CN109896434A - A kind of plant produced line work piece carrying mechanism - Google Patents
A kind of plant produced line work piece carrying mechanism Download PDFInfo
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- CN109896434A CN109896434A CN201910327066.4A CN201910327066A CN109896434A CN 109896434 A CN109896434 A CN 109896434A CN 201910327066 A CN201910327066 A CN 201910327066A CN 109896434 A CN109896434 A CN 109896434A
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- pawl
- pawl disk
- bracket
- work piece
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Abstract
The present invention provides a kind of plant produced line work piece carrying mechanism, belongs to assembly line transport establishment technical field.Including bracket, walking mechanism, grasping mechanism.The top of A font bracket is bolted, and is connected between two groups of A font brackets with two stringers, and pawl disk trolley is matched by four pulleys with stringer.Synchronous translator is fixed on bracket, and synchronous pulley is fixed on pawl disk trolley, is equipped with telescopic rod bracket in pawl disk trolley center, telescopic rod lower end is fixedly connected with pawl disk.Pawl arm and the surrounding of pawl disk are fixed, and four pawl arms form single grasping mechanism.Pawl arm lower end controls swing rod by steering engine.The lower end of two A type brackets is equipped with movable motor and Mecanum wheel, while being equipped with control and visual sensing mechanism.
Description
Technical field
The invention belongs to industrial flow-line transport establishment technical fields.
Background technique
With the rapid advances that global industry develops, the phenomenon of domestic production power surplus, the competition between each enterprise is more
It is fierce.Meanwhile with the development of internet, the mode of transport in traditional processing industry seems not in face of the quick update of product
Enough flexibly intelligence, at the same many casting still take be manual handling mode, have that handling efficiency is low, stability difference is asked
Topic.
According to retrieval, related fields have " a kind of three sections of arm types that such as Chinese Patent Application No. is 201910043654
Be translatable hoisting transporter structure ", the mode of transport of three sections of arm types of mechanism, structure is complex, easily goes out in working service
Existing problem.A cargo can only be carried containing once transport simultaneously, efficiency is lower.The mechanism uses sliding rail, in the flexible of carrying
Property and reply complicated processing require when Shortcomings.
In view of the foregoing, it is necessary to research and develop a kind of carrying mechanism suitable for pipelining of stability and high efficiency.
Summary of the invention
The object of the present invention is to provide a kind of plant produced line work piece carrying mechanisms, it can be efficiently solved will be on assembly line
Workpiece handling the technical issues of being set to specified part.
The present invention reach its purpose the technical solution adopted is that: a kind of plant produced line work piece carrying mechanism, including bracket,
Walking mechanism, grasping mechanism, the side of the bracket are the framework of " A font " structure, and the top of framework is bolted, institute
Framework middle and upper part is stated equipped with horizontal support, bottom end is equipped with movable motor and Mecanum wheel, and two are equipped between two groups of frameworks
Stringer, the coplanar fixation with " A font " framework at both ends respectively of the both ends of the stringer；Pawl disk trolley by four pulleys with
Stringer cooperation；Synchronous translator is fixed by motor cabinet and bracket, and synchronous belt is fixed with pawl disk trolley, pawl disk cart base plate center
Equipped with through-hole, it is equipped with telescopic rod bracket around the through-hole, the top of the telescopic rod bracket is equipped with linear motor, under telescopic rod
The through-hole that end passes through bottom plate center is fixed with pawl disk；The upper end of pawl arm and the surrounding of pawl disk are fixed, and pawl arm lower end is equipped with and rudder
The swing rod of machine connection；The lower part of bracket is equipped with control and visual sensing mechanism.
The pawl disk trolley is located at below stringer, is connected by being mounted on four pulleys above stringer, pawl disk trolley
It can be moved along stringer.
The synchronous belt is connected by synchronous pulley with pawl disk trolley.
The synchronous translator all passes through cable with movable motor and is connected with controller.
The telescopic rod bracket is mounted on pawl disk trolley center, and telescopic rod lower end is fixedly connected with pawl disk.
The synchronous translator has one, is connected by synchronous belt and synchronous pulley with pawl disk trolley.
Every group four, the pawl arm, it is connected with pawl disk.
The steering engine every group four, it is located at pawl arm lower end, a steering engine controls a swing rod.
There are four the movable motors, each motor connection one Mecanum wheel of control.
Compared with the prior art, the beneficial effects of the present invention are:
It using the overall structure of gantry crane, is more advantageous to compared to trolley and works in open landform, and compared with body
The small trolley of product has bigger carrying capacity and delivery speed.A character form structure makes center of gravity of goods lower, in the handling process more
Add stabilization.Workpiece can directly be extracted while adjusting height, operated without human assistance.It is grabbed using multiple claws, each claw
The mode for taking multiple workpiece, significantly improves handling efficiency.Four pawl arms undertake workpiece weight, and same type easy to carry is the same as size
Workpiece prevents it from rocking.
Mechanism uses intelligentized design, is equipped with control and visual sensing mechanism, using line walking technology, while cooperating Mike
Na Mu wheel, may be implemented mechanism and follows existing route to be carried during carrying workpiece, and in this process
Also it is able to achieve a variety of mobile forms such as the transverse translation, pivot stud, oblique walking of entire mechanism.
Detailed description of the invention
Fig. 1 is overall structure three-dimensional figure of the present invention
Fig. 2 is grasping mechanism three-dimensional figure of the present invention
Fig. 3 is control and visual sensing mechanism partial 3 d figure in the present invention
Fig. 4 is synchronous belt structure partial three-dimensional figure in the present invention
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further detail.
A kind of plant produced line work piece carrying mechanism, including bracket, walking mechanism, grasping mechanism include straight-line electric in detail
Machine 1, telescopic rod bracket 2, A font bracket 3, pulley 4, pawl disk trolley 5, horizontal support 6, synchronous belt 7, synchronous translator 8, pawl disk 9,
Mecanum wheel 10, steering engine 11, movable motor 12, stringer 13, swing rod 14, pawl arm 15, control and visual sensing mechanism 16 reinforce
Bar 17.Its main technical schemes is: the top of A font bracket 3 is bolted, with two stringers 13 between two brackets
Connection, pawl disk trolley 5 are suspended on stringer 13 and can be moved along stringer 13 by four pulleys 4.Synchronous translator 8 is solid
It is scheduled on bracket 3, synchronous pulley is fixed on pawl disk trolley 5, and 5 bottom plate center of pawl disk trolley is equipped with through-hole, around the through-hole
Equipped with telescopic rod bracket 2, the top of the telescopic rod bracket 2 is equipped with linear motor 1, and telescopic rod lower end passes through bottom plate center
Through-hole and pawl disk 9 are fixed, and pawl disk 9 is moved up and down with the movement of telescopic rod.Pawl arm 15 and the surrounding of pawl disk 9 are hinged, and four
A pawl arm 15 forms single grasping mechanism, and three pawl disks 9 are by welding and utilizing the connection composition grasping mechanism of reinforcing bar 17.Pawl arm
15 lower ends control swing rod 14 by steering engine 11.The lower end of two A font brackets 3 is equipped with movable motor 12 and Mecanum wheel
10, while being equipped with control and visual sensing mechanism 16.
The course of work and working principle of the invention: make the mechanism along the route operation set by automatically controlling first
At to workpiece to be handled.Control gripping portion is moved to the top of production workpiece part to be handled, and three cleft hands is made to be in workpiece
Surface, the cargo with lower section is to just；Linear motor 1 drives telescopic rod decline, and swing rod 14 is rotatably inserted into after dropping to proper height
It is grabbed below workpiece, then proper height is promoted to by linear motor 1, can once take three workpiece；One under assembly line
Batches of three workpiece reach same pieces when setting, and first fall telescopic rod, three workpiece that a batch takes before making are placed on three workpiece of next group
Top, then decline telescopic rod, lift the workpiece of bottom, to realize that a cleft hand lifts the effect of more than one piece workpiece.Three
After a cleft hand is all grabbed completely, makes carrying mechanism by estimated route line walking traveling by automatically controlling, during which will pass through automatic control
Mode complete the avoidance to projected obstacles object, being also manually operable makes it avoid unexpected obstacle, reaches target part and sets
Afterwards using putting down telescopic rod 2 automatically, and successively loosens grasping mechanism and complete unloading.
Claims (4)
1. a kind of plant produced line work piece carrying mechanism, including bracket (3), walking mechanism, grasping mechanism, it is characterised in that: institute
The side for stating bracket (3) is the framework of " A font " structure, and the top of framework is bolted, and the framework middle and upper part is equipped with
Horizontal support (6), bottom end are equipped with movable motor (12) and Mecanum wheel (10), and two stringers are equipped between two groups of frameworks
(13), the both ends of the stringer (13) the coplanar fixation with " A font " framework at both ends respectively；Pawl disk trolley (5) passes through four
A pulley (4) and stringer (13) cooperate；Synchronous translator (8) are fixed by motor cabinet and bracket (3), synchronous belt (7) and pawl disk
Trolley (5) is fixed, and pawl disk trolley (5) bottom plate center is equipped with through-hole, is equipped with telescopic rod bracket (2) around the through-hole, described to stretch
The top of contracting bar bracket (2) is equipped with linear motor (1), and telescopic rod lower end passes through the through-hole at bottom plate center and pawl disk (9) are fixed；
The upper end of pawl arm (15) and the surrounding of pawl disk (9) are fixed, and pawl arm (15) lower end is equipped with the swing rod (14) coupled with steering engine (11)；Branch
The lower part of frame (3) is equipped with control and visual sensing mechanism (16).
2. a kind of plant produced line work piece carrying mechanism according to claim 1, it is characterised in that: the pawl disk trolley (5)
Below stringer (13), it is connected by four pulleys (4) above stringer (13).
3. a kind of plant produced line work piece carrying mechanism according to claim 1, it is characterised in that: the synchronous belt (7) is logical
Synchronous pulley is crossed to be connected with pawl disk trolley (5).
4. a kind of plant produced line work piece carrying mechanism according to claim 1, it is characterised in that: the synchronous translator
(8) all it is connected by cable with controller with movable motor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327066.4A CN109896434A (en) | 2019-04-23 | 2019-04-23 | A kind of plant produced line work piece carrying mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910327066.4A CN109896434A (en) | 2019-04-23 | 2019-04-23 | A kind of plant produced line work piece carrying mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109896434A true CN109896434A (en) | 2019-06-18 |
Family
ID=66956200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910327066.4A Pending CN109896434A (en) | 2019-04-23 | 2019-04-23 | A kind of plant produced line work piece carrying mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109896434A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436353A (en) * | 2019-08-09 | 2019-11-12 | 杨治国 | A kind of thin-wall barrel self adaptation stream waterline rope lifting device and application method |
| CN111704042A (en) * | 2020-07-20 | 2020-09-25 | 大连理工大学 | Novel hoisting equipment and method |
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| US5575220A (en) * | 1995-06-20 | 1996-11-19 | Kone Wood Inc. | Side roller assembly for gantry crane bridge wheels |
| RU2376235C1 (en) * | 2008-08-04 | 2009-12-20 | Федеральное государственное унитарное предприятие Научно-внедренческий центр "Путевые машины" Федерального агентства железнодорожного транспорта | Spreader bar for gripping pack of ties |
| CN104909277A (en) * | 2014-03-14 | 2015-09-16 | 上海钢之杰钢结构建筑系统有限公司 | Container inner gantry crane |
| CN206317090U (en) * | 2016-12-12 | 2017-07-11 | 西南交通大学 | A kind of conveying robot unit |
| CN206437794U (en) * | 2017-01-17 | 2017-08-25 | 湖南城市学院 | A kind of shaped steel carrying implement for building |
| CN108279685A (en) * | 2018-03-21 | 2018-07-13 | 福建工程学院 | A kind of floor truck that view-based access control model follows and working method |
| WO2018220227A1 (en) * | 2017-06-02 | 2018-12-06 | Dücker Group GmbH | Palletising robot with a pivoting lifting drive |
| CN208292528U (en) * | 2018-02-28 | 2018-12-28 | 山东临工工程机械有限公司 | The full-automatic offline movement system of digger engine |
| CN109179196A (en) * | 2018-09-20 | 2019-01-11 | 中国人民解放军海军航空大学 | The scalable Omni-mobile hoisting and transport equipment of modified gear, planer-type and transportation resources |
| CN209702147U (en) * | 2019-04-23 | 2019-11-29 | 西南交通大学 | A kind of plant produced line Work transfer apparatus |
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2019
- 2019-04-23 CN CN201910327066.4A patent/CN109896434A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3006485A (en) * | 1958-12-29 | 1961-10-31 | Diesel Equip | Vehicle unloading or loading devices |
| US5575220A (en) * | 1995-06-20 | 1996-11-19 | Kone Wood Inc. | Side roller assembly for gantry crane bridge wheels |
| RU2376235C1 (en) * | 2008-08-04 | 2009-12-20 | Федеральное государственное унитарное предприятие Научно-внедренческий центр "Путевые машины" Федерального агентства железнодорожного транспорта | Spreader bar for gripping pack of ties |
| CN104909277A (en) * | 2014-03-14 | 2015-09-16 | 上海钢之杰钢结构建筑系统有限公司 | Container inner gantry crane |
| CN206317090U (en) * | 2016-12-12 | 2017-07-11 | 西南交通大学 | A kind of conveying robot unit |
| CN206437794U (en) * | 2017-01-17 | 2017-08-25 | 湖南城市学院 | A kind of shaped steel carrying implement for building |
| WO2018220227A1 (en) * | 2017-06-02 | 2018-12-06 | Dücker Group GmbH | Palletising robot with a pivoting lifting drive |
| CN208292528U (en) * | 2018-02-28 | 2018-12-28 | 山东临工工程机械有限公司 | The full-automatic offline movement system of digger engine |
| CN108279685A (en) * | 2018-03-21 | 2018-07-13 | 福建工程学院 | A kind of floor truck that view-based access control model follows and working method |
| CN109179196A (en) * | 2018-09-20 | 2019-01-11 | 中国人民解放军海军航空大学 | The scalable Omni-mobile hoisting and transport equipment of modified gear, planer-type and transportation resources |
| CN209702147U (en) * | 2019-04-23 | 2019-11-29 | 西南交通大学 | A kind of plant produced line Work transfer apparatus |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110436353A (en) * | 2019-08-09 | 2019-11-12 | 杨治国 | A kind of thin-wall barrel self adaptation stream waterline rope lifting device and application method |
| CN111704042A (en) * | 2020-07-20 | 2020-09-25 | 大连理工大学 | Novel hoisting equipment and method |
| CN111704042B (en) * | 2020-07-20 | 2021-10-15 | 大连理工大学 | Hoisting equipment and method |
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