CN108247665A - A kind of hooked hand's pawl for heavy type truss manipulator - Google Patents
A kind of hooked hand's pawl for heavy type truss manipulator Download PDFInfo
- Publication number
- CN108247665A CN108247665A CN201810094928.9A CN201810094928A CN108247665A CN 108247665 A CN108247665 A CN 108247665A CN 201810094928 A CN201810094928 A CN 201810094928A CN 108247665 A CN108247665 A CN 108247665A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- hinged
- support arm
- pawl
- arm hydraulic
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to truss handling machinery technical fields, and disclose a kind of hooked hand's pawl for heavy type truss manipulator, including pedestal, the inside of the pedestal is fixedly connected with the first motor, the output terminal of first motor is fixedly connected with turntable, the surface of the turntable is from left to right fixedly connected sequentially and has hinged seat and fixed block, the inside of the fixed block is hinged with support arm, support arm hydraulic cylinder is hinged at the top of the hinged seat, the output terminal of the support arm hydraulic cylinder is fixedly connected with support arm hydraulic stem, one end of the support arm hydraulic stem is hinged with folding arm hydraulic cylinder.This is used for hooked hand's pawl of heavy type truss manipulator, by setting turntable, the rotation of turntable can increase the working area of gripper jaw, and increase practicability, under further being driven by the movement of folding arm and support arm, so that the truss of gripper jaw clamping can carry out position adjusting, facilitate placement and installation, so as to achieve the purpose that stability is strong.
Description
Technical field
The present invention relates to truss handling machinery technical fields, specially a kind of hooked hand's pawl for heavy type truss manipulator.
Background technology
Truss manipulator includes clamping jaw device, which includes the first clamping jaw, first that the first clamping jaw of driving acts
The second clamping jaw cylinder that clamping jaw cylinder, the second clamping jaw, the second clamping jaw of driving act, the clamping jaw device are located at truss manipulator Z axis
Material position, the first clamping jaw and the second clamping jaw are fetched and delivered for capturing material or product in lower end.Truss manipulator at work, clamping jaw device
It needs to overturn, to realize the evolution of the first clamping jaw and the second clamping jaw, so as to make to grab the more efficient of feeding；And the prior art
In, the overturning of clamping jaw device drives rotation by rotary cylinder, and shortcoming is that stability is poor, precision is not high, therefore it is proposed that
It is a kind of to solve the above problems for hooked hand's pawl of heavy type truss manipulator.
Invention content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of hooked hand's pawl for heavy type truss manipulator, the sides of having
Just the advantages that adjusting angle and strong stability, solves the problems, such as that hooked hand's pawl using effect of existing manipulator is bad.
(2) technical solution
To realize that above-mentioned facilitate adjusts angle and the strong purpose of stability, the present invention provides following technical solution：A kind of use
In hooked hand's pawl of heavy type truss manipulator, including pedestal, the inside of the pedestal is fixedly connected with the first motor, first electricity
The output terminal of machine is fixedly connected with turntable, and the surface of the turntable is from left to right fixedly connected sequentially and has hinged seat and fixed block,
The inside of the fixed block is hinged with support arm, and support arm hydraulic cylinder, the support arm liquid are hinged at the top of the hinged seat
The output terminal of cylinder pressure is fixedly connected with support arm hydraulic stem, and one end of the support arm hydraulic stem is hinged with folding arm hydraulic cylinder, institute
The output terminal for stating folding arm hydraulic cylinder is fixedly connected with folding arm hydraulic stem, and one end of the folding arm hydraulic stem is hinged with folding arm, described
The surface of folding arm is fixedly connected with cylinder, and the output terminal of the cylinder is hinged with moving block, the moving block by hinge assembly
Inside be fixedly connected with the second motor, the output terminal of second motor is fixedly connected with master gear disk, the master gear disk
Surface be engaged with auxiliary wheel disc, shaft is fixedly connected at the axle center of the auxiliary toothed disc, the surface of the shaft is respectively provided with
There is the bearing inside moving block, the surface of the shaft is fixedly connected with steering block, and one end of the steering block, which is fixed, to be connected
Grip block is connected to, the inside of the grip block is fixedly connected with bidirectional electric push rod, and the both ends of the bidirectional electric push rod are solid
Surely it is connected with gripper jaw.
Preferably, the support arm hydraulic cylinder is located at support arm upper surface side, and supports arm hydraulic cylinder one end with being hinged
Seat is hinged.
Preferably, the support arm is hinged with folding arm by hinged seat.
Preferably, the rotational angle of the turntable is 360 deg, and the rotational angle of shaft is 180 degree.
Preferably, the side-glance shape grabbed that clamps is L-type, and there are four the quantity of L-type gripper jaw.
Preferably, the surface of the grip block offers the sliding slot being adapted with gripper jaw, and bidirectional electric push rod passes through
Connecting plate is fixedly connected with grip block.
(3) advantageous effect
Compared with prior art, the present invention provides a kind of hooked hand's pawl for heavy type truss manipulator, having following has
Beneficial effect：
1st, the hooked hand's pawl for being used for heavy type truss manipulator, by setting turntable, the rotation of turntable can increase gripper jaw
Working area, and increase practicability, under further being driven by the movement of folding arm and support arm so that the truss of gripper jaw clamping
Position adjusting can be carried out, facilitates placement and installation, so as to achieve the purpose that stability is strong.
2nd, the hooked hand's pawl for being used for heavy type truss manipulator, by setting moving block and steering block, may be such that clamping claw clip
The truss held adjusts installation and placed angle by rotation, increases applicability, can it is different according to installation placed angle and into
Row is adjusted, and reduces manual work intensity, increases installation with placing efficiency, and angle is adjusted so as to achieve the purpose that facilitate.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is moving block internal structure side view of the present invention；
Fig. 3 is grip block internal structure schematic diagram of the present invention.
In figure：1 pedestal, 2 first motors, 3 turntables, 4 hinged seats, 5 fixed blocks, 6 support arm hydraulic cylinders, 7 support arm hydraulic pressure
Bar, 8 folding arm hydraulic cylinders, 9 folding arm hydraulic stems, 10 folding arms, 11 support arms, 12 cylinders, 13 hinge assemblies, 14 moving blocks, 15 second
Motor, 16 master gear disks, 17 auxiliary toothed discs, 18 shafts, 19 bearings, 20 steering blocks, 21 grip blocks, 22 bidirectional electric push rods, 23
Gripper jaw.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, a kind of hooked hand's pawl for heavy type truss manipulator, including pedestal 1, it is characterised in that：Pedestal 1
Inside be fixedly connected with the first motor 2, the output terminal of the first motor 2 is fixedly connected with turntable 3, the surface of turntable 3 from a left side to
The right side, which is fixedly connected sequentially, hinged seat 4 and fixed block 5, and the inside of fixed block 5 is hinged with support arm 11, the top hinge of hinged seat 4
Support arm hydraulic cylinder 6 is connected to, the output terminal of support arm hydraulic cylinder 6 is fixedly connected with support arm hydraulic stem 7, supports arm hydraulic cylinder 6
Positioned at 11 upper surface side of support arm, and support 6 one end of arm hydraulic cylinder hinged with hinged seat 4, one end hinge of support arm hydraulic stem 7
Folding arm hydraulic cylinder 8 is connected to, the output terminal of folding arm hydraulic cylinder 8 is fixedly connected with folding arm hydraulic stem 9, one end hinge of folding arm hydraulic stem 9
Folding arm 10 is connected to, support arm 11 is hinged with folding arm 10 by hinged seat 4, and by setting turntable 3, the rotation of turntable 3 can increase folder
The working area of pawl 23 is held, and increases practicability, under further being driven by the movement of folding arm 10 and support arm 11 so that clamping
The truss that pawl 23 clamps can carry out position adjusting, facilitate placement and installation, so as to achieve the purpose that stability is strong, folding arm 10
Surface is fixedly connected with cylinder 12, and the output terminal of cylinder 12 is hinged with moving block 14 by hinge assembly 13, moving block 14 it is interior
Portion is fixedly connected with the second motor 15, and the output terminal of the second motor 15 is fixedly connected with master gear disk 16, the table of master gear disk 16
Face is engaged with auxiliary wheel disc 17, shaft 18 is fixedly connected at the axle center of auxiliary toothed disc 17, the rotational angle of turntable 3 is 306
Ten degree, and the rotational angle of shaft 18 is 180 degree, the surface of shaft 18 is both provided with the axis inside moving block 14
19 are held, the surface of shaft 18 is fixedly connected with steering block 20, and one end of steering block 20 is fixedly connected with grip block 21, grip block 21
Inside be fixedly connected with bidirectional electric push rod 22, the both ends of bidirectional electric push rod 22 have been fixedly connected with gripper jaw 23, clamping
The side-glance shape for grabbing 23 is L-type, and there are four the quantity of L-type gripper jaw 23, the surface of grip block 21 offers and gripper jaw 23
The sliding slot being adapted, and bidirectional electric push rod 22 is fixedly connected by connecting plate with grip block 21, by setting 14 He of moving block
Steering block 20 may be such that the truss that gripper jaw 23 clamps adjusts installation and placed angle by rotation, increase applicability, can
It is adjusted according to installation placed angle difference, reduces manual work intensity, increase installation and place efficiency, so as to reach
To the purpose for facilitating adjusting angle.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating currents, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
When in use, bidirectional electric push rod 22 is first passed through between truss drives gripper jaw 23 to clamp truss, then
Start the second motor 15 further according to installation site, the second motor 15 drives 17 turns of the auxiliary toothed disc of 16 engagement of master gear disk
It is dynamic so that shaft 18 drives steering block 20 to be rotated, the gripper jaw 23 when steering block 20 drives the grip block 21 to be rotated into
Row rotation further drives hinge assembly 13 to be rotated and is finely adjusted for installation site, then passes through by cylinder 12
Folding arm 10 and support arm 11 hingedly rotate and determine installation site, so as to achieve the purpose that easy for installation and gripping is stable.
In conclusion this is used for hooked hand's pawl of heavy type truss manipulator, has and facilitate that adjust angle and stability strong etc. excellent
Point solves the problems, such as that hooked hand's pawl using effect of existing manipulator is bad.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of hooked hand's pawl for heavy type truss manipulator, including pedestal (1), it is characterised in that：The inside of the pedestal (1)
The first motor (2) is fixedly connected with, the output terminal of first motor (2) is fixedly connected with turntable (3), the turntable (3)
Surface, which is from left to right fixedly connected sequentially, hinged seat (4) and fixed block (5), and the inside of the fixed block (5) is hinged with support
Arm (11), support arm hydraulic cylinder (6) is hinged at the top of the hinged seat (4), and the output terminal of the support arm hydraulic cylinder (6) is consolidated
Surely support arm hydraulic stem (7) is connected with, one end of the support arm hydraulic stem (7) is hinged with folding arm hydraulic cylinder (8), the folding arm
The output terminal of hydraulic cylinder (8) is fixedly connected with folding arm hydraulic stem (9), and one end of the folding arm hydraulic stem (9) is hinged with folding arm
(10), the surface of the folding arm (10) is fixedly connected with cylinder (12), and the output terminal of the cylinder (12) passes through hinge assembly
(13) moving block (14) is hinged with, the inside of the moving block (14) is fixedly connected with the second motor (15), second motor
(15) output terminal is fixedly connected with master gear disk (16), and the surface of the master gear disk (16) is engaged with auxiliary wheel disc (17),
Shaft (18) is fixedly connected at the axle center of the auxiliary toothed disc (17), the surface of the shaft (18) is both provided with positioned at rotation
The internal bearing (19) of block (14), the surface of the shaft (18) are fixedly connected with steering block (20), the steering block (20)
One end is fixedly connected with grip block (21), and the inside of the grip block (21) is fixedly connected with bidirectional electric push rod (22), described
The both ends of bidirectional electric push rod (22) have been fixedly connected with gripper jaw (23).
2. a kind of hooked hand's pawl for heavy type truss manipulator according to claim 1, it is characterised in that：The support arm
Hydraulic cylinder (6) supports arm hydraulic cylinder (6) one end hinged with hinged seat (4) positioned at support arm (11) upper surface side.
3. a kind of hooked hand's pawl for heavy type truss manipulator according to claim 1, it is characterised in that：The support arm
(11) folding arm (10) is hinged with by hinged seat (4).
4. a kind of hooked hand's pawl for heavy type truss manipulator according to claim 1, it is characterised in that：The turntable
(3) rotational angle is 360 deg, and the rotational angle of shaft (18) is 180 degree.
5. a kind of hooked hand's pawl for heavy type truss manipulator according to claim 1, it is characterised in that：The clamping is grabbed
(23) side-glance shape is L-type, and there are four the quantity of L-type gripper jaw (23).
6. a kind of hooked hand's pawl for heavy type truss manipulator according to claim 1, it is characterised in that：The grip block
(21) surface offers the sliding slot being adapted with gripper jaw (23), and bidirectional electric push rod (22) passes through connecting plate and grip block
(21) it is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094928.9A CN108247665A (en) | 2018-05-24 | 2018-05-24 | A kind of hooked hand's pawl for heavy type truss manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094928.9A CN108247665A (en) | 2018-05-24 | 2018-05-24 | A kind of hooked hand's pawl for heavy type truss manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108247665A true CN108247665A (en) | 2018-07-06 |
Family
ID=62743732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810094928.9A Pending CN108247665A (en) | 2018-05-24 | 2018-05-24 | A kind of hooked hand's pawl for heavy type truss manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247665A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994236A (en) * | 2018-07-20 | 2018-12-14 | 刘瑶 | A kind of flange production vertical type forging machine automatic charging machinery hand |
| CN109516425A (en) * | 2018-11-28 | 2019-03-26 | 吴磊 | A kind of vacuum Cover whirling Machine with the breakage-proof structure of elasticity |
| CN110207496A (en) * | 2019-05-10 | 2019-09-06 | 河北科技大学 | A kind of high-temperature smelting pot feeding clamp |
| CN110302886A (en) * | 2019-06-26 | 2019-10-08 | 浙江神霸矿山机械有限公司 | Novel movable jaw integration Crushing Station |
| CN111660316A (en) * | 2020-05-19 | 2020-09-15 | 江阴市双平机械有限公司 | Novel high stability manipulator |
| CN112917504A (en) * | 2021-02-03 | 2021-06-08 | 安徽东昇新能源有限公司 | Solar mechanical arm equipment |
| CN115519072A (en) * | 2022-10-28 | 2022-12-27 | 济南高仕机械制造有限公司 | Be used for automatic arm of drenching husky of cast wax tree |
| CN118157032A (en) * | 2024-05-11 | 2024-06-07 | 国网山东省电力公司聊城供电公司 | Vehicle-mounted rotatable stretching type electric power crossing frame |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060113146A (en) * | 2005-04-29 | 2006-11-02 | 현대자동차주식회사 | Gripper for transferring tire assembly |
| CN103692442A (en) * | 2013-12-31 | 2014-04-02 | 无锡市新湖冷拔校直机厂 | Manipulator device |
| CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
| CN107803817A (en) * | 2017-11-22 | 2018-03-16 | 无锡艾度科技有限公司 | A kind of industrial goods transfer robot |
| CN207344582U (en) * | 2017-09-29 | 2018-05-11 | 荆州正荣生物饲料股份有限公司 | A kind of packed feed grabbing device |
-
2018
- 2018-05-24 CN CN201810094928.9A patent/CN108247665A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060113146A (en) * | 2005-04-29 | 2006-11-02 | 현대자동차주식회사 | Gripper for transferring tire assembly |
| CN103692442A (en) * | 2013-12-31 | 2014-04-02 | 无锡市新湖冷拔校直机厂 | Manipulator device |
| CN105883401A (en) * | 2016-06-20 | 2016-08-24 | 苏州博众精工科技有限公司 | Gripping device suitable for products of different thicknesses |
| CN207344582U (en) * | 2017-09-29 | 2018-05-11 | 荆州正荣生物饲料股份有限公司 | A kind of packed feed grabbing device |
| CN107803817A (en) * | 2017-11-22 | 2018-03-16 | 无锡艾度科技有限公司 | A kind of industrial goods transfer robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994236A (en) * | 2018-07-20 | 2018-12-14 | 刘瑶 | A kind of flange production vertical type forging machine automatic charging machinery hand |
| CN109516425A (en) * | 2018-11-28 | 2019-03-26 | 吴磊 | A kind of vacuum Cover whirling Machine with the breakage-proof structure of elasticity |
| CN110207496A (en) * | 2019-05-10 | 2019-09-06 | 河北科技大学 | A kind of high-temperature smelting pot feeding clamp |
| CN110302886A (en) * | 2019-06-26 | 2019-10-08 | 浙江神霸矿山机械有限公司 | Novel movable jaw integration Crushing Station |
| CN111660316A (en) * | 2020-05-19 | 2020-09-15 | 江阴市双平机械有限公司 | Novel high stability manipulator |
| CN112917504A (en) * | 2021-02-03 | 2021-06-08 | 安徽东昇新能源有限公司 | Solar mechanical arm equipment |
| CN115519072A (en) * | 2022-10-28 | 2022-12-27 | 济南高仕机械制造有限公司 | Be used for automatic arm of drenching husky of cast wax tree |
| CN118157032A (en) * | 2024-05-11 | 2024-06-07 | 国网山东省电力公司聊城供电公司 | Vehicle-mounted rotatable stretching type electric power crossing frame |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108247665A (en) | A kind of hooked hand's pawl for heavy type truss manipulator | |
| CN110253467A (en) | Bracket is used in a kind of production and processing of automobile axle | |
| CN209288146U (en) | A kind of heavy duty detergent bending reinforcement equipment | |
| CN206764618U (en) | A kind of automatic centering positioning clamping device | |
| CN105195958B (en) | Cross arm clamping tool for robot welding workstations and application method thereof | |
| CN108609388A (en) | A kind of Dacroment coating machine feed mechanism | |
| CN110065048A (en) | A kind of robot parts machining fixture with multi-angle fixed function | |
| CN115319785B (en) | Rotary clamping jaw | |
| CN107803817A (en) | A kind of industrial goods transfer robot | |
| CN109176567A (en) | Gear carries detection assistance mechanical arm | |
| CN210500310U (en) | Middle storage film taking device | |
| CN207171806U (en) | A kind of casting arcwall face polishing special fixture | |
| CN208790699U (en) | A kind of workpiece gripper device | |
| CN201684873U (en) | Spring head twisting machine | |
| CN208440188U (en) | A kind of round steel lifting mobile device | |
| CN207104725U (en) | A kind of locking device of frock clamp | |
| CN117001652A (en) | Industrial robot | |
| CN108285050A (en) | Babinet palletizing apparatus | |
| CN208499708U (en) | A kind of Dacroment coating machine feed mechanism | |
| CN209618333U (en) | A kind of automatic charging device positioning aluminium dish | |
| CN213471235U (en) | A article transportation tongs that is used for flat board or flat bottom slot type | |
| CN212470412U (en) | Cross steel member upset mould | |
| CN105151657B (en) | Chain-type circulates haftplatte platform | |
| CN211072793U (en) | Grabbing device for machine-building | |
| CN107932542A (en) | A kind of apparatus and method for clamping casting |
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 |