CN108115666A - Novel palletizer tool hand - Google Patents
Novel palletizer tool hand Download PDFInfo
- Publication number
- CN108115666A CN108115666A CN201611066391.2A CN201611066391A CN108115666A CN 108115666 A CN108115666 A CN 108115666A CN 201611066391 A CN201611066391 A CN 201611066391A CN 108115666 A CN108115666 A CN 108115666A
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- CN
- China
- Prior art keywords
- column
- section
- arm
- concentricity
- ensure
- 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.)
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of Novel palletizer tool hand, central post and revoliving arm are steel structure part；Its upper rotary running part of column main support, prevents from toppling；Column section be seamless steel pipe section, outer diameter φ 299mm, wall thickness 16mm；To ensure the ability of manipulator antidumping, reinforcing rib is set in the root of column；The bind mode of column and pre-embedded steel slab should be machined out using the bolt connection of high intensity and its top and the bottom mounting surface, had with this mechanism form and ensured verticality and concentricity；Revoliving arm is made of revolving drum and swing arm two parts；Revolving drum upper and lower part installed thrust ball bearing and radial bearing must ensure the requirement of upper and lower part concentricity；Maximum gauge φ 400mm, height about 556mm；300 × 200 × 5 disconnected section of swing arm rectangular cross-section pipe, length 2m, front and rear sides face need to be open, and are easily installed the main driving of synchronous belt and driven device, and tapping will enhance reinforcement measure.
Description
Technical field
The present invention relates to a kind of Novel palletizer tool hands, belong to daily life technical field.
Background technology
With the development of science and technology, the use of palletizing mechanical arm is also more and more, the performance requirement of palletizing mechanical arm
Higher and higher, the development trend of palletizing mechanical arm is also increasingly clear, is mainly shown as:
(1) to meet the load being continuously improved and dead weight ratio, the high-strength material new to industrial robot is constantly explored, made
The structure of palletizing mechanical arm more optimizes；
(2) more at a high speed, in high precision, target is also more heavily loaded for operating；
(3) more accurate, the stable, control technology of networking；
(4) the decentralized and digitlization of drive system technology；
(5) multi-sensor technology is practical；
(6) more miniaturization, lightweight and of low cost.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of Novel palletizer tool hand.
In order to solve the above technical problems, the present invention realizes as follows：A kind of Novel palletizer tool hand, including vertical
Column, revoliving arm, rotating mechanism, horicontal motion mechanism, elevating mechanism and detection device；
Its central post and revoliving arm are steel structure part；
Its upper rotary running part of column main support, prevents from toppling；Column section be seamless steel pipe section, outer diameter φ
299mm, wall thickness 16mm；To ensure the ability of manipulator antidumping, reinforcing rib is set in the root of column；Column and pre-embedded steel slab
Bind mode using high intensity bolt connection and its top and the bottom mounting surface should be machined out, with this mechanism form have
Guaranteed verticality and concentricity；
Revoliving arm is made of revolving drum and swing arm two parts；Revolving drum upper and lower part installed thrust ball bearing and to mandrel
It holds, must ensure the requirement of upper and lower part concentricity；Maximum gauge φ 400mm, height about 556mm；Swing arm rectangular cross-section pipe
300 × 200 × 5 disconnected sections, length 2m, front and rear sides face need to be open, and are easily installed the main driving of synchronous belt and driven device,
And tapping will enhance reinforcement measure.
The positive effect of the present invention is：The present apparatus is directed to the clothes mentioned in above-mentioned background technology and is dried on general clothes hanger
It can become larger gradually, dry the problem of insufficient and be transformed, used new structure is the transformation of existing structure, and the structure is not
It can only prevent clothes from the more becoming the more big and can also increase drying area, clothes is made to be easier to dry during drying.
Description of the drawings
Fig. 1 is the structural design drawing of the utility model palletizing mechanical arm,
Fig. 2 is electromagnetic sucker type Pneumatic manipulator schematic diagram of the function,
Fig. 3 is rack and pinion mechanism schematic diagram,
Fig. 4 is manipulator automatic control system figure,
Fig. 5 is manipulator automated manner state diagram
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figs. 1-5, a kind of Novel palletizer tool hand, including column, revoliving arm, rotating mechanism, horicontal motion mechanism,
Elevating mechanism and detection device.
Its central post and revoliving arm are steel structure part.
Its upper rotary running part of column main support, prevents from toppling.Column section be seamless steel pipe section, outer diameter φ
299mm, wall thickness 16mm.To ensure the ability of manipulator antidumping, reinforcing rib is set in the root of column.Column and pre-embedded steel slab
Bind mode using high intensity bolt connection and its top and the bottom mounting surface should be machined out, with this mechanism form have
Guaranteed verticality and concentricity.
Revoliving arm is made of revolving drum and swing arm two parts.Revolving drum upper and lower part installed thrust ball bearing and to mandrel
It holds, must ensure the requirement of upper and lower part concentricity.Maximum gauge about φ 400mm, height about 556mm.Swing arm rectangular cross-section
300 × 200 × 5 disconnected section of pipe, length about 2m, front and rear sides face need to be open, and are easily installed the main driving of synchronous belt and are driven
Device, and tapping will enhance reinforcement measure.(2) electromagnetic sucker type robot work principle analysis
The power on/off of PLC control magnechucks and break-make and the direction of DC servo motor electric current, and magnechuck controls
The absorption of workpiece and two actions are put down, three rising, revolution and extension movements of DC servo motor control workpiece.It is final real
The transfer of existing workpiece.
In this secondary design, electromagnet energization makes magnechuck generate magnetic force, so as to which workpiece be picked up.When workpiece is handled upside down
During to precalculated position, by impact stroke switch, electromagnet is made to break so that electric sucker puts down workpiece.
Travel switch (also known as limit switch) is a kind of collision by some moving components of manufacturing machine to send control
Make the automaton of order.It can control the direction of motion of manufacturing machine, speed, stroke size and location.
(3) rack and pinion mechanism designs
The horizontal stretching motion of this secondary design manipulator and oscilaltion campaign are by rack and pinion mechanism as shown in Figure 3
To realize.
The rotational movement rack horizontal linear movement of gear is that rack movement is also reversed when gear rotates backward, this
Sample can realize the horizontal extension of manipulator and oscilaltion campaign.
Servomotor drives and controls rotary speed and the direction of gear, so as to fulfill to rack oscilaltion speed and side
To control.
The requirement of elevating movement technology is as follows：
1. lifting travel 860mm
2. lifting operation maximum speed：60m/min=1m/s
3. lifting gear weight m1=100kg, detection device weight m2=20kg, maximum biscuit weight m3=30kg, always
Quality is：
M=m1+m2+m3=150kg
M=200kg is taken, therefore required maximum power is：
P=Fv=mgv=200 × 9.8 × 1=1960W=1.96KW
Selected rack-and-pinion type, accuracy class, material and the number of teeth
1. due to rack pinion, gearratio 1.Spur gear transmission is selected, pressure angle is taken as
20 °, Delta servomotor ECMA-E31320PS, p=2KW,
2. material selection by bibliography [1] table 10-1 selects gear material, for 40Cr (quenched), tooth face hardness is
280HBS；Rack material is 45 steel (quenched), and tooth surface of rack hardness is 240HBS.
3. number of gear teeth Z1=40, rack number of teeth Z2=1 × 40=40.
(4) Design of Automatic Control System
If Fig. 4 is manipulator automatic control control system figure, his instruction is controlled using the specific PLC controller of FX1S, he
Job order is that large arm declines beginning until the big revolution of arm of last time is one complete work period of completion, each active section
Time used has been indicated in upper figure, and end program is started to from system, except nonsystematic is subject to X500 cutoff commands, is otherwise
System is completed to be accurately controlled by each time controller
The state diagram of manipulator automated manner is as shown in figure 5, wherein S2 is the original state of automated manner.State transfer starts
Auxiliary relay M8041, the state of origin position condition auxiliary relay M8044 are all set in initialization program,
No longer change in the operation of automatic system program.
(1) the fully operation technique requirement of analysis workpiece, designs most rational flow chart and technique；
(2) shape and structure and material character of workpiece, the structural requirement of further clear and definite manipulator are understood；
(3) stress when analysis crawl, carrying, the motion control requirement of further clear and definite manipulator；
(4) design need to meet system functional requirement and environmental condition, and mechanism should try one's best selection standard component.
(5) design of this palletizing mechanical arm mechanism designs a set of electromagnetic sucker type manipulator, it is using circular cylindrical coordinate type
Forms of motion, DC servo motor driving, PLC system control.
(6) actuation cycle of manipulator：Magnechuck draws workpiece arm rising-arm revolution-arm extension-electricity
Magnetic-disc puts down workpiece-arm contraction-arm reversion-arm and declines.
It is had the following advantages compared with conventional robot：
(1) stacking ability is improved.Mechanical structure is further improved, effectively extends working space, improves work
Flexibility (modification motor and drive mechanism)；
(2) intelligence degree is added.Increase PLC control system, position feedback system changes hydraulic drive and passed to be electrical
It is dynamic, the technologies such as electromagnetic adsorption；
(3) stationarity and precision are further improved.Different from general industry robot, Novel palletizer device people is according to grabbing
It takes, quick the continuously repeating property set action of stacking action, increases its precision peace with rack pinion with reference to automatically controlling
Stability.
(4) economy is improved.Its concise structure and control substantially reduce the fund input of early period and the dimension in later stage
It repaiies and maintenance cost.
The present invention is not limited to above-mentioned preferred forms, anyone can show that other are various under the enlightenment of the present invention
The product of form, however, make any variation in its shape or structure, it is every have with the present invention it is same or similar as skill
Art scheme, is within the scope of the present invention.
Claims (1)
1. a kind of Novel palletizer tool hand, which is characterized in that including column, revoliving arm, rotating mechanism, horicontal motion mechanism, liter
Descending mechanism and detection device；
Its central post and revoliving arm are steel structure part；
Its upper rotary running part of column main support, prevents from toppling；Column section be seamless steel pipe section, outer diameter φ 299mm,
Wall thickness 16mm；To ensure the ability of manipulator antidumping, reinforcing rib is set in the root of column；Column is coupled with pre-embedded steel slab
Mode should be machined out using the bolt connection of high intensity and its top and the bottom mounting surface, had with this mechanism form and ensured
Verticality and concentricity；
Revoliving arm is made of revolving drum and swing arm two parts；Revolving drum upper and lower part installed thrust ball bearing and radial bearing,
It must ensure the requirement of upper and lower part concentricity；Maximum gauge φ 400mm, height about 556mm；Swing arm rectangular cross-section pipe 300
× 200 × 5 disconnected sections, length 2m, front and rear sides face need to be open, and are easily installed the main driving of synchronous belt and driven device, and
Tapping will enhance reinforcement measure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611066391.2A CN108115666A (en) | 2016-11-28 | 2016-11-28 | Novel palletizer tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611066391.2A CN108115666A (en) | 2016-11-28 | 2016-11-28 | Novel palletizer tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115666A true CN108115666A (en) | 2018-06-05 |
Family
ID=62225078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611066391.2A Pending CN108115666A (en) | 2016-11-28 | 2016-11-28 | Novel palletizer tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115666A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818513A (en) * | 2018-07-27 | 2018-11-16 | 中山迪威玻璃机械制造有限公司 | A kind of rotary upper piece manipulator |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN109533943A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | Axial center linked formula lift grasp handling transporter |
| CN109821772A (en) * | 2019-03-04 | 2019-05-31 | 南京禹智智能科技有限公司 | A kind of assembly line transportation manipulator and its working method |
| CN112374022A (en) * | 2020-12-03 | 2021-02-19 | 国网山东省电力公司枣庄供电公司 | Material purchase quality inspection analytical equipment |
-
2016
- 2016-11-28 CN CN201611066391.2A patent/CN108115666A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818513A (en) * | 2018-07-27 | 2018-11-16 | 中山迪威玻璃机械制造有限公司 | A kind of rotary upper piece manipulator |
| CN108818513B (en) * | 2018-07-27 | 2023-12-15 | 中山迪威玻璃机械制造有限公司 | Rotary feeding manipulator |
| CN109048862A (en) * | 2018-09-03 | 2018-12-21 | 天津永兴泰科技股份有限公司 | A kind of components sorting machine people based on machine vision |
| CN109533943A (en) * | 2018-11-20 | 2019-03-29 | 东台市海邦电气有限公司 | Axial center linked formula lift grasp handling transporter |
| CN109821772A (en) * | 2019-03-04 | 2019-05-31 | 南京禹智智能科技有限公司 | A kind of assembly line transportation manipulator and its working method |
| CN112374022A (en) * | 2020-12-03 | 2021-02-19 | 国网山东省电力公司枣庄供电公司 | Material purchase quality inspection analytical equipment |
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| PB01 | Publication | ||
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Application publication date: 20180605 |