CN109531554A - A kind of planer-type palletizing mechanical arm - Google Patents
A kind of planer-type palletizing mechanical arm Download PDFInfo
- Publication number
- CN109531554A CN109531554A CN201811618354.7A CN201811618354A CN109531554A CN 109531554 A CN109531554 A CN 109531554A CN 201811618354 A CN201811618354 A CN 201811618354A CN 109531554 A CN109531554 A CN 109531554A
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- China
- Prior art keywords
- lead screw
- gear
- casing
- planer
- hinged
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 229920000742 Cotton Polymers 0.000 claims description 3
- 206010058109 Hangnail Diseases 0.000 claims description 3
- 230000030279 gene silencing Effects 0.000 claims description 3
- 230000017105 transposition Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- 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
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of planer-type palletizing mechanical arms, including stacking machine main body, one end of bottom is equipped with supporting plate in the stacking machine main body, and bottom far from one end of supporting plate is provided with conveyer belt in stacking machine main body, the inner top of the stacking machine main body is provided with driving device, and the bottom of driving device is provided with telescopic device, the bottom of the telescopic device is provided with Contraband shape connecting rod, and the bottom of Contraband shape connecting rod is equipped with transmission storehouse.The present invention is equipped with gear, stepper motor, lead screw casing, lead screw, sector gear, the second hinge bar and rack gear, stepper motor drives the rotation of screw set pipe by gear, to realize that lead screw or more is traversing, to adjust the angle of sector gear by rack gear, so that stable holding is carried out to kinds of goods by grip block, to be moved, in conjunction with casing, circular trough and sliding bar, since lead screw is connected with cannula slide, circular trough and sliding bar are slidably connected, to improve stability when lead screw is moved up and down.
Description
Technical field
The present invention relates to mechanical equipment technical field, specially a kind of planer-type palletizing mechanical arm.
Background technique
Planer-type palletizing mechanical arm is a kind of commonly used haulage equipment, by clamping manipulator by different shape, size
Bale Cargo, it is neat, stablize and automatically code is on pallet, since its mechanical mechanism is simple, stability is strong, high-efficient, quilt
It is widely used in the different fields such as automobile, logistics, household electrical appliances, medicine, food, and the stability one of existing manipulator clamping
As, it has been unable to meet and effectively clamps article of various shapes in stabilization, it is poor using limitation, and the progress carried is influenced,
It wherein needs to cooperate and manually be carried, larger workload, and be easy to cause security risk.
Summary of the invention
The purpose of the present invention is to provide a kind of planer-type palletizing mechanical arms, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme: a kind of planer-type palletizing mechanical arm, including stacking machine
Main body, one end of bottom is equipped with supporting plate in the stacking machine main body, and bottom is set far from one end of supporting plate in stacking machine main body
It is equipped with conveyer belt, the inner top of the stacking machine main body is provided with driving device, and the bottom of driving device is provided with flexible dress
It sets, the bottom of the telescopic device is provided with Contraband shape connecting rod, and the bottom of Contraband shape connecting rod is equipped with transmission storehouse, the transmission
The middle position of the top of the warehouse is equipped with casing, and casing is internally provided with the lead screw being slidably connected with it, on the outside of the lead screw
The lead screw casing being matched therewith is provided in the top of wall, and lead screw casing is connected with cannula slide, the transmission the top of the warehouse
One end stepper motor is installed, and the output end of stepper motor is equipped with gear, and the gear and lead screw casing match, institute
The edge for stating the interior bottom of lead screw is uniformly provided with circular trough, and the inside of circular trough is all provided with the cunning being slidably connected with it
Lever, the sliding bar are all fixed on the interior bottom in transmission storehouse, and the two sides of lead screw lateral wall bottom end are symmetrically arranged with rack gear,
And it is all provided with the sector gear being matched therewith on the outside of rack gear, the one of transmission storehouse inner sidewall is hinged in the sector gear
End, and the one end of sector gear far from rack gear is all equipped with the second hinge bar, the other end of second hinge bar is all hinged with
The both ends of mounting blocks, the transmission storehouse inner sidewall are symmetrically hinged with the first hinge bar, and the other end of the first hinge bar is all hinged
On mounting blocks, the bottom of the mounting blocks is all equipped with l-shaped rod, and the other end of l-shaped rod is all hinged with grip block, the L
The side of type bar is hinged with electric pushrod, and the other end of electric pushrod is all hinged on grip block.
Preferably, grip block side adjacent to each other is all evenly arranged with anti-skidding hangnail.
Preferably, the engagement place of the lead screw casing and gear is inner concave shape structure.
Preferably, the lateral wall of the stepper motor is provided with protecting bin, and the inner sidewall of protecting bin is provided with silencing cotton.
Preferably, anti-slip rubber layer is provided at the top of the supporting plate.
Preferably, the top and bottom of the lead screw are all provided with limited block.
Compared with prior art, the beneficial effects of the present invention are: the planer-type palletizing mechanical arm is equipped with gear, stepping electricity
Machine, lead screw casing, lead screw, sector gear, the second hinge bar and rack gear, stepper motor drive screw set pipe to rotate by gear,
To realize that lead screw or more is traversing, to adjust the angle of sector gear by rack gear, to be carried out by grip block to kinds of goods steady
Clamp is held, to be moved, in conjunction with casing, circular trough and sliding bar, since lead screw is connected with cannula slide, circular trough and sliding
Bar is slidably connected, to improve stability of the lead screw up and down when moving, improves the stability of clamping, avoid kinds of goods occur to slide or
Transposition influences the effect and stability of stacking, and the planer-type palletizing mechanical arm is equipped with mounting blocks, l-shaped rod and electric pushrod,
It is flexible by electric pushrod, the angle of grip block is adjusted, to keep grip block stable to various irregular character kinds of goods
It is clamped, improves the stability and applicability of equipment.
Detailed description of the invention
Fig. 1 is main view schematic cross-sectional view of the invention；
Fig. 2 is structure enlargement diagram at A of the invention；
Fig. 3 is structure enlargement diagram at B of the invention.
In figure: 1, stacking machine main body；2, mounting blocks；3, it is driven storehouse；4, driving device；5, telescopic device；6, Contraband shape connects
Bar；7, supporting plate；8, the first hinge bar；9, conveyer belt；10, rack gear；11, gear；12, stepper motor；13, lead screw casing；14, silk
Thick stick；15, casing；16, circular trough；17, sector gear；18, the second hinge bar；19, sliding bar；20, grip block；21, electronic to push away
Bar；22, l-shaped rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, a kind of embodiment provided by the invention: a kind of planer-type palletizing mechanical arm, including stacking owner
Body 1, one end of bottom is equipped with supporting plate 7 in stacking machine main body 1, and bottom is arranged far from one end of supporting plate 7 in stacking machine main body 1
There is conveyer belt 9, realize full-automatic cargo transport and stacking, improves the efficiency and stability of stacking, the inner top setting of stacking machine main body 1
There is driving device 4, and the bottom of driving device 4 is provided with telescopic device 5, the bottom of telescopic device 5 is provided with Contraband shape connecting rod
6, and the bottom of Contraband shape connecting rod 6 is equipped with transmission storehouse 3, the middle position at 3 top of transmission storehouse is equipped with casing 15, improves lead screw
About 14 traversing stability, and casing 15 is internally provided with the lead screw 14 being slidably connected with it, the top of 14 lateral wall of lead screw
The lead screw casing 13 being matched therewith is provided in end, and lead screw casing 13 and casing 15 are slidably connected, the one of 3 top of transmission storehouse
End is equipped with stepper motor 12, the model Y90S-2 of stepper motor 12, and the output end of stepper motor 12 is equipped with gear 11,
Gear 11 and lead screw casing 13 match, and realize automatic clamping and unloading, reduce the workload of worker, improve the efficiency of carrying,
The edge of the interior bottom of lead screw 14 is uniformly provided with circular trough 16, and the inside of circular trough 16 is all provided with and is slidably connected with it
Sliding bar 19, sliding bar 19 be all fixed on transmission storehouse 3 interior bottom, the two sides of 14 lateral wall bottom end of lead screw are symmetrical arranged with teeth
Item 10, and 10 outside of rack gear is all provided with the sector gear 17 being matched therewith, and 3 inside of transmission storehouse is hinged in sector gear 17
One end of wall, and the one end of sector gear 17 far from rack gear 10 is all equipped with the second hinge bar 18, the second hinge bar 18 it is another
End is all hinged with mounting blocks 2, and the both ends of transmission 3 inner sidewall of storehouse are symmetrically hinged with the first hinge bar 8, and the first hinge bar 8 is another
One end is all hinged on mounting blocks 2, and the bottom of mounting blocks 2 is all equipped with l-shaped rod 22, and the other end of l-shaped rod 22 is all hinged with
Grip block 20, the side of l-shaped rod 22 are hinged with electric pushrod 21, the model DYTP of electric pushrod 21, and electric pushrod 21
The other end is all hinged on grip block 20, and stepper motor 12 and electric pushrod 21 are all the prior art, composed structure with connect
Mode is all identical with existing apparatus.
In this embodiment: the side adjacent to each other of grip block 20 is all evenly arranged with anti-skidding hangnail, improve grip block 20 with
The frictional force of kinds of goods lateral wall avoids kinds of goods that transposition or landing, lead screw casing 13 and tooth occurs to improve the stability of clamping
The engagement place of wheel 11 is inner concave shape structure, improves the stability of engagement, avoids that de- tooth occurs, and influences the progress carried, stepping electricity
The lateral wall of machine 12 is provided with protecting bin, and the inner sidewall of protecting bin is provided with silencing cotton, protects to motor, and reduces fortune
As when the noise pollution that generates, the top of supporting plate 7 is provided with anti-slip rubber layer, improves the stability that kinds of goods are placed, avoid stacking
Shi Fasheng transposition influences the stability of kinds of goods stacking, and the top and bottom of lead screw 14 are all provided with limited block, to about 14 lead screw
The amount moved is defined, and is avoided that de- tooth occurs, is influenced the progress carried.
Working principle: powering on (device is all powered by external power supply using electrical components), and the product of carrying are placed
It is moved on conveyer belt 9, when moving to position near manipulator, through the operation of the control panel, makes 5 He of telescopic device
Manipulator is moved to the surface of the product of carrying by driving device 4 and starts to push, until grip block 20 is in the outside of the product of carrying
At position, control stepper motor 12 is operated, and stepper motor 12 drives lead screw casing 13 to rotate by gear 11, and lead screw 14 and sliding
Lever 19, casing 15 are slidably connected, to realize that about 14 lead screw is traversing, to adjust the angle of sector gear 17 by rack gear 10
Degree, pushes and pulls mounting blocks 2 by the second hinge bar 18,2 run-off the straight of mounting blocks controls electric pushrod by control panel
21 is flexible, adjusts the angle of grip block 20, to clamp by 20 pairs of carrying product of l-shaped rod 22 and grip block, completes aid
Afterwards, by being lifted on telescopic device 5, carrying product is moved to the top of supporting plate 7 by driving device 4 and carry out stacking.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (6)
1. a kind of planer-type palletizing mechanical arm, including stacking machine main body (1), it is characterised in that: the interior bottom of the stacking machine main body (1)
The one end in portion is equipped with supporting plate (7), and stacking machine main body (1) interior bottom is provided with conveyer belt (9) far from one end of supporting plate (7),
The inner top of the stacking machine main body (1) is provided with driving device (4), and the bottom of driving device (4) is provided with telescopic device
(5), the bottom of the telescopic device (5) is provided with Contraband shape connecting rod (6), and the bottom of Contraband shape connecting rod (6) is equipped with transmission
Storehouse (3), the middle position being driven at the top of storehouse (3) is equipped with casing (15), and being internally provided with for casing (15) is slided with it
The lead screw (14) of connection is moved, is provided with the lead screw casing (13) being matched therewith in the top of lead screw (14) lateral wall, and
Lead screw casing (13) and casing (15) are slidably connected, and one end at the top of transmission storehouse (3) is equipped with stepper motor (12), and is walked
Output end into motor (12) is equipped with gear (11), and the gear (11) and lead screw casing (13) match, the lead screw
(14) edge of interior bottom is uniformly provided with circular trough (16), and the inside of circular trough (16) is all provided with and its company of sliding
The sliding bar (19) connect, the sliding bar (19) are all fixed on the interior bottom of transmission storehouse (3), lead screw (14) the lateral wall bottom end
Two sides be symmetrically arranged with rack gear (10), and rack gear (10) on the outside of be all provided with the sector gear (17) being matched therewith, it is described
One end of transmission storehouse (3) inner sidewall is hinged in sector gear (17), and the one end of sector gear (17) far from rack gear (10) is all
It is equipped with the second hinge bar (18), the other end of second hinge bar (18) is all hinged with mounting blocks (2), the transmission storehouse
(3) both ends of inner sidewall are symmetrically hinged with the first hinge bar (8), and the other end of the first hinge bar (8) is all hinged on mounting blocks
(2) on, the bottom of the mounting blocks (2) is all equipped with l-shaped rod (22), and the other end of l-shaped rod (22) is all hinged with grip block
(20), the side of the l-shaped rod (22) is hinged with electric pushrod (21), and the other end of electric pushrod (21) is all hinged on clamping
On plate (20).
2. a kind of planer-type palletizing mechanical arm according to claim 1, it is characterised in that: the grip block (20) is leaned on mutually
Close side is all evenly arranged with anti-skidding hangnail.
3. a kind of planer-type palletizing mechanical arm according to claim 1, it is characterised in that: the lead screw casing (13) and tooth
The engagement place for taking turns (11) is inner concave shape structure.
4. a kind of planer-type palletizing mechanical arm according to claim 1, it is characterised in that: outside the stepper motor (12)
Side wall is provided with protecting bin, and the inner sidewall of protecting bin is provided with silencing cotton.
5. a kind of planer-type palletizing mechanical arm according to claim 1, it is characterised in that: set at the top of the supporting plate (7)
It is equipped with anti-slip rubber layer.
6. a kind of planer-type palletizing mechanical arm according to claim 1, it is characterised in that: the top of the lead screw (14) and
Bottom is all provided with limited block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618354.7A CN109531554A (en) | 2018-12-28 | 2018-12-28 | A kind of planer-type palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618354.7A CN109531554A (en) | 2018-12-28 | 2018-12-28 | A kind of planer-type palletizing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531554A true CN109531554A (en) | 2019-03-29 |
Family
ID=65857450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811618354.7A Pending CN109531554A (en) | 2018-12-28 | 2018-12-28 | A kind of planer-type palletizing mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN109531554A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671805A (en) * | 2017-09-18 | 2018-02-09 | 郑兴 | A kind of turnable apparatus for examination and repair of instrument and meter |
| CN111674945A (en) * | 2020-06-05 | 2020-09-18 | 姚树林 | Automatic stacker crane |
| CN112502915A (en) * | 2020-11-26 | 2021-03-16 | 太仓治誓机械设备科技有限公司 | Maintenance support frame for wind power generation device |
| CN113368921A (en) * | 2021-01-15 | 2021-09-10 | 重庆赛铃科技有限公司 | Reagent bottle fixing assembly and reagent kit thereof |
| CN113432023A (en) * | 2021-07-07 | 2021-09-24 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Remote control quick capture and release device |
| CN114310996A (en) * | 2021-12-21 | 2022-04-12 | 河北易沃克机器人科技有限公司 | Opening and closing driving mechanism and manipulator assembly |
| CN114310995A (en) * | 2021-12-21 | 2022-04-12 | 河北易沃克机器人科技有限公司 | Opening and closing manipulator |
| WO2022109101A1 (en) * | 2020-11-19 | 2022-05-27 | Berkshire Grey, Inc. | Systems and methods for object processing using grippers for objects with low pose authority |
| CN115533577A (en) * | 2022-11-29 | 2022-12-30 | 昆山奥玛泰机电设备有限公司 | Anti-deformation clamp for clamping numerical control center rod plate |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107671805A (en) * | 2017-09-18 | 2018-02-09 | 郑兴 | A kind of turnable apparatus for examination and repair of instrument and meter |
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| WO2022109101A1 (en) * | 2020-11-19 | 2022-05-27 | Berkshire Grey, Inc. | Systems and methods for object processing using grippers for objects with low pose authority |
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| CN113368921A (en) * | 2021-01-15 | 2021-09-10 | 重庆赛铃科技有限公司 | Reagent bottle fixing assembly and reagent kit thereof |
| CN113432023A (en) * | 2021-07-07 | 2021-09-24 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Remote control quick capture and release device |
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