component is arranged to the forms of upper and lower two connecting rods by the present invention, second connecting rod is served support and
Spacing effect, the stability of whole device is improved, when ensure that gripping being not in two monomer grabbing assemblies can not be right
Situation about should close, improves handling efficiency, saves manpower and materials.
5. servomotor is arranged in motor housing by the present invention, the output shaft of servomotor passes the through hole connection in frame
There is driving gear, in this way servomotor position is fixed, ensure that the stability of whole device, while be easy to whole
The maintenance and replacing of individual device, improve handling efficiency, save manpower and materials.
6. the ratio of the girth and the girth of the second driven gear for the second driven gear that the present invention is covered the gear teeth is set
It is set to 5:12, the angle of clamping and release to whole device serves spacing effect, ensure that the safety of whole device is steady
It is fixed, handling efficiency is improved, saves manpower and materials.
7. vertical rotating device is arranged to the mode for the small type stepping motor that step angle is 180 ° by the present invention, realizes and turn over
Turn effect, it is easy to use, manpower and materials are saved, improve handling efficiency.
8. the present invention uses new vertical lifting mechanism, the simple and reliable of device is ensure that, improves handling efficiency,
Save manpower and materials.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is gripper assembly structural representation in the present invention；
Fig. 3 is vertical lifting mechanism structural scheme of mechanism in the present invention.
Parts title wherein corresponding to reference is as follows：1- gripping bodies, 2- incidence regulating mechanisms, 3- is horizontal to be adjusted
Save mechanism, 4- vertical lifting mechanisms, 11- frames, 12- driving gears, the driven gears of 13- first, the driven gears of 14- second, 15-
Grabbing assembly, 16- gripper assemblies, 17- motor housings, 41- top plates, 42- first connecting rods, 43- second connecting rods, 44- third connecting rods,
45- fourth links, 46- bottom plates, 47- telescopic cylinders, 111- through holes, 151- first connecting rod components, 152- second connecting rods, 153- folders
Take portion, 154- gag lever posts, 161- plinths, 162- rotary table tops, 163- clamp jaws, the vertical rotating devices of 164-, on 411-
Bearing, 461- undersettings.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Embodiment 1
A kind of irregularly shaped object special manipulator handling device, including gripping body 1, the incidence regulating mechanism being sequentially connected
2nd, level(l)ing mechanism 3 and vertical lifting mechanism 4, the gripping body 1 include frame 11, including frame 11, the frame
11 lower sections are provided with servomotor, and the output shaft of the servomotor is provided with driving gear 12, and the driving gear 12 is located at machine
Inside frame 11, the side of driving gear 12 is provided with the first driven gear 13 engaged with driving gear 12, first driven gear
13 opposite sides are provided with the second driven gear 14 engaged with the first driven gear 13, and first driven gear 13 and second is driven
Identical grabbing assembly 15 is arranged with gear 14, the grabbing assembly 15 includes first connecting rod component 151, first connecting rod group
One end of part 151 is fixedly connected with the driven gear 14 of driven gear 13 or second, and the other end of first connecting rod component 151 is hinged with
Second connecting rod 152, the other end of second connecting rod 152 are provided with gripping portion 153, and the gripping portion 153 connects gripper assembly 16, described
Gripper assembly 16 includes the plinth 161 being connected with gripping portion 153, and the center of the plinth 161 is provided with circular rotation
Table with revolvable top 162, the relative end face of the rotary table top 162 are provided with clamp jaw 163, and the outside of plinth 161 is provided with perpendicular
Direct rotary rotary device 164, the vertical rotating device 164 are connected with the center of rotary table top 162.
Embodiment 2
On the basis of embodiment 1, the middle part of second connecting rod 52 is hinged with gag lever post 54, the other end hinge of gag lever post 54
It is connected in frame 1.
Embodiment 3
On the basis of embodiment 2, the gag lever post 54 is provided with two groups, and the both ends of two groups of gag lever posts 54 pass through respectively
A piece jointed shaft is hinged in frame 1 and second connecting rod 52.
Embodiment 4
On the basis of above-described embodiment, the first connecting rod component 51 includes upper connecting rod and the lower link being stacked,
Described upper connecting rod one end is fixedly connected with the first driven gear 3 or the second driven gear 4, and the first driven gear 3 or the second is driven
Gear 4 and lower link are hinged in frame by same root jointed shaft, and the upper connecting rod other end and the lower link other end pass through same
Root jointed shaft is hinged on second connecting rod 52.
Embodiment 5
On the basis of above-described embodiment, the lower section of frame 1 is provided with motor housing 7, and the servomotor is arranged on motor
In case 7, the through hole 11 that the output shaft of servomotor is passed in frame 1 is connected with driving gear 2.
Embodiment 6
On the basis of above-described embodiment, if being evenly equipped with second driven gear 4 along the circumference of the second driven gear 4
The ratio of the dry gear teeth, the girth for the second driven gear 4 that the gear teeth are covered and the girth of the second driven gear 4 is 5:12.
Embodiment 7
On the basis of above-described embodiment, the vertical rotating device 64 is small type stepping motor, the small-sized stepping electricity
The center of the output axis connection rotary table top 62 of machine, the step angle of the stepper motor is 180 °.
Embodiment 8
On the basis of above-described embodiment, the vertical lifting mechanism 4 includes top plate 41 and bottom plate 46, the bottom of top plate 41
Portion is provided with upper bracket 411, and the connecting rod 43 of head rod 42 and second, first connection are hinged with the upper bracket 411
It is point articulated in the midpoint of bar 42 and second connecting rod 43；The lower end of second connecting rod 43 is hinged with the 3rd connecting rod
44, the lower end of the head rod 42 is hinged with the 4th connecting rod 45, the midpoint of the 3rd connecting rod 44 and the 4th connection
It is point articulated in bar 45；The lower end of 3rd connecting rod 44 and the 4th connecting rod 45 is be hinged to be arranged under the top of bottom plate 46
On bearing 461, the upper bracket 411 is hinged with telescopic cylinder 47, the output shaft and the 3rd connecting rod 44 of the telescopic cylinder 47
Middle part is hinged, and the bottom plate 46 connects level(l)ing mechanism 3.
Described above, only presently preferred embodiments of the present invention is not intended to limit the invention, patent protection model of the invention
Enclose and be defined by claims, the equivalent structure change that every specification and accompanying drawing content with the present invention is made, similarly
It should include within the scope of the present invention.
Claims (8)
- A kind of 1. irregularly shaped object special manipulator handling device, it is characterised in that：Including be sequentially connected gripping body (1), Incidence regulating mechanism (2), level(l)ing mechanism (3) and vertical lifting mechanism (4), the gripping body (1) include frame (11), including frame (11), frame (11) lower section are provided with servomotor, and the output shaft of the servomotor is provided with actively Gear (12), the driving gear (12) are located at frame (11) inside, and driving gear (12) side is provided with and driving gear (12) The first driven gear (13) of engagement, the first driven gear (13) opposite side are provided with what is engaged with the first driven gear (13) Second driven gear (14), identical crawl group is arranged with first driven gear (13) and the second driven gear (14) Part (15), the grabbing assembly (15) include first connecting rod component (151), one end of first connecting rod component (151) and driven tooth Wheel (13) or the second driven gear (14) are fixedly connected, and the other end of first connecting rod component (151) is hinged with second connecting rod (152), the other end of second connecting rod (152) is provided with gripping portion (153), gripping portion (153) the connection gripper assembly (16), institute The plinth (161) that gripper assembly (16) includes being connected with gripping portion (153) is stated, the center of the plinth (161) is set There is the rotary table top (162) of circle, the relative end face of the rotary table top (162) is provided with clamp jaw (163), the square base Vertical rotating device (164), the center phase of the vertical rotating device (164) and rotary table top (162) are provided with the outside of seat (161) Even.
- A kind of 2. irregularly shaped object special manipulator handling device according to claim 1, it is characterised in that：Described second Gag lever post (154) is hinged with the middle part of connecting rod (152), the other end of gag lever post (154) is hinged in frame (11).
- A kind of 3. irregularly shaped object special manipulator handling device according to claim 2, it is characterised in that：It is described spacing Bar (154) is provided with two groups, and the both ends of two groups of gag lever posts (154) are hinged on frame (11) and the by a jointed shaft respectively On two connecting rods (152).
- A kind of 4. irregularly shaped object special manipulator handling device according to claim 1, it is characterised in that：Described first Link assembly (151) includes the upper connecting rod that is stacked and lower link, described upper connecting rod one end and the first driven gear (13) or Second driven gear (14) is fixedly connected, and the first driven gear (13) or the second driven gear (14) pass through same root with lower link Jointed shaft is hinged in frame (11), and the upper connecting rod other end and the lower link other end are hinged to the second company by same root jointed shaft On bar (152).
- 5. a kind of irregularly shaped object special manipulator handling device according to any one in claim 1-4, its feature It is：Motor housing (17) is provided with below the frame (11), the servomotor is arranged in motor housing (17), servomotor The through hole (111) that output shaft is passed in frame (11) is connected with driving gear (12).
- A kind of 6. irregularly shaped object special manipulator handling device according to claim 1, it is characterised in that：Described second On driven gear (14) some gear teeth, the second driven gear that the gear teeth are covered are evenly equipped with along the circumference of the second driven gear (14) (14) girth and the ratio of the girth of the second driven gear (14) is 5:12.
- A kind of 7. irregularly shaped object special manipulator handling device according to claim 1, it is characterised in that：It is described vertical Rotating device (164) is small type stepping motor, the center of the output axis connection rotary table top (162) of the small type stepping motor, The step angle of the stepper motor is 180 °.
- A kind of 8. irregularly shaped object special manipulator handling device according to claim 1, it is characterised in that：It is described vertical Elevating mechanism (4) includes top plate (41) and bottom plate (46), and top plate (41) bottom is provided with upper bracket (411), the upper bracket (411) head rod (42) and the second connecting rod (43), the midpoint of the head rod (42) and described are hinged with It is point articulated in two connecting rods (43)；The lower end of second connecting rod (43) is hinged with the 3rd connecting rod (44), and described first The lower end of connecting rod (42) is hinged with the 4th connecting rod (45), the midpoint of the 3rd connecting rod (44) and the 4th connecting rod (45) In it is point articulated；The lower end of 3rd connecting rod (44) and the 4th connecting rod (45) is be hinged to be arranged at the top of bottom plate (46) On undersetting (461), the upper bracket (411) is hinged with telescopic cylinder (47), the output shaft of the telescopic cylinder (47) and It is be hinged in the middle part of three connecting rods (44), bottom plate (46) the connection level(l)ing mechanism (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711252949.0A CN107867560A (en) | 2017-12-01 | 2017-12-01 | A kind of irregularly shaped object special manipulator handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711252949.0A CN107867560A (en) | 2017-12-01 | 2017-12-01 | A kind of irregularly shaped object special manipulator handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107867560A true CN107867560A (en) | 2018-04-03 |
Family
ID=61755018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711252949.0A Withdrawn CN107867560A (en) | 2017-12-01 | 2017-12-01 | A kind of irregularly shaped object special manipulator handling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107867560A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452888A (en) * | 2018-12-30 | 2019-03-12 | 唐伟贤 | A kind of catching plate device |
| CN109702722A (en) * | 2019-01-21 | 2019-05-03 | 深圳市拓野机器人自动化有限公司 | A kind of multi-robot integrated system of truss robot |
| CN110700673A (en) * | 2019-10-19 | 2020-01-17 | 汉寿力达电杆有限公司 | Energy-saving electric pole manufacturing method and manufacturing device thereof |
| CN112372476A (en) * | 2020-11-12 | 2021-02-19 | 马程 | Grinding machine clamping device |
| CN113524071A (en) * | 2021-07-16 | 2021-10-22 | 新疆工业职业技术学院（新疆钢铁高级技工学校） | Safety device for mechanical engineering |
-
2017
- 2017-12-01 CN CN201711252949.0A patent/CN107867560A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452888A (en) * | 2018-12-30 | 2019-03-12 | 唐伟贤 | A kind of catching plate device |
| CN109702722A (en) * | 2019-01-21 | 2019-05-03 | 深圳市拓野机器人自动化有限公司 | A kind of multi-robot integrated system of truss robot |
| CN110700673A (en) * | 2019-10-19 | 2020-01-17 | 汉寿力达电杆有限公司 | Energy-saving electric pole manufacturing method and manufacturing device thereof |
| CN110700673B (en) * | 2019-10-19 | 2021-06-08 | 汉寿力达电杆有限公司 | Energy-saving electric pole manufacturing method and manufacturing device thereof |
| CN112372476A (en) * | 2020-11-12 | 2021-02-19 | 马程 | Grinding machine clamping device |
| CN113524071A (en) * | 2021-07-16 | 2021-10-22 | 新疆工业职业技术学院（新疆钢铁高级技工学校） | Safety device for mechanical engineering |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180403 |