CN111285105A - Manipulator for loading, unloading and carrying strip stones - Google Patents
Manipulator for loading, unloading and carrying strip stones Download PDFInfo
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- CN111285105A CN111285105A CN202010266474.6A CN202010266474A CN111285105A CN 111285105 A CN111285105 A CN 111285105A CN 202010266474 A CN202010266474 A CN 202010266474A CN 111285105 A CN111285105 A CN 111285105A
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- cavity
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
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Abstract
The invention discloses a manipulator for loading, unloading and carrying a stone strip, which comprises a first suspension arm, wherein a locking cavity with a downward opening is arranged on the lower end surface of the first suspension arm, a rotating shaft is rotatably arranged in the upper wall of the locking cavity, a second suspension arm is fixedly arranged at the lower end of the rotating shaft and below the first suspension arm, a locking device is arranged below the first suspension arm, a clamping device is arranged on the second suspension arm, the clamping device is internally provided with the anti-slip device, the anti-slip device can be automatically started when the barred rock is conveyed, the situation that people are hurt by the barred rock or the barred rock is damaged by the barred rock is ensured not to occur when the barred rock is conveyed and transferred, the rotating function of the mechanical hand is automatically locked in the process of transferring the barred rock, when the barred rock needs to be put down, the rotary locking is manually released, so that a person can manually adjust the position of the barred rock, and the operation is simple and convenient.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator for loading, unloading and carrying a strip stone.
Background
After stone is produced from the stone material factory, often can place the longer time after carrying to the place, because road conditions on the building site is comparatively complicated, need tie up the stone earlier when the transport, utilize the crane to carry the stone afterwards, however, because stone weight is great, in handling, not only the crane occupies a large amount of spaces, the lifting rope is at long distance removal in-process simultaneously, the cracked situation probably takes place, and then cause constantly rocking and the vibration of stone, cause the breaking accident easily, furthermore, under most of the circumstances, there are many building sites and even can use manpower to carry the stone, waste time and energy more, can cause the personal safety accident even. The present invention sets forth a device that solves the above problems.
Disclosure of Invention
The technical problem is as follows:
generally need tie up the barred rock earlier in handling, the lifting rope is at long distance's removal in-process, probably breaks, and a lot of building sites can even use the manpower to carry the barred rock in addition, wastes time and energy more, probably causes the personal safety accident even.
In order to solve the above problems, the present embodiment provides a manipulator for handling and transporting a barred rock, which includes a first suspension arm, a locking cavity with a downward opening is formed on a lower end surface of the first suspension arm, a rotating shaft is rotatably disposed in an upper wall of the locking cavity, a second suspension arm is fixedly disposed at a lower end of the rotating shaft and below the first suspension arm, a locking device is disposed below the first suspension arm, the locking device includes a first gear which is slidably disposed on the rotating shaft and in the locking cavity, a gear groove which is capable of being engaged with the first gear is disposed in communication with an upper wall of the locking cavity, the rotation of the rotating shaft and the second suspension arm can be prevented when the first gear is engaged with the gear groove, a clamping device is disposed on the second suspension arm, the clamping device includes a suspension block fixedly disposed at a lower end of the second suspension arm, hang in midair that the piece left and right sides link up from top to bottom and be equipped with opening opposite direction's upset groove, can the pivoted be equipped with the upset piece between the wall before the upset groove, the left and right sides the fixed first connecting block that is equipped with of the opposite side end face of upset piece, the second suspends in midair about the arm terminal surface fixed two sets of second connecting blocks that are equipped with in symmetrical position around, both sides around can the pivoted be equipped with the hydraulic arm between the second connecting block, the hydraulic arm lower extreme can change the pivoted connect in first connecting block, the fixed splint that are equipped with of upset piece lower extreme, be equipped with the antiskid device that falls in the clamping device, work as when splint press from both sides tight strip stone, the antiskid device is used for preventing the strip. Preferably, the locking device comprises a push rod cavity communicated with the upper wall of the gear groove, a push rod is arranged in the push rod cavity and can slide up and down, a first spring is fixedly connected between the push rod and the inner wall of the push rod cavity, the push rod can slide down under the action of the first spring to push the first gear out of the gear groove, a first slider cavity is arranged in the upper end of the second suspension arm, a first slider is arranged in the first slider cavity and can slide up and down, the elastic force between the upper end of the first slider and the inner wall of the first slider cavity is smaller than that of a fourth spring of the first spring, a first limiting rod is fixedly arranged at the bilateral symmetry position of the upper end face of the first slider, the upper end of the first limiting rod extends into the locking cavity and is fixedly connected to the lower end face of the first gear, and when the first slider slides up to the upper limit position, the first limiting rod pushes the first gear into internal meshing of the gear groove, a first supporting rod cavity with a downward opening is arranged on the lower end face of the suspension block, a first supporting rod with a lower end capable of extending to the outside is arranged in the first supporting rod cavity in a vertically sliding mode, a third spring with elasticity larger than that of the fourth spring is fixedly connected between the first supporting rod and the inner wall of the first supporting rod cavity, and a second pull wire is fixedly connected between the first supporting rod and the lower end face of the first sliding block.
Preferably, a fixed rod is fixedly arranged on the right end face of the first suspension arm, a U-shaped block is fixedly arranged on the right end of the fixed rod, a handle is fixedly arranged on the right end of the U-shaped block, an unlocking groove with a leftward opening is formed in the left end face of the handle, the front end of the unlocking groove, which can rotate, is arranged between the upper wall and the lower wall of the unlocking groove and can be turned over to the outer unlocking rod, the elastic force of the unlocking rod is larger than that of the second spring of the first spring, and a first pull wire is fixedly connected between the front side of the right end face of the unlocking rod and the upper end of the push rod.
Preferably, the anti-slipping device comprises second slider cavities which are respectively arranged at the left side and the right side and are symmetrically arranged at the front and back of the end face of one side of the splint, a second limiting rod is fixedly arranged between the upper wall and the lower wall of each second slider cavity, a second slider can slide up and down on each second limiting rod, the elastic force of the lower end face of each second slider and the elastic force of the inner wall of each second slider cavity are smaller than that of a fifth spring of a third spring, one end of each second slider extends to the outside and is fixedly provided with a fixing block, a first slider cavity is arranged at the lower end of each fixing block in a left-right through mode, a first sliding rod is arranged in each first slider cavity in a left-right sliding mode, limiting blocks are fixedly arranged at the opposite ends of the first sliding rods at the left side and the right side, and sixth springs are.
Preferably, the lower end of the inner wall of the side, away from the opening, of the second slider cavity is communicated with a first clamping groove, the upper end of the inner wall of the side, away from the opening, of the second slider cavity is communicated with a second clamping groove, the second clamping groove is internally provided with a pushing block capable of sliding left and right, a seventh spring is fixedly connected between the pushing block and the inner wall of the second clamping groove, the end surface of the side, away from the opening of the second slider cavity, of the second slider cavity is provided with a clamping block cavity, the clamping block cavity is internally provided with a clamping block capable of sliding left and right, one end of the clamping block can extend into the first clamping groove and the second clamping groove, an eighth spring with elasticity smaller than that of the seventh spring is fixedly connected between the clamping block and the inner wall of the clamping block cavity, a third pull wire penetrating through the second slider is fixedly connected between the clamping block and the upper end of the first pull, the second abutting rod is arranged in the second abutting rod cavity in a left-right sliding mode, one end of the second abutting rod can extend to the outside, a ninth spring with the elasticity larger than that of the seventh spring is fixedly connected between the second abutting rod and the inner wall of the second abutting rod cavity, and a fourth pull wire is fixedly connected between the opposite end of the second abutting rod on the left side and the right side and the push block.
Preferably, the second suspends in midair in the arm and in the left and right sides be equipped with the connecting rod chamber between the hydraulic pressure arm, the left and right sides connecting rod chamber downside left and right sides wall interior symmetry and can the horizontal slip be equipped with the third and support the pole, the left and right sides the opposite end of third support the pole extend to outside and can with the hydraulic pressure arm offsets, the left and right sides fixedly connected with tenth spring between the third supports the pole, connecting rod chamber upper wall intercommunication is equipped with the second slide bar chamber, the second slide bar intracavity can be gliding from top to bottom be equipped with the lower extreme and extend to the second slide bar in the connecting rod chamber, the second slide bar lower extreme left and right sides can the pivoted be equipped with the connecting rod, the connecting rod lower extreme can the pivoted respectively connect in the left and right sides the opposite end up end of third support the pole.
Preferably, terminal surface symmetry is equipped with the tooth's socket around the second slide bar, wall symmetry and intercommunication are equipped with the gear chamber around the second slide bar chamber, can the pivoted be equipped with the pivot about the gear chamber between the wall, the fixed meshing that is equipped with in the pivot in the second gear of tooth's socket, the gear chamber is controlled the wall interior symmetry and is equipped with the coiling chamber, both ends extend to the homonymy about the pivot coiling intracavity and the fixed winding wheel that is equipped with, the left and right sides first slide bar is relative one and is served up end and distance nearest fixedly connected with fifth stay wire between the winding wheel.
The invention has the beneficial effects that: the anti-slip device can be automatically started when the barred rock is conveyed, so that the situation that people are hurt by the barred rock or the barred rock is damaged by the barred rock can be avoided when the barred rock is conveyed and transferred, the rotating function of the mechanical arm is automatically locked in the barred rock transferring process, the rotating lock is manually released when the barred rock needs to be put down, the position of the barred rock can be conveniently manually adjusted by people, and the operation is simple and convenient.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic view of the overall structure of a manipulator for handling and transporting a strip stone according to the present invention;
FIG. 2 is a sectional view taken in the direction "A-A" of FIG. 1;
FIG. 3 is a sectional view taken in the direction "B-B" of FIG. 1;
FIG. 4 is an enlarged schematic view of "C" of FIG. 1;
FIG. 5 is a cross-sectional view taken in the direction "D-D" of FIG. 3;
FIG. 6 is a cross-sectional view taken in the direction "E-E" of FIG. 3;
fig. 7 is an enlarged schematic view of "F" of fig. 6.
Detailed Description
The invention will now be described in detail with reference to fig. 1-7, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The invention relates to a manipulator for loading, unloading and carrying bar-shaped stones, which is mainly applied to the loading, unloading and carrying operation of the bar-shaped stones, and the invention is further explained by combining the attached drawings of the invention:
the invention relates to a manipulator for loading, unloading and carrying a stone, which comprises a first suspension arm 11, wherein a locking cavity 12 with a downward opening is arranged on the lower end surface of the first suspension arm 11, a rotating shaft 13 is arranged in the upper wall of the locking cavity 12 in a rotatable manner, a second suspension arm 14 is fixedly arranged at the lower end of the rotating shaft 13 and below the first suspension arm 11, a locking device 101 is arranged below the first suspension arm 11, the locking device 101 comprises a first gear 15 which is arranged on the rotating shaft 13 in a vertically sliding manner and is arranged in the locking cavity 12, a gear groove 16 which can be meshed with the first gear 15 is communicated with the upper wall of the locking cavity 12, when the first gear 15 is meshed with the gear groove 16, the rotating shaft 13 and the second suspension arm 14 can be prevented from rotating, a clamping device 102 is arranged on the second suspension arm 14, the clamping device 102 comprises a suspension block 28 fixedly arranged at the lower end of the second suspension arm 14, hang 28 left and right sides of piece and link up from top to bottom and be equipped with opening opposite direction's upset groove 29, can the pivoted be equipped with upset piece 30 between the wall around upset groove 29, the left and right sides upset piece 30 opposite side terminal surface is fixed and is equipped with first connecting block 31, second suspends arm 14 and controls the fixed two sets of second connecting blocks 32 that are equipped with in symmetrical position around the terminal surface, both sides around can the pivoted be equipped with hydraulic arm 33 between the second connecting block 32, hydraulic arm 33 lower extreme can change the pivoted connect in first connecting block 31, the fixed splint 34 that are equipped with of upset piece 30 lower extreme, be equipped with anti-skidding device 103 in the clamping device 102, work as when splint 34 presss from both sides tight barred rock, anti-skidding device 103 is used for preventing the barred rock landing.
Beneficially, as detailed description is given below for the locking device 101, the locking device 101 includes a push rod cavity 17 communicated with the upper wall of the gear slot 16, a push rod 18 is provided in the push rod cavity 17 and can slide up and down, a first spring 19 is fixedly connected between the push rod 18 and the inner wall of the push rod cavity 17, under the action of the first spring 19, the push rod 18 can slide down to push the first gear 15 out of the gear slot 16, a first slider cavity 39 is provided in the upper end of the second suspension arm 14, a first slider 40 is provided in the first slider cavity 39 and can slide up and down, a fourth spring 41 having an elastic force smaller than that of the first spring 19 is fixedly connected between the upper end of the first slider 40 and the inner wall of the first slider cavity 39, a first limiting rod 42 is fixedly provided at a left-right symmetric position of the upper end face of the first slider 40, the upper end of the first limiting rod 42 extends into the locking cavity 12 and is fixedly connected to the lower end face of the first gear 15, when first slider 40 slides up to extreme position, first gag lever post 42 will first gear 15 impels the gear groove 16 internal gearing, it is equipped with the first pole chamber 35 that supports that the opening is decurrent to suspend in midair 28 lower terminal surface, the first pole chamber 35 that supports is equipped with that the internal energy is gliding from top to bottom and is equipped with the first pole 36 that supports that the lower extreme can extend to outside, first pole 36 that supports with it is greater than first third spring 37 of fourth spring 41 to support fixed connection between the pole chamber 35 inner wall, first pole 36 that supports with fixedly connected with second stay wire 43 between the terminal surface under first slider 40.
Beneficially, a fixing rod 21 is fixedly arranged on the right end face of the first suspension arm 11, a U-shaped block 22 is fixedly arranged on the right end of the fixing rod 21, a handle 23 is fixedly arranged on the right end of the U-shaped block 22, an unlocking groove 24 with a leftward opening is formed in the left end face of the handle 23, a front end of the unlocking groove 24, which can rotate, is arranged between the upper wall and the lower wall and can be turned over to an outer unlocking rod 25, a second spring 26 with an elastic force larger than that of the first spring 19 is fixedly connected between the unlocking rod 25 and the inner wall of the second spring 26, and a first pull wire 27 is fixedly connected between the front side of the right end face of the unlocking rod 25 and the upper end of the push.
Advantageously, as will be explained in detail below, the anti-slip device 103 comprises second slider cavities 44 respectively arranged at front-back symmetrical positions of the end surfaces of the left and right sides of the clamping plate 34 far away from one side, a second limiting rod 45 is fixedly arranged between the upper wall and the lower wall of the second sliding block cavity 44, a second sliding block 46 is arranged on the second limiting rod 45 and can slide up and down, a fifth spring 47 with the elasticity smaller than that of the third spring 37 is fixedly connected between the lower end surface of the second sliding block 46 and the inner wall of the second sliding block cavity 44, one end of the second sliding block 46 extends to the outside and is fixedly provided with a fixed block 48, the lower end of the fixed block 48 is provided with a first sliding rod cavity 49 which is through from left to right, the first slide bar cavity 49 can slide left and right and is provided with a first slide bar 50, the opposite end of the first slide bar 50 on the left and right sides is fixedly provided with a limiting block 51, and a sixth spring 52 is fixedly connected between the limiting block 51 and the fixing block 48.
Beneficially, a first clamping groove 53 is communicated with a lower end of an inner wall of the second slider cavity 44 on a side away from the opening, a second clamping groove 54 is communicated with an upper end of an inner wall of the second slider cavity 44 on a side away from the opening, a push block 55 is arranged in the second clamping groove 54 in a left-right sliding manner, a seventh spring 56 is fixedly connected between the push block 55 and the inner wall of the second clamping groove 54, a clamping block cavity 57 is arranged on an end surface of the second slider 46 on a side away from the opening of the second slider cavity 44, a clamping block 58 with one end capable of extending into the first clamping groove 53 and the second clamping groove 54 is arranged in the clamping block cavity 57 in a left-right sliding manner, an eighth spring 59 with elasticity smaller than that of the seventh spring 56 is fixedly connected between the clamping block 58 and an inner wall of the clamping block cavity 57, a third pull wire 60 penetrating through the second slider 46 is fixedly connected between the clamping block 58 and an upper end of the first abutting rod 36, a second abutting rod cavity 61 with an opposite opening is, the second abutting rod 62 is arranged in the second abutting rod cavity 61 and can slide left and right, one end of the second abutting rod 62 can extend to the outside, the elastic force of the second abutting rod 62 and the inner wall of the second abutting rod cavity 61 is larger than that of a ninth spring 63 of the seventh spring 56, and the opposite end of the second abutting rod 62 and a fourth pull wire 64 are fixedly connected between the pushing blocks 55 on the left side and the right side.
Beneficially, be equipped with connecting rod chamber 65 in second suspension arm 14 and in the left and right sides between the hydraulic pressure arm 33, the symmetry just can the horizontal slip be equipped with third support rod 66 in the left and right walls of connecting rod chamber 65 downside, the left and right sides the opposite one end of third support rod 66 extends to outside and can offset with hydraulic pressure arm 33, the left and right sides fixedly connected with tenth spring 67 between the third support rod 66, connecting rod chamber 65 upper wall intercommunication is equipped with second slide rod chamber 68, the internal up-and-down gliding lower extreme that is equipped with of second slide rod chamber 68 extends to second slide rod 69 in connecting rod chamber 65, the rotatable connecting rod 70 that is equipped with of second slide rod 69 lower extreme left and right sides, connecting rod 70 lower extreme can the rotatable connection respectively in the left and right sides the relative one end up end of third support rod 66.
Beneficially, tooth grooves 71 are symmetrically formed in the front end face and the rear end face of the second sliding rod 69, gear cavities 72 are symmetrically formed in the front wall and the rear wall of the second sliding rod cavity 68 and are communicated with each other, a rotating shaft 73 is rotatably formed between the left wall and the right wall of the gear cavity 72, a second gear 74 meshed with the tooth grooves 71 is fixedly arranged on the rotating shaft 73, winding cavities 75 are symmetrically formed in the left wall and the right wall of the gear cavity 72, the left end and the right end of the rotating shaft 73 extend into the winding cavities 75 on the same side and are fixedly provided with winding wheels 76, and fifth pull wires 77 are fixedly connected between the upper end face of the opposite end of the first sliding rod 50 on the left side and the upper end of the winding wheel 76.
The following describes in detail the use steps of a manipulator for handling and transporting a stone slab with reference to fig. 1 to 7:
at the beginning, the first slider 40 is at the lower limit position, the fourth spring 41 is in the stretched state, the first gear 15 is in the locking cavity 12 and is not engaged with the gear groove 16, the push rod 18 is received in the push rod cavity 17 and the first spring 19 is in the compressed state, the front end of the unlocking rod 25 is outside the unlocking groove 24, the hydraulic arm 33 is in the contracted state, the clamping plate 34 is in the horizontal state, the first abutting rod 36 is at the lower limit position, the second slider 46 is at the upper limit position of the second slider cavity 44, the fifth spring 47 is in the stretched state, the first slide rod 50 abuts against the clamping plate 34, one end of the clamping block 58 extends into the second clamping groove 54 to be clamped and abut against the pushing block 55, the seventh spring 56 is in the compressed state, the second slide rod 69 is at the lower limit position, and the third abutting rods 66 at the left and right sides are at the limit positions far away from each other.
When the work is started, the first suspension arm 11 is connected with the crane, the positions of the handle 23 and the suspension block 28 are controlled by hands to align with the barred rock, when the suspension block 28 abuts against the barred rock, the hydraulic arm 33 extends to push the turning block 30 and the clamping plate 34 to turn over to abut against the left end face and the right end face of the barred rock, as the suspension block 28 abuts against the barred rock, the first abutting rod 36 slides upwards, the third pull wire 60 is further loosened, when the clamping plate 34 abuts against the barred rock, the second abutting rod 62 is pushed back into the second abutting rod cavity 61 in times, the fourth pull wire 64 is loosened, then the pushing block 55 pushes the clamping block 58 back into the clamping block cavity 57 under the action of the seventh spring 56, when the hydraulic arm 33 extends, the hydraulic arm abuts against the third abutting rod 66 and pushes the third abutting rod 66 to slide towards each other, so as to push the second sliding rod 69 to slide upwards through the connecting rod 70, when the second sliding rod 69 upwards, the second gear 74 engaged with the second sliding rod 69 is driven to rotate, and then the winding wheel 76 is driven to release, then when the manipulator clamps the barred rock and rises, under the effect of fifth spring 47 second slider 46 glides to in the lower extreme position preceding fixture block 58 card goes into first draw-in groove 53, under the effect of sixth spring 52, first slide bar 50 slides in opposite directions to offset in the below of barred rock, and then can prevent the in-process barred rock landing of removal barred rock, avoided the barred rock to drop and injure people's danger, also avoided the barred rock landing to damage the condition appearance that leads to the material waste simultaneously.
Because the second pulling wire 43 is loosened when the first abutting rod 36 slides upwards, under the action of the fourth spring 41, the first sliding block 40 slides upwards and pushes the first gear 15 to be meshed with the gear groove 16 through the first limiting rod 42, and further, the second suspension arm 14 and the suspension block 28 can be prevented from rotating when the mobile manipulator moves a stone.
When a flat stone needs to be put down, when the position of the first suspension arm 11 is moved by hand, the unlocking lever 25 can be pressed, the first pull wire 27 is loosened, the push rod 18 slides downwards under the action of the first spring 19 to push the first gear 15 out of the gear groove 16, then the second suspension arm 14 and the suspension block 28 can be rotated to adjust the position of the flat stone, the hydraulic arm 33 contracts to drive the clamping plate 34 to turn upwards to release the flat stone, the suspension block 28 is separated from the clamping plate 34 and the flat stone, then the first abutting rod 36 slides downwards to return to the initial state, the first sliding block 40 is pulled by the second pull wire 43 to slide downwards to return to the initial state when the first abutting rod 36 slides downwards, the hydraulic arm 33 separates from the third abutting rod 66 when contracting, the third abutting rod 66 slides towards the opposite direction to the limit position under the action of the tenth spring 67 to push the second sliding rod 69 to slide upwards, then the winding wheel 76 is driven to wind the fifth pull wire 77 to pull the first sliding rod 50 to the left side or the right side of the clamping plate 34, when the first abutting rod 36 slides downwards, the third pull wire 60 pulls the fixture block 58 to be separated from the first slot 53, and then pulls the second slide block 46 to slide upwards to the upper limit position to return to the initial state, and the fixture block 58 is clamped into the second slot 54 again.
The invention has the beneficial effects that: the anti-slip device can be automatically started when the barred rock is conveyed, so that the situation that people are hurt by the barred rock or the barred rock is damaged by the barred rock can be avoided when the barred rock is conveyed and transferred, the rotating function of the mechanical arm is automatically locked in the barred rock transferring process, the rotating lock is manually released when the barred rock needs to be put down, the position of the barred rock can be conveniently manually adjusted by people, and the operation is simple and convenient.
In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.
Claims (7)
1. The utility model provides a manipulator for rectangular slab of stone loading and unloading transport, includes first arm that suspends in midair, the terminal surface is equipped with the locking chamber that the opening is decurrent under the first arm that suspends in midair, can be pivoted in the locking chamber upper wall and be equipped with the rotation axis, the rotation axis lower extreme just in first arm below that suspends in midair is fixed to be equipped with the second and suspends in midair the arm, first arm below that suspends in midair is equipped with locking device, its characterized in that: the locking device comprises a first gear which is arranged on the rotating shaft and in the locking cavity in a vertical sliding manner, the upper wall of the locking cavity is communicated with a gear groove which can be engaged with the first gear, the rotation of the rotating shaft and the second suspension arm can be prevented when the first gear is engaged with the gear groove, the second suspension arm is provided with a clamping device, the clamping device comprises a suspension block which is fixedly arranged at the lower end of the second suspension arm, the left side and the right side of the suspension block are vertically communicated and provided with turnover grooves with opposite opening directions, a turnover block is rotatably arranged between the front wall and the rear wall of the turnover groove, the opposite side end surfaces of the turnover block at the left side and the right side are fixedly provided with a first connecting block, the front side and the rear side of the left end surface of the second suspension arm are symmetrically and fixedly provided with two groups of second connecting blocks, and a hydraulic arm is rotatably arranged between the second connecting blocks, the hydraulic arm lower extreme can change the pivoted connect in first connecting block, the fixed splint that are equipped with of upset piece lower extreme, be equipped with the antiskid device that falls in the clamping device, work as when splint press from both sides tight barren rock, the antiskid device that falls is used for preventing the barren rock landing.
2. A robot for handling and transporting a stone slab as claimed in claim 1, wherein: the locking device comprises a push rod cavity communicated with the upper wall of the gear groove, a push rod is arranged in the push rod cavity and can slide up and down, a first spring is fixedly connected between the push rod and the inner wall of the push rod cavity, the push rod can slide down under the action of the first spring to push out the first gear from the gear groove, a first slider cavity is arranged in the upper end of the second suspension arm, a first slider is arranged in the first slider cavity and can slide up and down, a fourth spring with the elasticity smaller than that of the first spring is fixedly connected between the upper end of the first slider and the inner wall of the first slider cavity, first limiting rods are fixedly arranged at the bilateral symmetry positions of the upper end surface of the first slider, the upper end of each first limiting rod extends into the locking cavity and is fixedly connected with the lower end surface of the first gear, when the first slider slides up to the upper limit position, the first limiting rods push the first gear into the gear groove for internal engagement, the lower end face of the suspension block is provided with a first supporting rod cavity with a downward opening, a first supporting rod with a lower end capable of extending to the outside is arranged in the first supporting rod cavity in a vertically sliding mode, a third spring with elasticity larger than that of the fourth spring is fixedly connected between the first supporting rod and the inner wall of the first supporting rod cavity, and a second pull wire is fixedly connected between the first supporting rod and the lower end face of the first sliding block.
3. A robot for handling and transporting a stone slab as claimed in claim 1, wherein: the fixed dead lever that is equipped with of first arm right-hand member face of suspending in midair, the fixed U-shaped piece that is equipped with of dead lever right-hand member, the fixed handle that is equipped with of U-shaped piece right-hand member, the handle left end face is equipped with the unlocking groove left of opening, can the pivoted be equipped with between the unlocking groove lower wall the front end can overturn to outer unlocking lever, unlocking lever with fixedly connected with elasticity is greater than between the second spring inner wall the second spring of first spring, unlocking lever right-hand member face front side with the first acting line of fixedly connected with between the push rod upper end.
4. A robot for handling and transporting a stone slab as claimed in claim 1, wherein: the anti-slipping device comprises a left side and a right side which are respectively arranged, wherein the clamp plates are mutually away from a second slider cavity at front and back symmetrical positions of a side end face, a second limiting rod is fixedly arranged between the upper wall and the lower wall of the second slider cavity, a second slider is arranged on the second limiting rod in a vertically sliding manner, the lower end face of the second slider is fixedly connected with an elastic force smaller than a fifth spring of a third spring, one end of the second slider extends to the outside and is fixedly provided with a fixing block, a first slider cavity is arranged at the left side and the right side of the lower end of the fixing block in a penetrating manner, a first sliding rod is arranged in the first slider cavity in a horizontally sliding manner, a limiting block is fixedly arranged at the opposite end of the first sliding rod at the left side and the right side of the first sliding rod, and a sixth.
5. A robot for handling and transporting a stone slab as claimed in claim 4, wherein: the lower end of the inner wall of one side of the second sliding block cavity, which is far away from the opening, is communicated with a first clamping groove, the upper end of the inner wall of one side of the second sliding block cavity, which is far away from the opening, is communicated with a second clamping groove, a push block is arranged in the second clamping groove in a left-right sliding manner, a seventh spring is fixedly connected between the push block and the inner wall of the second clamping groove, a clamping block cavity is arranged on the end surface of one side of the second sliding block cavity, which is far away from the opening of the second sliding block cavity, a clamping block with one end capable of extending into the first clamping groove and the second clamping groove is arranged in the clamping block cavity in a left-right sliding manner, an eighth spring with elasticity smaller than that of the seventh spring is fixedly connected between the clamping block and the inner wall of the clamping block cavity, a third pull wire penetrating through the second sliding block is fixedly connected between the clamping block and the upper end of the first abutting rod, a second abutting rod cavity with an opposite, a ninth spring with the elasticity larger than that of the seventh spring is fixedly connected between the second abutting rod and the inner wall of the second abutting rod cavity, and a fourth pull wire is fixedly connected between the opposite end of the second abutting rod on the left side and the opposite end of the second abutting rod on the right side and the push block.
6. A robot for handling and transporting a stone slab as claimed in claim 1, wherein: the second suspends in midair in the arm and in the left and right sides be equipped with the connecting rod chamber between the hydraulic pressure arm, the symmetry just can the horizontal slip be equipped with the third and support the pole in the left and right walls of connecting rod chamber downside, the left and right sides the opposite one end of third support the pole extend outside and can with the hydraulic pressure arm offsets, the left and right sides fixedly connected with tenth spring between the third supports the pole, connecting rod chamber upper wall intercommunication is equipped with the second slide bar chamber, the gliding lower extreme that is equipped with from top to bottom in the second slide bar chamber extends to the second slide bar of connecting rod intracavity, the second slide bar lower extreme left and right sides can the pivoted connecting rod that is equipped with, the connecting rod lower extreme can the pivoted respectively connect in the left and right sides the relative one end up end of third support the pole.
7. A robot for handling and transporting a stone slab as claimed in claim 6, wherein: terminal surface symmetry is equipped with the tooth's socket around the second slide bar, wall symmetry and intercommunication are equipped with the gear chamber around the second slide bar chamber, can the pivoted pivot of being equipped with about the gear chamber between the wall, the fixed meshing that is equipped with in the pivot in the second gear of tooth's socket, the symmetry is equipped with the coiling chamber about the gear chamber in the wall, both ends extend to the homonymy about the pivot coiling intracavity and fixed being equipped with the coiling wheel, the left and right sides first slide bar is held the up end and is nearest with the distance fixedly connected with fifth stay wire between the coiling wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010266474.6A CN111285105A (en) | 2020-04-07 | 2020-04-07 | Manipulator for loading, unloading and carrying strip stones |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010266474.6A CN111285105A (en) | 2020-04-07 | 2020-04-07 | Manipulator for loading, unloading and carrying strip stones |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111285105A true CN111285105A (en) | 2020-06-16 |
Family
ID=71017928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010266474.6A Withdrawn CN111285105A (en) | 2020-04-07 | 2020-04-07 | Manipulator for loading, unloading and carrying strip stones |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111285105A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112622459A (en) * | 2020-12-18 | 2021-04-09 | 贵州云侠科技有限公司 | Printer ribbon cartridge |
| CN113086612A (en) * | 2021-02-26 | 2021-07-09 | 张金凤 | Cosmetics production is with anti-fragmentation mechanism of letter sorting equipment |
| CN113879834A (en) * | 2021-11-02 | 2022-01-04 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN115446853A (en) * | 2022-09-08 | 2022-12-09 | 江苏聚力智能机械股份有限公司 | Feeding and discharging manipulator for processing production of upper and lower beams of elevator |
-
2020
- 2020-04-07 CN CN202010266474.6A patent/CN111285105A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112622459A (en) * | 2020-12-18 | 2021-04-09 | 贵州云侠科技有限公司 | Printer ribbon cartridge |
| CN112622459B (en) * | 2020-12-18 | 2022-10-14 | 云侠科技(苏州)有限公司 | Ribbon cartridge of printer |
| CN113086612A (en) * | 2021-02-26 | 2021-07-09 | 张金凤 | Cosmetics production is with anti-fragmentation mechanism of letter sorting equipment |
| CN113879834A (en) * | 2021-11-02 | 2022-01-04 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN113879834B (en) * | 2021-11-02 | 2023-01-03 | 重庆维博动力科技有限公司 | Paperboard stacking device |
| CN115446853A (en) * | 2022-09-08 | 2022-12-09 | 江苏聚力智能机械股份有限公司 | Feeding and discharging manipulator for processing production of upper and lower beams of elevator |
| CN115446853B (en) * | 2022-09-08 | 2023-09-22 | 江苏聚力智能机械股份有限公司 | Loading and unloading manipulator for processing and producing upper and lower beams of elevator |
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Application publication date: 20200616 |