CN109368245A - A kind of grasp handling mechanism - Google Patents
A kind of grasp handling mechanism Download PDFInfo
- Publication number
- CN109368245A CN109368245A CN201811210806.8A CN201811210806A CN109368245A CN 109368245 A CN109368245 A CN 109368245A CN 201811210806 A CN201811210806 A CN 201811210806A CN 109368245 A CN109368245 A CN 109368245A
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- lifting device
- belt
- cylinder
- winding wheel
- crawl cylinder
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Classifications
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- 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
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention proposes a kind of grasp handling mechanisms, including I-shaped guide rail, running gear, lifting device, grabbing device and controller, I-shaped rail crown is provided with running gear, and by connecting at the top of column and lifting device, lifting device bottom is provided with grabbing device for running gear bottom.Grasp handling mechanism of the present invention can be realized clamping, vertical lifting, unclamp a series of functions such as workpiece along I-shaped guide rail transverse shifting, vertical fall, and makes full use of the solid space of existing workshop, realizes long-distance sand transport, can optimize workshop layout；The lifting device of grasp handling mechanism carries position detection and lock function, even if being abnormal, the workpiece or fixture of carrying will not be fallen automatically, be tried to avert accidents；Grasp handling mechanism is fully able to replace artificial or fork truck transporting work pieces or fixture, can improve the arrangement of field device, improves productive temp and efficiency.
Description
Technical field
The present invention relates to auto-parts manufacturing technology field more particularly to a kind of grasp handling mechanisms.
Background technique
Auto parts and components need when producing using a large amount of fixture, jig etc., some workpiece to be machined sizes are also very big, work
Part, fixture and jig transloading equipment otherwise structure is complicated or occupied space is big, when being such as transported through using fork truck, need
The size for considering transhipment object itself, will also reserve the turning space of fork truck, need to empty place nearby before transhipment, cause adjacent
It can not closely arrange between equipment, bring inconvenience to field layout and equipment management.
Summary of the invention
In view of this, the invention proposes it is a kind of it is compact-sized, operation is reliable, promotes and transport convenient grasp handling machine
Structure.
The technical scheme of the present invention is realized as follows: the present invention provides a kind of grasp handling mechanism, including it is I-shaped
Guide rail (1), running gear (2), lifting device (3), grabbing device (4) and controller (5), the setting of I-shaped guide rail (1) top
Have running gear (2), running gear (2) bottom at the top of column (20) and lifting device (3) by connecting, lifting device (3) bottom
Portion is provided with grabbing device (4)；
The running gear (2), including running gear framework (21), driving wheel (22), travel driving motor (23),
Walking transmission case (24) and shaft coupling (25), running gear framework (21) side are provided with travel driving motor (23) and a pair of of row
It walks driving wheel (22), the other side of running gear framework (21) is provided with walking passive gear corresponding with driving wheel (22)
(26), fixing bearing (27) have been placed on the wheel shaft of driving wheel (22)；The output shaft of travel driving motor 23 and walking pass
Dynamic case (24) connection, is symmetrically arranged with walking output shaft in walking transmission case (24), and the one of walking output shaft and shaft coupling (25)
End connection, the other end of shaft coupling (25) are connect with the axle ends of driving wheel (22)；
The lifting device (3), including lifting device fixed frame (31), lifting device activity framework (33), the first receipts
Rolling wheel (314), the second winding wheel (315) lifting driving motor (310) and lifting device transmission case (311), lifting device is fixed
Lifting driving motor (310) and lifting device transmission case (311) are provided at the top of framework (31), lifting driving motor (310)
Output shaft is connect with lifting device transmission case (311), and lifting device transmission case is symmetrically arranged with lifting output shaft on (311)
(312), lifting output shaft (312) passes through shaft coupling (313) and the first winding wheel (314), the wheel shaft one of the second winding wheel (315)
End connection, the first winding wheel (314), the second winding wheel (315) wheel shaft the other end be placed through winding wheel bearing seat (316)
It is interior；
The first tension pulley (318) are provided on the lifting device fixed frame (31) of the first winding wheel (314) two sides
With the second tension pulley (319)；Third skin is provided on the lifting device fixed frame (31) of the second winding wheel (315) two sides
Belt tensioner pulley (320) and the 4th tension pulley (321)；It is provided in lifting device activity framework (33) and the first belt tension
Take turns (318), the second tension pulley (319), third tension pulley (320) and the 4th tension pulley (321) corresponding the
One belt fixing roller (331), the second belt fixing roller (332), third belt fixing roller (333) and the 4th belt fixing roller
(334)；One end of first belt (34) is installed on the first winding wheel (314), and the first belt successively bypasses the first belt tension
It is fixed after wheel (318) and the first belt fixing roller (331)；One end of second belt (35) is installed in the first winding wheel
(314) on, the second belt (35) is consolidated after successively bypassing the second tension pulley (319) and the second belt fixing roller (332)
It is fixed；One end of third belt (36) is installed on the second winding wheel (315), and third belt (36) successively bypasses third belt tension
It is fixed after wheel (320) and third belt fixing roller (333)；One end of 4th belt (37) is installed in the second winding wheel
(315) on, the 4th belt (37) is consolidated after successively bypassing the 4th tension pulley (321) and the 4th belt fixing roller (334)
It is fixed；
The grabbing device (4), including be arranged lifting device activity framework (33) bottom first connecting rod (41), second
Connecting rod (42), third connecting rod (43) and fourth link (44), first connecting rod (41) bottom are provided with the first crawl cylinder (411),
Second connecting rod (42) bottom is provided with the second crawl cylinder (421), and third connecting rod (43) bottom is provided with third crawl cylinder
(431), fourth link (44) bottom is provided with the 4th crawl cylinder (441)；First crawl cylinder (411), the second crawl cylinder
(421), the side of third crawl cylinder (431) and the 4th crawl cylinder (441) is provided with clamp arm (45), the first crawl cylinder
(411), the bottom of the second crawl cylinder (421), third crawl cylinder (431) and the 4th crawl cylinder (441) is provided with pressure
Arm (46)；
The travel driving motor (23), lifting driving motor (310), the first crawl cylinder (411), the second crawl cylinder
(421), third crawl cylinder (431) and the 4th crawl cylinder (441) are electrically connected with controller (5).
On the basis of above technical scheme, it is preferred that pole bracket (11) are provided on the I-shaped guide rail (1),
Pole bracket (11) bottom is provided with pole bracket mounting plate (12)；I-shaped guide rail (1) side is provided with pole bracket placement
Slot (13), pole bracket mounting plate (12) are slidably connected with pole bracket placing groove (13).
On the basis of above technical scheme, it is preferred that the driving wheel (22) and row of running gear (2) side
It walks and is provided with guide bearing chock (28) on the outside of driven wheel (26), guide bearing chock (28) bottom symmetrical is provided with guide bearing
(29), the lateral surface of guide bearing (29) is close to the lateral surface of I-shaped guide rail (1).
On the basis of above technical scheme, it is preferred that drag chain bracket (210) are provided at the top of the running gear (2),
Drag chain (211) are provided on drag chain bracket (210).
On the basis of above technical scheme, it is preferred that be provided with locking device (38), lock on the lifting device (3)
Determining device (38) includes the first lock cylinder (381), the second lock cylinder (382), the first locking level (383), the second locking level
(384), the first positioning column (385) and the second positioning column (386), the first lock cylinder (381) and the second lock cylinder (382) are equal
It is arranged on fixed frame (31)；First lock cylinder (381) is connect with the first locking level (383), the second lock cylinder (382)
It is connect with the second locking level (384)；Vertical the first positioning column (385), the are provided at the top of lifting device activity framework (33)
Two positioning columns (386) are provided with the lock hole through positioning column on the first positioning column (385), the second positioning column (386)
(387), the first positioning column (385), be provided with up and down on the lifting device fixed frame (31) right above the second positioning column (386)
The first abutment sleeve (388), the second abutment sleeve (389) of opening, the first abutment sleeve (388), the second abutment sleeve (389)
Be provided with the cross through hole (390) through abutment sleeve on side wall, lock hole (387), cross through hole (390) diameter be greater than the
The diameter of one locking level (383), the second locking level (384), first lock cylinder (381), the second lock cylinder (382) are equal
It is electrically connected with controller (5).
On the basis of above technical scheme, it is preferred that on first winding wheel (314), the second winding wheel (315)
It is provided with belt partition (317).
On the basis of above technical scheme, it is preferred that first belt (34) and the second belt (35) are received first
Coiling direction on rolling wheel (314) is on the contrary, third belt (36) and winding of the 4th belt (37) on the second winding wheel (315)
It is contrary.
On the basis of above technical scheme, it is preferred that lifting device activity framework (33) two sides are provided with first
Auxiliary positioning bracket (391), the second auxiliary positioning bracket (392), it is auxiliary that first auxiliary positioning bracket (391) bottom is provided with first
It helps positioning column (393), second auxiliary positioning bracket (392) bottom is provided with the second auxiliary positioning column (394).
On the basis of above technical scheme, it is preferred that be provided with lifting position sensor on the lifting device (3)
(395), lifting position sensor (395) and controller (5) are electrically connected.
On the basis of above technical scheme, it is preferred that first crawl cylinder (411), the second crawl cylinder
(421), third crawl cylinder (431) and the 4th crawl cylinder (441) inside is provided with push rod (47), push rod (47) bottom and
Connecting plate (48) one end is hinged, connecting plate (48) other end and square shaft (49) hingedly, square shaft (49) and pressure arm (46) end
Hingedly.
Grasp handling mechanism provided by the invention has the advantages that compared with the existing technology
(1) grasp handling mechanism can be realized clamping, vertical lifting, along I-shaped guide rail transverse shifting, vertically fall pine
Go into operation a series of functions such as part, makes full use of the solid space of existing workshop, realizes long-distance sand transport, can optimize workshop cloth
Office；
(2) lifting device of grasp handling mechanism carries position detection and lock function, even if being abnormal, the work of carrying
Part or fixture will not be fallen automatically, be tried to avert accidents；
(3) running gear realizes stable operation, position precision using driving wheel, walking passive gear and guide bearing
Height, will not sideslip；
(4) grasp handling mechanism is fully able to replace artificial or fork truck transporting work pieces or fixture, can improve scene and set
Standby arrangement improves productive temp and efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the perspective view of grasp handling mechanism of the present invention；
Fig. 2 is the perspective view of I-shaped guide rail, running gear, lifting device and grabbing device；
Fig. 3 is the right view of the assembled state of I-shaped guide rail, running gear, lifting device and grabbing device；
Fig. 4 is the perspective view of I-shaped guide rail and running gear；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is the right view of Fig. 4；
Fig. 7 is the perspective view of lifting device and grabbing device；
Fig. 8 is the top view of Fig. 7；
Fig. 9 is the bottom structure bottom view of Fig. 7；
Figure 10 is the right view of Fig. 7；
Figure 11 is the main view for grabbing cylinder.
Specific embodiment
Below in conjunction with embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of grasp handling mechanism of the present invention, and Fig. 2 is I-shaped guide rail, running gear, lifting device
With the assembled state schematic diagram of grabbing device, Fig. 3 is the combination of I-shaped guide rail, running gear, lifting device and grabbing device
The right view of state.
By Fig. 1, Fig. 2, Fig. 3 it is found that the present invention provides a kind of grasp handling mechanism, including I-shaped guide rail 1, walking dress
2, lifting device 3, grabbing device 4 and controller 5 are set, running gear 2,2 bottom of running gear are provided at the top of I-shaped guide rail 1
By connecting at the top of column 20 and lifting device 3,3 bottom of lifting device is provided with grabbing device 4.It is arranged on I-shaped guide rail 1
There is pole bracket 11,11 bottom of pole bracket is provided with pole bracket mounting plate 12；I-shaped 1 side of guide rail is provided with cantilever branch
Frame placing groove 13, pole bracket mounting plate 12 are slidably connected with pole bracket placing groove 13.I-shaped 1 end of guide rail is additionally provided with
Limit plate 14 is provided with cylindrical limited block 15 on limit plate 14.
By Fig. 4, Fig. 5, Fig. 6 it is found that running gear 2, including running gear framework 21, driving wheel 22, hoofing part
Motor 23, walking transmission case 24 and shaft coupling 25,21 side of running gear framework are provided with travel driving motor 23 and a pair of of row
Driving wheel 22 is walked, the other side of running gear framework 21 is provided with walking passive gear 26 corresponding with driving wheel 22, walking
Fixing bearing 27 has been placed on the wheel shaft of driving wheel 22；The output shaft of travel driving motor 23 is connect with walking transmission case 24, row
Walk and be symmetrically arranged with walking output shaft on transmission case 24, walking output shaft connect with one end of shaft coupling 25, shaft coupling 25 it is another
One end is connect with the axle ends of driving wheel 22.
It is provided with guide bearing chock 28 on the outside of the driving wheel 22 and walking passive gear 26 of 2 side of running gear, is oriented to
Bearing block bottom symmetrical is provided with guide bearing 29, and the lateral surface of guide bearing 29 is close to the lateral surface of I-shaped guide rail 1.
It is provided with drag chain bracket 210 at the top of running gear 2, drag chain 211 is provided on drag chain bracket 210.
In conjunction with Fig. 7-Figure 11, lifting device 3, including lifting device fixed frame 31, lifting device activity framework 33, receipts
Rolling wheel is provided with lifting driving motor 310 and lifting device transmission case 311, lifting driving at the top of lifting device fixed frame 31
The output shaft of motor 310 is connect with lifting device transmission case 311, and lifting output is symmetrically arranged on lifting device transmission case 311
Axis 312, lifting output shaft 312 are connect by shaft coupling 313 with wheel shaft one end of the first winding wheel 314, the second winding wheel 315,
First winding wheel 314, the second winding wheel 315 wheel shaft the other end be placed through winding wheel bearing seat 316 in, the first winding wheel
314, belt partition 317 is provided on the second winding wheel 315.
The first tension pulley 318 and second is provided on the lifting device fixed frame 31 of first winding wheel, 314 two sides
Tension pulley 319；Third tension pulley 320 is provided on the lifting device fixed frame 31 of second winding wheel, 315 two sides
With the 4th tension pulley 321；It is provided in lifting device activity framework 33 and the first tension pulley 318, the second belt
Bearing up pulley 319, third tension pulley 320 and the corresponding first belt fixing roller 331 of the 4th tension pulley 321, the second belt
Fixing roller 332, third belt fixing roller 333 and the 4th belt fixing roller 334；One end of first belt 34 is installed in the first winding
On wheel 314, the first belt is fixed after successively bypassing the first tension pulley 318 and the first belt fixing roller 331；Second skin
One end with 35 is installed on the first winding wheel 314, and the second belt 35 successively bypasses the second tension pulley 319 and the second belt
It is fixed after fixing roller 332；One end of third belt 36 is installed on the second winding wheel 315, and third belt 36 successively bypasses
It is fixed after third tension pulley 320 and third belt fixing roller 333；One end of 4th belt 37 is installed in the second winding
On wheel 315, the 4th belt 37 is fixed after successively bypassing the 4th tension pulley 321 and the 4th belt fixing roller 334.First
Coiling direction on the first winding wheel 314 of belt 34 and the second belt 35 on the contrary, third belt 36 and the 4th belt 37
Coiling direction on two winding wheels 315 is opposite.
Locking device 38 is provided on lifting device 3.Locking device 38 includes being arranged on lifting device fixed frame 31
The first lock cylinder 381 and the second lock cylinder 382, the first lock cylinder 381 connect with the first locking level 383, the second lock
Determine cylinder 382 to connect with the second locking level 384；Be provided at the top of lifting device activity framework 33 the first vertical positioning column 385,
Second positioning column 386, is provided with the lock hole 387 through positioning column on the first positioning column 385, the second positioning column 386, and first
The first positioning sleeve of upper and lower opening is provided on lifting device fixed frame 31 right above positioning column 385, the second positioning column 386
The 388, second abutment sleeve 389 of cylinder, is provided with through abutment sleeve on the first abutment sleeve 388,389 side wall of the second abutment sleeve
Cross through hole 390, lock hole 387, cross through hole 390 diameter be greater than the first locking level 383, the second locking level 384 it is straight
Diameter.
33 two sides of lifting device activity framework are provided with the first auxiliary positioning bracket 391, the second auxiliary positioning bracket 392,
First auxiliary positioning bracket, 391 bottom is provided with the first auxiliary positioning column 393, and 392 bottom of the second auxiliary positioning bracket is provided with
Second auxiliary positioning column 394.Lifting position sensor 395 is provided on lifting device 3.
Grabbing device 4, first connecting rod 41, second connecting rod 42, including 33 bottom of lifting device activity framework is arranged in
Three-link 43 and fourth link 44,41 bottom of first connecting rod are provided with the first crawl cylinder 411, and 42 bottom of second connecting rod is provided with
Second crawl cylinder 421,43 bottom of third connecting rod are provided with third crawl cylinder 431, and 44 bottom of fourth link is provided with the 4th
Grab cylinder 441；First crawl cylinder 411, second grabs cylinder 421, third crawl cylinder 431 and the 4th crawl cylinder 441
Side be provided with clamp arm 45, the first crawl cylinder 411, second grabs cylinder 421, third crawl cylinder 431 and the 4th is grabbed
The bottom of cylinder 441 is taken to be provided with pressure arm 46；First crawl cylinder 411, second grabs cylinder 421, third grabs cylinder 431
It is provided with push rod 47 with inside the 4th crawl cylinder 441,47 bottom of push rod and 48 one end of connecting plate are hinged, and connecting plate 48 is another
End is hinged with square shaft 49, and square shaft 49 and 46 end of pressure arm are hinged.
Travel driving motor 23, lifting driving motor 310, first grab the crawl of cylinder 411, second cylinder 421, third is grabbed
Cylinder the 431, the 4th is taken to grab cylinder 441, the first lock cylinder 381, the second lock cylinder 382 and lifting position sensor 395
It is electrically connected with controller 5.
By the way that the first crawl cylinder 411, second grabs cylinder 421, third grabs when grasp handling mechanism of the present invention uses
Cylinder the 431, the 4th grabs the object that cylinder 441 clamps, crawl needs promotion to carry, in the lifting driving motor of lifting device 3
Under 310 drive, the first belt 34, the second belt 35, third belt 36, the common lifting object of the 4th belt 37, when the first positioning
Column 385, the second positioning column 386 rise to the first abutment sleeve 388, in the second abutment sleeve 389 after, the driving of controller 5 first
Lock cylinder 381, the second lock cylinder 382 drive the first locking level 383 and the second locking level 384 to pass through the first positioning column 385
Prevent object from dropping to realize self-locking function with the lock hole 387 of the second positioning column 386.Then in the drive of running gear 2
Object is moved to target location under dynamic, subsequent first lock cylinder 381, the second lock cylinder 382 reset, and go up and down driving motor
310 fall object, and the first crawl cylinder 411, second grabs cylinder 421, third crawl cylinder the 431, the 4th grabs 441 pine of cylinder
Open the object of carrying.To realize three-dimensional conveying.
Grasp handling mechanism provided by the invention can be realized clamping, vertical lifting, along I-shaped guide rail transverse shifting, hang down
Land vertically a series of functions such as lower release workpiece, makes full use of the solid space of existing workshop, realizes long-distance sand transport, can optimize
Workshop layout；The lifting device of grasp handling mechanism carries position detection and lock function, even if being abnormal, the workpiece of carrying
Or fixture will not be fallen automatically, be tried to avert accidents；Running gear uses driving wheel, walking passive gear and guide bearing
Realize stable operation, position precision is high, will not sideslip；Grasp handling mechanism is fully able to replace artificial or fork truck transhipment work
Part or fixture can improve the arrangement of field device, improve productive temp and efficiency.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of grasp handling mechanism, including I-shaped guide rail (1), running gear (2), lifting device (3), grabbing device (4)
With controller (5), be provided with running gear (2) at the top of I-shaped guide rail (1), running gear (2) bottom by column (20) with
Connection at the top of lifting device (3), lifting device (3) bottom is provided with grabbing device (4)；It is characterized by:
The running gear (2), including running gear framework (21), driving wheel (22), travel driving motor (23), walking
Transmission case (24) and shaft coupling (25), running gear framework (21) side is provided with travel driving motor (23) and a pair of of walking is driven
Driving wheel (22), the other side of running gear framework (21) are provided with walking passive gear (26) corresponding with driving wheel (22),
Fixing bearing (27) have been placed on the wheel shaft of driving wheel (22)；The output shaft and walking transmission case of travel driving motor 23
(24) it connects, walking output shaft, one end company of walking output shaft and shaft coupling (25) is symmetrically arranged in walking transmission case (24)
It connects, the other end of shaft coupling (25) is connect with the axle ends of driving wheel (22)；
The lifting device (3), including lifting device fixed frame (31), lifting device activity framework (33), the first winding wheel
(314), the second winding wheel (315) lifting driving motor (310) and lifting device transmission case (311), lifting device fixed frame
(31) top is provided with lifting driving motor (310) and lifting device transmission case (311), goes up and down the output of driving motor (310)
Axis is connect with lifting device transmission case (311), and lifting output shaft (312) is symmetrically arranged on lifting device transmission case (311), is risen
Drop output shaft (312) is connect by shaft coupling (313) with wheel shaft one end of the first winding wheel (314), the second winding wheel (315),
First winding wheel (314), the second winding wheel (315) wheel shaft the other end be placed through winding wheel bearing seat (316) in；
The first tension pulley (318) and are provided on the lifting device fixed frame (31) of the first winding wheel (314) two sides
Two tension pulleys (319)；Third belt is provided on the lifting device fixed frame (31) of the second winding wheel (315) two sides
Bearing up pulley (320) and the 4th tension pulley (321)；It is provided in lifting device activity framework (33) and the first tension pulley
(318), the second tension pulley (319), third tension pulley (320) and the 4th tension pulley (321) corresponding first
Belt fixing roller (331), the second belt fixing roller (332), third belt fixing roller (333) and the 4th belt fixing roller (334)；
One end of first belt (34) is installed on the first winding wheel (314), and the first belt successively bypasses the first tension pulley (318)
It is fixed with after the first belt fixing roller (331)；One end of second belt (35) is installed on the first winding wheel (314), the
Two belts (35) are fixed after successively bypassing the second tension pulley (319) and the second belt fixing roller (332)；Third belt
(36) one end is installed on the second winding wheel (315), and third belt (36) is successively around third tension pulley (320) and the
It is fixed after three belt fixing rollers (333)；One end of 4th belt (37) is installed on the second winding wheel (315), the 4th skin
Band (37) is fixed after successively bypassing the 4th tension pulley (321) and the 4th belt fixing roller (334)；
The grabbing device (4), including first connecting rod (41), second connecting rod in lifting device activity framework (33) bottom is arranged
(42), third connecting rod (43) and fourth link (44), first connecting rod (41) bottom are provided with the first crawl cylinder (411), and second
Connecting rod (42) bottom is provided with the second crawl cylinder (421), and third connecting rod (43) bottom is provided with third crawl cylinder (431),
Fourth link (44) bottom is provided with the 4th crawl cylinder (441)；First crawl cylinder (411), second crawl cylinder (421),
The side of third crawl cylinder (431) and the 4th crawl cylinder (441) is provided with clamp arm (45), the first crawl cylinder (411),
The bottom of second crawl cylinder (421), third crawl cylinder (431) and the 4th crawl cylinder (441) is provided with pressure arm (46)；
The travel driving motor (23), lifting driving motor (310), the first crawl cylinder (411), the second crawl cylinder
(421), third crawl cylinder (431) and the 4th crawl cylinder (441) are electrically connected with controller (5).
2. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: be provided on the I-shaped guide rail (1)
Pole bracket (11), pole bracket (11) bottom are provided with pole bracket mounting plate (12)；I-shaped guide rail (1) side is provided with
Pole bracket placing groove (13), pole bracket mounting plate (12) are slidably connected with pole bracket placing groove (13).
3. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: the walking of running gear (2) side
It is provided with guide bearing chock (28) on the outside of driving wheel (22) and walking passive gear (26), the setting of guide bearing chock (28) bottom symmetrical
Have guide bearing (29), the lateral surface of guide bearing (29) is close to the lateral surface of I-shaped guide rail (1).
4. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: be provided at the top of the running gear (2)
Drag chain bracket (210) is provided with drag chain (211) on drag chain bracket (210).
5. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: be provided with lock on the lifting device (3)
Determine device (38), locking device (38) includes the first lock cylinder (381), the second lock cylinder (382), the first locking level
(383), the second locking level (384), the first positioning column (385) and the second positioning column (386), the first lock cylinder (381) and
Two lock cylinders (382) are arranged on fixed frame (31)；First lock cylinder (381) is connect with the first locking level (383),
Second lock cylinder (382) is connect with the second locking level (384)；Vertical the is provided at the top of lifting device activity framework (33)
One positioning column (385), the second positioning column (386) are provided on the first positioning column (385), the second positioning column (386) through fixed
The lock hole (387) of position column, the lifting device fixed frame (31) right above the first positioning column (385), the second positioning column (386)
On be provided with the first abutment sleeve (388), the second abutment sleeve (389) of upper and lower opening, the first abutment sleeve (388), second
The cross through hole (390) through abutment sleeve, lock hole (387), cross through hole are provided on abutment sleeve (389) side wall
(390) diameter is greater than the diameter of the first locking level (383), the second locking level (384), first lock cylinder (381), the
Two lock cylinders (382) are electrically connected with controller (5).
6. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: first winding wheel (314), second are received
Belt partition (317) are provided on rolling wheel (315).
7. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: first belt (34) and the second belt
(35) coiling direction on the first winding wheel (314) on the contrary, third belt (36) and the 4th belt (37) in the second winding wheel
(315) coiling direction on is opposite.
8. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: the lifting device activity framework (33) two
Side is provided with the first auxiliary positioning bracket (391), the second auxiliary positioning bracket (392), first auxiliary positioning bracket (391) bottom
It is provided with the first auxiliary positioning column (393), second auxiliary positioning bracket (392) bottom is provided with the second auxiliary positioning column (394).
9. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: be provided with liter on the lifting device (3)
It drops position sensor (395), lifting position sensor (395) and controller (5) are electrically connected.
10. a kind of grasp handling mechanism as described in claim 1, it is characterised in that: first crawl cylinder (411), the
Push rod (47), push rod are provided with inside two crawls cylinder (421), third crawl cylinder (431) and the 4th crawl cylinder (441)
(47) bottom and connecting plate (48) one end are hinged, connecting plate (48) other end and square shaft (49) hingedly, square shaft (49) and pressure
Arm (46) end is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210806.8A CN109368245A (en) | 2018-10-17 | 2018-10-17 | A kind of grasp handling mechanism |
Applications Claiming Priority (1)
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Cited By (5)
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| CN110842103A (en) * | 2019-12-20 | 2020-02-28 | 浙江安吉惠业家具有限公司 | Full-automatic punch type mechanical arm |
| CN112960325A (en) * | 2021-03-31 | 2021-06-15 | 苏州天准科技股份有限公司 | Storage device with replaceable rails |
| CN113148629A (en) * | 2020-12-28 | 2021-07-23 | 四川航天神坤科技有限公司 | Material snatchs conveyor |
| CN113251286A (en) * | 2021-05-11 | 2021-08-13 | 诠航科技有限公司 | Liftable tunnel machine guide rail |
| CN114104635A (en) * | 2021-12-28 | 2022-03-01 | 成川科技(苏州)有限公司 | Automatic wafer carrying crown block |
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| CN113251286A (en) * | 2021-05-11 | 2021-08-13 | 诠航科技有限公司 | Liftable tunnel machine guide rail |
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| CN114104635B (en) * | 2021-12-28 | 2024-01-26 | 成川科技(苏州)有限公司 | Automatic wafer carrying crown block |
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