CN108190540A - Brick device is grabbed in a kind of novel intelligent stacking machine rotation - Google Patents
Brick device is grabbed in a kind of novel intelligent stacking machine rotation Download PDFInfo
- Publication number
- CN108190540A CN108190540A CN201810187558.3A CN201810187558A CN108190540A CN 108190540 A CN108190540 A CN 108190540A CN 201810187558 A CN201810187558 A CN 201810187558A CN 108190540 A CN108190540 A CN 108190540A
- Authority
- CN
- China
- Prior art keywords
- axle systems
- brick
- brick device
- grabbed
- axle
- 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.)
- Withdrawn
Links
- 239000011449 brick Substances 0.000 title claims abstract description 54
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 18
- 239000013013 elastic material Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of rotations of novel intelligent stacking machine to grab brick device, brick arm is grabbed including pedestal and above pedestal, the brick arm of grabbing includes being equipped with J1 axle systems, the J2 axle systems horizontally rotated, the J3 axle systems moved horizontally and the J4 axle systems horizontally rotated to move up and down from bottom to top, the J1 axle systems, J2 axle systems, J3 axle systems and J4 axle systems are driven respectively by servo motor, and four servo motors are connect respectively by conducting wire with electric-control system；The present invention, which can improve, grabs the flexible of brick device, so as to accurately find crawl position accurately, improves and grabs brick efficiency.
Description
Technical field
The present invention relates to brick device is grabbed, brick device is grabbed in more particularly to a kind of novel intelligent stacking machine rotation.
Background technology
At present, stacking machine typically is carried out grabbing what brick operated when grabbing brick by the brick device of grabbing of stacking machine end.It is but existing
Some stacking machines are at work, it is impossible to flexibly find crawl position accurately, need manual calibration, thus be unfavorable for grabbing brick operation.
Invention content
The technical problems to be solved by the invention are to provide a kind of novel intelligent stacking machine rotation and grab brick device, the device
It can improve and grab the flexible of brick device, so as to accurately find crawl position accurately, improve and grab brick efficiency.
To achieve the above object, the present invention provides following technical solution：Brick is grabbed in a kind of novel intelligent stacking machine rotation
Device grabs brick arm including pedestal and above pedestal, and the brick arm of grabbing includes being equipped with up and down motion from bottom to top
J1 axle systems, the J2 axle systems horizontally rotated, the J3 axle systems moved horizontally and the J4 axle systems horizontally rotated, the J1
Axle system, J2 axle systems, J3 axle systems and J4 axle systems are driven respectively by servo motor, and four servo motors pass through respectively
Conducting wire is connect with electric-control system, and J1 axle systems driving J2 axle systems move up and down, the driving J3 axle system rotations of J2 axle systems, J3 axis
System drive J4 axle systems move horizontally, and the output terminal of the J4 axle systems, which is equipped with, grabs brick device, and the brick device of grabbing is by setting
In J4 axle systems end, actuating station grabs the driving of brick motor.
Preferably, it grabs brick device and includes being fixed on the sunpender of J4 axle systems end, hinged on the sunpender there are two semicircles
The claw of shape, two claws are symmetrical.
Preferably, one end of two claws is respectively equipped with strut, and strut is cast with being integrated of claw, the end of two struts
End is equipped with annulus.
Preferably, end of the claw far from strut is installed with cushion block respectively, and cushion block is made of elastic material.
Preferably, the inside of claw is equipped with rubber layer.
Preferably, it is respectively equipped with a traction rope on annulus, the traction rope determines cunning by be located at sunpender both sides respectively
Wheel is connect with a reel, and the reel is by grabbing brick motor-driven rotation.
Using above-mentioned technical proposal, the present invention is shortened by the aggregate motion of tetra- axis of J1, J2, J3, J4 positioned at J4 axis
The run duration of brick device is grabbed in end, quickly works so as to enable to grab brick device, and the group of tetra- axis of J1, J2, J3, J4
Resultant motion so that grabbing brick device can move in the direction of three dimensions, so as to accurately find crawl position accurately, carry
It is high to grab brick efficiency.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the structure diagram that the present invention grabs brick device.
Specific embodiment
Below in conjunction with the accompanying drawings, by the description of the embodiment, the present invention will be further described：
As shown in Figure 1, 2, brick device is grabbed in a kind of novel intelligent stacking machine rotation of the present invention, including pedestal 1 and set on pedestal 1
Brick arm 2 is grabbed in top, grabs brick arm 2 and includes being equipped with the J1 axle systems 21 to move up and down, the J2 axis horizontally rotated from bottom to top
System 22, the J3 axle systems 23 moved horizontally and the J4 axle systems 24 horizontally rotated, J1 axle systems 21, J2 axle systems 22, J3
Axle system 23 and J4 axle systems 24 are driven respectively by servo motor, and four servo motors pass through conducting wire and electric-control system respectively
Connection, J1 axle systems 21 drive J2 axle systems 22 to move up and down, and J2 axle systems 22 drive J3 axle systems 23 to rotate, J3 axle systems 23
Driving J4 axle systems 24 move horizontally, and the output terminal of the J4 axle systems, which is equipped with, grabs brick device 3, and the brick device of grabbing is by being located at
The brick motor 4 of grabbing of 24 end actuating station of J4 axle systems drives.
The brick device 3 of grabbing of the present invention includes being fixed on the sunpender 31 of 24 end of J4 axle systems, it is hinged on sunpender 31 there are two
Semicircular claw 32, two claws 32 are symmetrical, and one end of two claws 32 is respectively equipped with strut 33, strut 33 and claw
32 being integrated are cast, and the end of two struts 33 is equipped with annulus 34, and end of the claw 32 far from strut 33 is fixed respectively to pacify
Equipped with cushion block 35, cushion block 35 is made of elastic material, and the inside of claw 32 is equipped with rubber layer 36.One is respectively equipped on annulus 34
Root traction rope 5, traction rope are connect respectively by being located at the fixed pulley 6 of 31 both sides of sunpender with a reel 7, and reel 7 is by grabbing brick
The driving rotation of motor 4.
The J1 axle systems 21 of the present invention are the lifting shaft of spiral lift, and a pedestal is installed at the top of lifting shaft, and
Lifting motor in first base is installed, then J2 axle systems 22 are mounted in first base.At the top of J2 axle systems 22
One second base is installed again, second base is driven by electric rotating machine and rotated, and J3 axle systems 23 are mounted on second base
On, the top of J3 axle systems 23 is connect again by third pedestal with J4 axle systems 24, and third pedestal is equipped with horizontal sliding rail, J4
Axle system 24 moves horizontally on third pedestal.
The present invention shortens the fortune that brick device is grabbed positioned at J4 shaft ends by the aggregate motion of tetra- axis of J1, J2, J3, J4
It the dynamic time, quickly works so as to enable to grab brick device, and the aggregate motion of tetra- axis of J1, J2, J3, J4 so that grab brick
Device can move in the direction of three dimensions, so as to accurately find crawl position accurately, improve and grab brick efficiency.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (6)
1. brick device is grabbed in a kind of novel intelligent stacking machine rotation, including pedestal（1）And set on pedestal（1）Grab brick hand in top
Arm（2）, it is characterised in that：It is described to grab brick arm（2）Including being equipped with the J1 axle systems to move up and down from bottom to top（21）, horizontal turn
Dynamic J2 axle systems（22）, the J3 axle systems that move horizontally（23）And the J4 axle systems horizontally rotated（24）, the J1 shaftings
System（21）, J2 axle systems（22）, J3 axle systems（23）And J4 axle systems（24）It is driven respectively by servo motor, four servos
Motor is connect respectively by conducting wire with electric-control system, J1 axle systems（21）Drive J2 axle systems（22）It moves up and down, J2 axle systems
（22）Drive J3 axle systems（23）Rotation, J3 axle systems（23）Drive J4 axle systems（24）It moves horizontally, the J4 axle systems
Output terminal is equipped with and grabs brick device（3）, the brick device of grabbing is by being located at J4 axle systems（24）End actuating station grabs brick motor（4）
Driving.
2. brick device is grabbed in novel intelligent stacking machine rotation according to claim 1, it is characterised in that：It is described to grab brick device
（3）Including being fixed on J4 axle systems（24）The sunpender of end（31）, the sunpender（31）It is above hinged that there are two semicircular claws
（32）, two claws（32）It is symmetrical.
3. brick device is grabbed in novel intelligent stacking machine rotation according to claim 2, it is characterised in that：Described two claws
（32）One end be respectively equipped with strut（33）, strut（33）With claw（32）Being integrated is cast, two struts（33）End
It is equipped with annulus（34）.
4. brick device is grabbed in novel intelligent stacking machine rotation according to claim 3, it is characterised in that：The claw（32）
Far from strut（33）End be installed with cushion block respectively（35）, cushion block（35）It is made of elastic material.
5. brick device is grabbed in novel intelligent stacking machine rotation according to claim 4, it is characterised in that：The claw（32）
Inside be equipped with rubber layer（36）.
6. brick device is grabbed in novel intelligent stacking machine rotation according to claim 5, it is characterised in that：The annulus（34）
On be respectively equipped with a traction rope（5）, the traction rope is respectively by being located at sunpender（31）The fixed pulley of both sides（6）With a volume
Cylinder（7）Connection, the reel（7）By grabbing brick motor（4）Driving rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810187558.3A CN108190540A (en) | 2018-03-07 | 2018-03-07 | Brick device is grabbed in a kind of novel intelligent stacking machine rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810187558.3A CN108190540A (en) | 2018-03-07 | 2018-03-07 | Brick device is grabbed in a kind of novel intelligent stacking machine rotation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108190540A true CN108190540A (en) | 2018-06-22 |
Family
ID=62594804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810187558.3A Withdrawn CN108190540A (en) | 2018-03-07 | 2018-03-07 | Brick device is grabbed in a kind of novel intelligent stacking machine rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108190540A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862467A (en) * | 2014-03-25 | 2014-06-18 | 宁波摩科机器人科技有限公司 | Four-axis mechanical arm |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| CN105000466A (en) * | 2015-07-31 | 2015-10-28 | 重庆渝发建设有限公司 | Lifting clamp for circular tubes |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| US20170259430A1 (en) * | 2014-11-29 | 2017-09-14 | Life Robotics Inc. | Robot device and robot controller |
| CN107458958A (en) * | 2017-08-18 | 2017-12-12 | 淮北庆荣高光建筑科技有限公司 | A kind of special fixture of hollow circular steel column lifting |
| CN107511836A (en) * | 2017-09-29 | 2017-12-26 | 铜陵富仕三佳机器有限公司 | A kind of cantilever type rotating catching robot |
| CN207903535U (en) * | 2018-03-07 | 2018-09-25 | 合肥云峰信息科技有限公司 | Brick device is grabbed in a kind of rotation of novel intelligent stacking machine |
-
2018
- 2018-03-07 CN CN201810187558.3A patent/CN108190540A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862467A (en) * | 2014-03-25 | 2014-06-18 | 宁波摩科机器人科技有限公司 | Four-axis mechanical arm |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| US20170259430A1 (en) * | 2014-11-29 | 2017-09-14 | Life Robotics Inc. | Robot device and robot controller |
| CN105000466A (en) * | 2015-07-31 | 2015-10-28 | 重庆渝发建设有限公司 | Lifting clamp for circular tubes |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| CN107458958A (en) * | 2017-08-18 | 2017-12-12 | 淮北庆荣高光建筑科技有限公司 | A kind of special fixture of hollow circular steel column lifting |
| CN107511836A (en) * | 2017-09-29 | 2017-12-26 | 铜陵富仕三佳机器有限公司 | A kind of cantilever type rotating catching robot |
| CN207903535U (en) * | 2018-03-07 | 2018-09-25 | 合肥云峰信息科技有限公司 | Brick device is grabbed in a kind of rotation of novel intelligent stacking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180622 |
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| WW01 | Invention patent application withdrawn after publication |