CN108098822A - The mechanical upper limb of quick gripping plastic pipe - Google Patents
The mechanical upper limb of quick gripping plastic pipe Download PDFInfo
- Publication number
- CN108098822A CN108098822A CN201711345552.6A CN201711345552A CN108098822A CN 108098822 A CN108098822 A CN 108098822A CN 201711345552 A CN201711345552 A CN 201711345552A CN 108098822 A CN108098822 A CN 108098822A
- Authority
- CN
- China
- Prior art keywords
- plastic pipe
- coupler body
- connecting portion
- upper limb
- montant
- 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
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
Abstract
The invention discloses a kind of mechanical upper limbs of quick gripping plastic pipe, mechanical upper limb includes montant, cross bar, coupler body, haulage gear and movable arm, the top of montant is coaxial and the rotatable earth's axis is connected to movable arm, the bottom of montant is provided with connecting portion, at least two cross bars can be connected to connecting portion with horizontally rotating centered on connecting portion, the each one end of cross bar away from connecting portion is hinged with coupler body, one end of haulage gear is fixed on montant, and the other end is connected to the upper end of each coupler body to draw the opening and closing of each coupler body.The machinery upper limb can be stablized and multi-faceted plastic pipe be picked up and stored.
Description
Technical field
The present invention relates to machinery field, more particularly to the mechanical upper limb of quick gripping plastic pipe.
Background technology
Final step is exactly the storage to plastic pipe during the manufacturing of plastic pipe, at present, usually using manually
Operation the plastic pipe manufactured is carried out fetching storage in turn, efficiency is very low.
Therefore, the mode for being badly in need of wanting a kind of mechanical upper limb replacement that can be used in quickly gripping plastic pipe artificial will manufacture
Plastic pipe stablize and multi-faceted fetch storage.
The content of the invention
The object of the present invention is to provide a kind of mechanical upper limb of quick gripping plastic pipe, which can substitute manually
Mode by the plastic pipe manufactured stablize and it is multi-faceted fetch storage, and there is very high stability, especially
Efficiency is more improved for fetching for heavier plastic pipe fitting.
To achieve these goals, the present invention provides a kind of mechanical upper limb of quick gripping plastic pipe, the machinery upper limbs
Including montant, cross bar, coupler body, haulage gear and movable arm, the top of the montant is coaxial and the rotatable earth's axis be connected to it is described
Movable arm, the bottom of the montant are provided with connecting portion, at least two cross bars can centered on the connecting portion water
Flat to be rotationally connected with the connecting portion, each one end of the cross bar away from the connecting portion is hinged with the coupler body, institute
The one end for stating haulage gear is fixed on the montant, and the other end is connected to the upper end of each coupler body to draw each coupler body
Opening and closing.
Preferably, the movable arm includes upper arm, underarm and hydraulic telescopic rod, and one end of the underarm is coaxial and can turn
The dynamic earth's axis is connected to the upper end of the montant, and the other end of the underarm is articulated with the upper arm, one end of the hydraulic telescopic rod
It is articulated on the side wall of the upper arm, the other end is articulated on the side wall of the underarm.
Preferably, the inside of the underarm is coaxially arranged with decelerating motor, the rotation of the decelerating motor with the underarm
Axis stretches out bottom to the outside of the underarm of the underarm and fixing axle is connected to the montant.
Preferably, the connecting portion is cylindrical protrusions, and the cylindrical protrusions are provided with multiple use along its circumferential direction
Horizontally rotate slot in what the cross bar rotated, the end of the cross bar, which is articulated with, described to horizontally rotate in slot.
Preferably, the one end of the cross bar away from the connecting portion is provided with vertical fluting, the top energy of the coupler body
It is enough swingingly arranged in the fluting and passes through axis pin and fix.
Preferably, the haulage gear includes traction electric machine and a plurality of traction rope, is arranged in the shaft of the traction electric machine
There is wheel disc, one end of the traction rope is fixed on the wheel disc, and the other end is connected to the upper end of the coupler body, the traction electricity
The rotation of machine with drive the upper end of each coupler body simultaneously towards or backwards to the traction electric machine direction swing.
Preferably, the homonymy on the montant positioned at the traction electric machine is connected with what the multiple and traction rope matched
Limit base.
Preferably, the through hole for running through the traction rope is provided in the limit base, the diameter of the through hole is in
Portion gradually increases towards both ends.
Preferably, it is embedded with matched sebific duct in the through hole.
Preferably, the hook end of the coupler body is horizon bar, and the extending direction of each horizon bar simultaneously towards or it is same
When backwards to the longitudinal axis where the connecting portion.
Preferably, it is arranged with antiskid glue sleeve on the horizon bar.
According to above-mentioned technical proposal, the top of heretofore described montant is coaxial and the rotatable earth's axis is connected to the movable hand
Arm, the bottom of the montant are provided with connecting portion, and at least two cross bars can be horizontally rotated centered on the connecting portion
Ground is connected to the connecting portion, and each one end of the cross bar away from the connecting portion is hinged with the coupler body, the traction
One end of mechanism is fixed on the montant, and the other end is connected to the upper end of each coupler body to draw the opening and closing of each coupler body.
In use, draw the top of multiple coupler bodies simultaneously by haulage gear, it is more to cause centered on the connecting portion of coupler body and cross bar
The lower part of a coupler body expands outwardly, when good plastic pipe to be manufactured is moved to the opposite position that coupler body can be clamped to, traction
Mechanism relaxation simultaneously causes the lower part of coupler body to contract and to catch on plastic pipe to be fetched, for the modeling with different number opening
Sebific duct can realize the plastic pipe that can pick up greater number opening by adjusting the quantity of cross bar and corresponding position, and
The end of cross bar adjusts fixed form in the rotation of connecting portion and damping adjusting may be employed, between connecting portion and the end of cross bar
Certain damping prevents coupler body cross bar when activity from generating swing.Pass through movable arm while grasping movement is completed
It can realize the more flexible adjusting of adjusting crawl position and the adjusting of placement position, the scope that can be applicable in is wider.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is together for explaining the present invention, but be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of overall structure diagram of preferred embodiment of mechanical upper limb in the present invention.
Reference sign
1 montant, 2 cross bar
3 coupler body, 4 traction electric machine
5 wheel disc, 6 antiskid glue sleeve
7 limit base, 8 connecting portion
9 underarm, 10 rotation axis
11 upper arm, 12 hydraulic telescopic rod
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In the present invention, in the case where not making explanation on the contrary, " up and down, front and rear inside and outside " etc. is included in term
The noun of locality only represent orientation of the term under normal service condition or be those skilled in the art understand that be commonly called as, without should
It is considered as the limitation to the term.
The mechanical upper limb of quick gripping plastic pipe shown in Figure 1, the machinery upper limb include montant 1, cross bar 2, coupler body
3rd, haulage gear and movable arm, the top of the montant 1 is coaxial and the rotatable earth's axis is connected to the movable arm, the montant
1 bottom is provided with connecting portion 8, and at least two cross bars 2 can be connected in which horizontally rotate centered on the connecting portion 8
The connecting portion 8, each one end of the cross bar 2 away from the connecting portion 8 are hinged with the coupler body 3, the haulage gear
One end be fixed on the montant 1, the other end is connected to the upper end of each coupler body 3 to draw the opening and closing of each coupler body 3.
The implementation of Pass through above-mentioned technical proposal, the top of the montant 1 is coaxial and the rotatable earth's axis is connected to the movable hand
Arm, the bottom of the montant 1 are provided with connecting portion 8, and at least two cross bars 2 can be horizontal centered on the connecting portion 8
The connecting portion 8 is rotationally connected with, each one end of the cross bar 2 away from the connecting portion 8 is hinged with the coupler body 3,
One end of the haulage gear is fixed on the montant 1, and the other end is connected to the upper end of each coupler body 3 to draw each hook
The opening and closing of body 3.In use, the top of multiple coupler bodies 3 is drawn simultaneously by haulage gear, with coupler body 3 and the connecting portion 8 of cross bar 2
So that the lower part of multiple coupler bodies 3 expands outwardly centered on position, good plastic pipe to be manufactured is moved to the phase that coupler body 3 can be clamped to
During correspondence position, haulage gear relaxation simultaneously causes the lower part of coupler body 3 to contract and to catch on plastic pipe to be fetched, for having
The plastic pipe of different number opening can pick up most by adjusting the quantity of cross bar 2 and the realization of corresponding position
The plastic pipe of opening is measured, and the end of cross bar 2 adjusts fixed form in the rotation of connecting portion 8 and damping adjusting may be employed, even
Certain damping between the end of socket part 8 and cross bar 2 prevents the cross bar 2 when activity of coupler body 3 from generating swing.It completes to grab
The more flexible adjusting of adjusting crawl position and the adjusting of placement position can be realized while action by movable arm by taking,
The scope that can be applicable in is wider.
In this embodiment, in order to upper limb is caused to be adjusted in the larger context, it is preferable that the activity
Arm includes upper arm 11, underarm 9 and hydraulic telescopic rod 12, one end of the underarm 9 is coaxial and the rotatable earth's axis be connected to it is described perpendicular
The upper end of bar 1, the other end of the underarm 9 are articulated with the upper arm 11, and one end of the hydraulic telescopic rod 12 is articulated with described
On the side wall of upper arm 11, the other end is articulated on the side wall of the underarm 9.Flexible by hydraulic telescopic rod 12 is used for adjusting
Angle between arm 11 and underarm 9 controls claming angle so as to increase left clamping body and right clamping body.
In this embodiment, in order to realize montant 1 compared with underarm 9 rotate adjusting position, it is preferable that the underarm 9
Inside and the underarm 9 be coaxially arranged with decelerating motor, the rotation axis 10 of the decelerating motor stretches out the bottom of the underarm 9
The montant 1 is connected to the outside of the underarm 9 and fixing axle.And the use of decelerating motor is in order to control the speed of rotation, more
Accurately into the control of row position.
In this embodiment, in order to realize cross bar 2 compared with the balanced rotation of connecting portion 8, it is preferable that the connecting portion
8 be cylindrical protrusions, and the cylindrical protrusions are provided with multiple horizontally rotating for the cross bar 2 rotation along its circumferential direction
Slot, the end of the cross bar 2, which is articulated with, described to horizontally rotate in slot.Wherein set between the end of the inner wall of rotation slot and cross bar 2
Certain damping is equipped with, which can cause coupler body 3 not cause the rotation of cross bar 2 when work, and cross bar 2 turns
It is dynamic to need manual adjustment to reach the angle for being most suitable for plastic pipe to be fetched.
In this embodiment, in order to realize that coupler body 3 can be rotated compared with the end of cross bar 2, it is preferable that the cross bar
2 one end away from the connecting portion 8 are provided with vertical fluting, and the top of the coupler body 3 can swingingly be arranged in described open
In slot and pass through axis pin and fix.Wherein, the selection of the position of 3 hinge joint of coupler body is it should be noted that when the feelings without any external force
Condition lower hook body 3 is generally in vertical state, to ensure the stability of clamping plastic pipe, after the external force of haulage gear stops,
The lower part of coupler body 3 can hook the port of plastic pipe by the effect freely falling body of weight to lower swing.
In this embodiment, in order to realize that haulage gear can draw the swing of coupler body 3, it is preferable that the dragger
Structure includes traction electric machine 4 and a plurality of traction rope, and wheel disc 5, one end of the traction rope are arranged in the shaft of the traction electric machine 4
It is fixed on the wheel disc 5, the other end is connected to the upper end of the coupler body 3, and the rotation of the traction electric machine 4 is to drive each institute
State coupler body 3 upper end simultaneously towards or backwards to the traction electric machine 4 direction swing.It is identical mostly with the winding direction of traction rope,
The length of so any one traction rope can all be elongated or shortened according to what the rotation direction of traction electric machine 4 synchronized, so as to
So that multiple coupler bodies 3 realize synchronous expansion or contraction.
In this embodiment, in order to reduce as far as possible since cross bar 2 rotates the mechanical wear of adjusting angle rear haulage rope,
Preferably, the homonymy on the montant 1 positioned at the traction electric machine 4 is connected with multiple limit bases to match with the traction rope
7.Each traction rope is mating set a limit base 7, traction rope passed through out of limit base 7 after again respectively with haulage gear and coupler body
3 connections.
In this embodiment, in order to further reduce since cross bar 2 rotates the mechanical wear of adjusting angle rear haulage rope,
Preferably, it is provided with the through hole for running through the traction rope in the limit base 7, the diameter of the through hole is from middle part towards two
End gradually increase.So the both ends of through hole are in bell mouth shape, have certain non-loss transformation scope after cross bar 2 adjusts angle,
In the range of, the opening friction probability of traction rope and through hole reduces, and enhances service life.
In this embodiment, ground to further reduce since cross bar 2 rotates the mechanical of adjusting angle rear haulage rope
Damage, it is preferable that matched sebific duct is embedded in the through hole.
In this embodiment, hooked for the ease of coupler body 3 in the port of plastic pipe, improve work efficiency, it is preferable that institute
The hook end of coupler body 3 is stated as horizon bar, and the extending direction of each horizon bar simultaneously towards or simultaneously backwards to the connecting portion 8
The longitudinal axis at place.
In this embodiment, in order to improve the stability after coupler body 3 hooks plastic pipe, will not be taken off during movement
Fall, increase frictional force, it is preferable that antiskid glue sleeve 6 is arranged on the horizon bar.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that the specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of mechanical upper limb of quick gripping plastic pipe, which is characterized in that the machinery upper limb includes montant (1), cross bar
(2), coupler body (3), haulage gear and movable arm, the top of the montant (1) is coaxial and the rotatable earth's axis is connected to the activity
Arm, the bottom of the montant (1) are provided with connecting portion (8), and at least two cross bars (2) can be with the connecting portion (8)
Centered on be connected to the connecting portion (8) with horizontally rotating, the one end of each cross bar (2) away from the connecting portion (8) is equal
The coupler body (3) is hinged with, one end of the haulage gear is fixed on the montant (1), and the other end is connected to each described
The upper end of coupler body (3) is to draw the opening and closing of each coupler body (3).
2. the mechanical upper limb of quick gripping plastic pipe according to claim 1, which is characterized in that the activity arm includes
Upper arm (11), underarm (9) and hydraulic telescopic rod (12), one end of the underarm (9) is coaxial and the rotatable earth's axis be connected to it is described perpendicular
The upper end of bar, the other end of the underarm (9) are articulated with the upper arm (11), and one end of the hydraulic telescopic rod (12) is articulated with
On the side wall of the upper arm (11), the other end is articulated on the side wall of the underarm (9).
3. the mechanical upper limb of quick gripping plastic pipe according to claim 2, which is characterized in that the underarm (9) it is interior
Portion is coaxially arranged with decelerating motor with the underarm (9), and the rotation axis (10) of the decelerating motor stretches out the bottom of the underarm (9)
Simultaneously fixing axle is connected to the montant for end to the outside of the underarm (9).
4. the mechanical upper limb of quick gripping plastic pipe according to claim 1, which is characterized in that the connecting portion (8) is
Cylindrical protrusions, the cylindrical protrusions are provided with multiple horizontally rotating for the cross bar (2) rotation along its circumferential direction
Slot, the end of the cross bar (2), which is articulated with, described to horizontally rotate in slot.
5. the mechanical upper limb of the quick gripping plastic pipe according to claim 1 or 4, which is characterized in that the cross bar (2) is remote
One end from the connecting portion (8) is provided with vertical fluting, and the top of the coupler body (3) can swingingly be arranged in described open
In slot and pass through axis pin and fix.
6. the mechanical upper limb of quick gripping plastic pipe according to claim 1, which is characterized in that the haulage gear includes
Traction electric machine (4) and a plurality of traction rope are arranged with wheel disc (5), one end of the traction rope in the shaft of the traction electric machine (4)
It is fixed on the wheel disc (5), the other end is connected to the upper end of the coupler body (3), and the rotation of the traction electric machine (4) is to drive
The upper end of each coupler body (3) is swung towards or backwards to the direction of the traction electric machine (4) simultaneously.
7. the mechanical upper limb of quick gripping plastic pipe according to claim 6, which is characterized in that the montant (1) is upper
Multiple limit bases (7) to match with the traction rope are connected in the homonymy of the traction electric machine (4).
8. the mechanical upper limb of quick gripping plastic pipe according to claim 7, which is characterized in that in the limit base (7)
The through hole for running through the traction rope is provided with, the diameter of the through hole gradually increases from middle part towards both ends.
Preferably, it is embedded with matched sebific duct in the through hole.
9. the mechanical upper limb of quick gripping plastic pipe according to claim 1, which is characterized in that the hook of the coupler body (3)
Hold as horizon bar, and the extending direction of each horizon bar simultaneously towards or it is vertical where the connecting portion (8) simultaneously
Axis.
10. the mechanical upper limb of quick gripping plastic pipe according to claim 9, which is characterized in that covered on the horizon bar
Equipped with antiskid glue sleeve (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345552.6A CN108098822A (en) | 2017-12-15 | 2017-12-15 | The mechanical upper limb of quick gripping plastic pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345552.6A CN108098822A (en) | 2017-12-15 | 2017-12-15 | The mechanical upper limb of quick gripping plastic pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098822A true CN108098822A (en) | 2018-06-01 |
Family
ID=62217018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711345552.6A Pending CN108098822A (en) | 2017-12-15 | 2017-12-15 | The mechanical upper limb of quick gripping plastic pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098822A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202241266U (en) * | 2011-09-26 | 2012-05-30 | 卢桢楠 | Pick-up paw |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN203993901U (en) * | 2014-07-22 | 2014-12-10 | 杨秋杰 | The manipulator that a kind of hot-working is used |
| CN104690741A (en) * | 2015-03-09 | 2015-06-10 | 西北农林科技大学 | Manipulator tail end actuator |
-
2017
- 2017-12-15 CN CN201711345552.6A patent/CN108098822A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202241266U (en) * | 2011-09-26 | 2012-05-30 | 卢桢楠 | Pick-up paw |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN203993901U (en) * | 2014-07-22 | 2014-12-10 | 杨秋杰 | The manipulator that a kind of hot-working is used |
| CN104690741A (en) * | 2015-03-09 | 2015-06-10 | 西北农林科技大学 | Manipulator tail end actuator |
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| 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 |
Application publication date: 20180601 |
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| RJ01 | Rejection of invention patent application after publication |