CN112123357A - Multi-angle archive management grabbing device and method - Google Patents
Multi-angle archive management grabbing device and method Download PDFInfo
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- CN112123357A CN112123357A CN202010884810.3A CN202010884810A CN112123357A CN 112123357 A CN112123357 A CN 112123357A CN 202010884810 A CN202010884810 A CN 202010884810A CN 112123357 A CN112123357 A CN 112123357A
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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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- 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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Abstract
The invention discloses a multi-angle file management grabbing device and a control system thereof, which comprises a bearing connecting plate, wherein the upper end and the lower end of the bearing connecting plate are respectively provided with a supporting plate, an R-axis column is rotatably connected between the supporting plates, the front side of the R-axis column is provided with a bearing frame, the upper end and the lower end of the rear side wall of an inner cavity of the bearing frame are respectively provided with a Z-axis slide rail, a Z-axis synchronous transmission mechanism is arranged between the Z-axis slide rails, the bearing frame is slidably connected with a bearing vertical plate through two groups of Z-axis slide rails, the left end of the front side wall of the bearing vertical plate is slidably connected with a supporting seat, the top of the supporting seat is fixedly connected with an upper hook connecting plate, the bottom of the supporting seat is provided with a right angle seat, the bottom of the right angle seat is fixedly connected with a lower hook connecting plate, and the left ends, and meet the grabbing work of different height archives within the adjustable range.
Description
Technical Field
The invention relates to the technical field of file management, in particular to a multi-angle file management grabbing device and method.
Background
The general archives refer to various forms of original records with storage value directly formed by people in various social activities, and the archives are frequently used by each enterprise unit, government department, school and the like, are multifunctional office supplies which are used for conveniently storing and supplementing, modifying and checking the archives, and are kits for filing archives by office staff of each archives department.
At present, archive management is usually placed in corresponding bins, archives can only be grabbed one time under the common condition, and in addition, the archives are not very convenient to grab in a left-right clamping mode, and only archives with one height can be grabbed, so that a multi-angle archive management grabbing device and method are provided.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a multi-angle file management grabbing device and method, which are convenient for grabbing two files at one time, and meanwhile, the files are convenient to grab in an up-and-down clamping mode, and grabbing work of the files with different heights can be met within an adjustable range.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a multi-angle file management grabbing device comprises a bearing connecting plate, Y-axis sliding blocks are fixedly mounted at the upper end and the lower end of the right side wall of the bearing connecting plate, supporting plates are arranged at the upper end and the lower end of the bearing connecting plate, an R-axis column is rotatably connected between two groups of supporting plates and extends into an inner cavity of the lower end supporting plate, a bearing frame is arranged at the front side of the R-axis column, Z-axis sliding rails are arranged at the upper end and the lower end of the rear side wall of the inner cavity of the bearing frame, a Z-axis synchronous transmission mechanism is arranged between the two groups of Z-axis sliding rails, and the bearing frame is connected with a bearing;
the upper end and the lower end of the outer wall of the R-axis column are fixedly connected with R-axis hoops, the R-axis hoops are fixedly connected with the bearing frame, and an R-axis synchronous transmission mechanism is arranged in an inner cavity of the supporting plate at the lower end;
the rear side wall of the bearing vertical plate is provided with a Z-axis linkage block, and the bearing vertical plate is connected with a Z-axis synchronous transmission mechanism through the Z-axis linkage block;
bear the preceding lateral wall right-hand member of riser and be provided with C axle synchronous drive mechanism, the preceding lateral wall left end sliding connection who bears the riser has the supporting seat, the top rigid coupling of supporting seat has and colludes the claw connecting plate on, the bottom of supporting seat is provided with the right angle seat, and the right angle seat with bear riser looks rigid coupling, the bottom rigid coupling of right angle seat has colludes the claw connecting plate down, collude the claw connecting plate down and all be provided with archives and collude the claw piece with the left end of colluding the claw connecting plate on.
Preferably, bear the frame including bearing the curb plate, the front side that bears the curb plate is provided with the right angle pin, the bottom rigid coupling of right angle pin has bearing bottom plate, and bearing bottom plate's back lateral wall and bearing curb plate looks rigid coupling, bearing bottom plate's top front side rigid coupling has lower spacing slat, lower spacing slat's right side is provided with back spacing dog, back spacing dog with bear curb plate and bearing bottom plate looks rigid coupling.
Based on the technical characteristics, the auxiliary blocking limit of the position of the bottom of the file in the bearing frame is facilitated through the cooperation of the lower limiting strip plate and the right-angle stop lever.
Preferably, two sets of one side that the Z axle slide rail kept away from each other all is provided with the barricade pole, the upper end the top rigid coupling of barricade pole has last spacing slat.
Based on the technical characteristics, the position of the top side of the grabbed file in the bearing frame is conveniently assisted to be blocked and limited by the upper limiting strip plate matched with the right-angle stop lever.
Preferably, the Z-axis synchronous transmission mechanism comprises a Z-axis transmission belt, the Z-axis transmission belt is connected with the Z-axis linkage block, Z-axis synchronizing wheels are arranged on the left side and the right side of an inner cavity of the Z-axis transmission belt, and a group of Z-axis synchronizing wheels are rotatably connected with the bearing side plates in the bearing frame.
Based on the technical characteristics, the Z-axis transmission belt can conveniently transmit on the two groups of Z-axis synchronizing wheels.
Preferably, the R-shaft synchronous transmission mechanism comprises an R-shaft transmission belt, R-shaft synchronizing wheels are arranged at the left end and the right end of an inner cavity of the R-shaft transmission belt, the R-shaft synchronizing wheels are arranged on one end, extending into the inner cavity of the lower end supporting plate, of the R-shaft column, a pre-tightening pin is arranged on the outer side of the R-shaft transmission belt, and rotating bearings are evenly sleeved on the pre-tightening pin.
Based on above-mentioned technical characteristics, through tightening up when pretightning the round pin to carrying out the transmission to R axle drive belt for transmission power is sufficient, acts on the pretightning round pin through the axis of rotation bearing, is convenient for when the pretightning round pin tightens up R axle drive belt, reduces the frictional resistance between pretightning round pin and the R axle drive belt, reduces the mechanical energy loss.
Preferably, the C-axis synchronous transmission mechanism comprises a C-axis transmission belt, the left side of the C-axis transmission belt is connected with the supporting seat, C-axis synchronizing wheels are arranged at the upper end and the lower end of an inner cavity of the C-axis transmission belt, and a group of C-axis synchronizing wheels at the lower end are rotatably connected with the bearing vertical plate.
Based on the technical characteristics, the C-shaft transmission belt can conveniently transmit on the two groups of C-shaft synchronizing wheels.
Preferably, a supporting slide rail is fixedly mounted at the left end of the front side wall of the bearing vertical plate, supporting slide blocks are connected to the upper end and the lower end of the supporting slide rail in a sliding manner, and the front side wall of each supporting slide block is fixedly connected with a supporting seat.
Based on the technical characteristics, the supporting slide block slides on the supporting slide rail, so that the supporting seat is conveniently driven to slide up and down on the bearing vertical plate.
Preferably, the upper end and the lower end of the left side wall of the bearing vertical plate are fixedly connected with right angle blocks, and the left side walls of the two groups of right angle blocks are provided with file ejecting blocks.
Based on above-mentioned technical characteristic, be convenient for snatch the protection that blocks to when stopping snatching archives through archives kicking block.
Preferably, the upper end and the lower end of the right side wall of the bearing vertical plate are fixedly connected with Z-axis sliding blocks matched with the Z-axis sliding rails.
Based on the technical characteristics, the bearing vertical plate can be conveniently moved and adjusted back and forth in the bearing frame in the Z-axis direction by the sliding of the Z-axis slide block on the Z-axis slide rail.
Preferably, the control system of the multi-angle file management grabbing device is characterized in that an R-axis motor is arranged on the right side of the top of the supporting plate at the lower end, the bottom power output end of the R-axis motor extends into the inner cavity of the supporting plate at the lower end, and the power output end of the R-axis motor extending into the inner cavity of the lower end supporting plate is connected with another group of R-axis synchronizing wheels, the left side of the R-axis motor is provided with an R-axis 270-degree limiting block, the right end of the front side wall of the supporting plate at the lower end is provided with an R-axis 270-degree sensor, the front end of the rear side of the bearing frame is provided with a Z-axis motor and a Z-axis origin sensor, and the Z-axis motor is positioned below the Z-axis origin sensor, the power output end on the Z-axis motor is connected with the other group of Z-axis synchronizing wheels in the Z-axis synchronous transmission mechanism, the upper end of the front side wall of the bearing vertical plate is provided with a C-axis motor, and a power output end on the C-axis motor is connected with another group of C-axis synchronous wheels in the C-axis synchronous transmission mechanism.
Compared with the prior art, the invention has the following beneficial effects:
the invention has reasonable structural design, and comprises the following steps: through the matching of a Z-axis motor, a Z-axis synchronous transmission mechanism, a Z-axis linkage block, an upper hook claw connecting plate, a right-angle seat, a lower hook claw connecting plate and a file hook claw block, through the sliding matching of a bearing vertical plate and a Z-axis slide rail, the files are conveniently grabbed by adopting an upper and lower clamping mode, meanwhile, one file is grabbed when the upper hook claw connecting plate and the lower hook claw connecting plate extend out of a bearing frame by half of the length, and two files are conveniently grabbed at one time when the bearing frame extends out completely;
secondly, the method comprises the following steps: through the sliding fit between the supporting seat and the bearing vertical plate and the cooperation of the C-axis synchronous transmission mechanism and the C-axis motor, the position of the upper hook claw connecting plate can be adjusted in the vertical direction, and the distance between the upper hook claw connecting plate and the lower hook claw connecting plate can be further adjusted, so that the grabbing work of files with different heights can be met within an adjustable range;
thirdly, the method comprises the following steps: through the cooperation of R axle motor, R axle synchronous drive mechanism, R axle staple bolt and bearing frame, through the normal running fit between R jack-post and the backup pad, in rotatable adjusting range, be convenient for drive the manipulator and do axial rotation with the R jack-post, move to corresponding position in storehouse, the execution is taken and is put archives action to can satisfy the diversified work of getting the shelves of multi-angle.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first structural diagram illustrating an angle of use according to the present invention;
FIG. 2 is a second structural diagram illustrating an angle of use according to the present invention;
FIG. 3 is a third structural diagram illustrating an angle of use according to the present invention;
FIG. 4 is a top view of FIG. 1 of the present invention;
FIG. 5 is a bottom view of FIG. 1 of the present invention;
FIG. 6 is an enlarged view of a portion of the invention shown in FIG. 3 at position A;
FIG. 7 is a schematic structural view of the C-axis synchronous drive mechanism of the present invention;
FIG. 8 is a schematic view of the connection between the support rail and the support slider according to the present invention;
FIG. 9 is a schematic view of the connection between the Z-axis slide rail and the Z-axis slider according to the present invention;
FIG. 10 is a schematic view of another angular use configuration of the present invention;
FIG. 11 is a front view of FIG. 10 of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-bearing connecting plate, 2-Y-axis sliding block, 3-supporting plate, 4-C-axis synchronous transmission mechanism, 401-C-axis transmission belt, 402-C-axis synchronous wheel, 5-bearing frame, 501-bearing side plate, 5011-stop bar, 5012-upper limit lath, 502-right angle stop bar, 503-bearing bottom plate, 5031-lower limit lath, 5032-rear limit stop, 6-Z-axis sliding rail, 601-Z-axis sliding block, 7-Z-axis synchronous transmission mechanism, 701-Z-axis transmission belt, 702-Z-axis synchronous wheel, 8-bearing vertical plate, 801-right angle block, 802-file top block, 9-Z-axis linkage block, 10-R-axis motor, 11-R-axis 270-degree limit block, 12-R-axis 270-degree sensor, 13-R-axis column, 14-C shaft motor, 15-supporting seat, 1501-supporting slide rail, 1502-supporting slide block, 16-upper hook claw connecting plate, 17-right angle seat, 18-lower hook claw connecting plate, 19-file hook claw block, 20-Z shaft motor, 21-Z shaft origin sensor, 22-R shaft hoop, 23-R shaft synchronous transmission mechanism, 2301-R shaft synchronous wheel, 2302-R shaft transmission belt and 2303-pre-tightening pin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that: a multi-angle archive management grabbing device comprises a bearing connecting plate 1, Y-axis sliders 2 are fixedly mounted at the upper end and the lower end of the right side wall of the bearing connecting plate 1, supporting plates 3 are arranged at the upper end and the lower end of the bearing connecting plate 1, an R-axis column 13 is rotatably connected between the two groups of supporting plates 3, the R-axis column 13 extends into the inner cavity of the lower supporting plate 3, a bearing frame 5 is arranged at the front side of the R-axis column 13, the bearing frame 5 comprises a bearing side plate 501, a right-angle stop rod 502 is arranged at the front side of the bearing side plate 501, a bearing bottom plate 503 is fixedly connected at the bottom of the right-angle stop rod 502, the rear side wall of the bearing bottom plate 503 is fixedly connected with the bearing side plate 501, a lower limit strip 5031 is fixedly connected at the front side of the top of the bearing bottom plate 503, a rear limit stopper 5032 is arranged at the right side of the lower limit strip 5031, the, the auxiliary blocking and limiting device is convenient for auxiliary blocking and limiting when files are grabbed at one side position of the bottom in the bearing frame 5, Z-axis slide rails 6 are arranged at the upper end and the lower end of the rear side wall of an inner cavity of the bearing frame 5, blocking strip rods 5011 are arranged at the sides, far away from each other, of two groups of Z-axis slide rails 6, an upper limiting strip plate 5012 is fixedly connected to the top of the upper blocking strip rod 5011, auxiliary blocking and limiting are convenient for the grabbed files at one side position of the top in the bearing frame 5 by matching the upper limiting strip plate 5012 with a right-angle blocking rod 502, a Z-axis synchronous transmission mechanism 7 is arranged between the two groups of Z-axis slide rails 6, the Z-axis synchronous transmission mechanism 7 comprises a Z-axis transmission belt 701, the Z-axis transmission belt 701 is connected with a Z-axis linkage block 9, Z-axis synchronous wheels 702 are arranged at the left side and the right side of the inner cavity of the Z-axis transmission belt 701, the bearing frame 5 is connected with a bearing vertical plate 8 in a sliding manner through two groups of Z-axis slide rails 6, the upper end and the lower end of the right side wall of the bearing vertical plate 8 are fixedly connected with Z-axis slide blocks 601 matched with the Z-axis slide rails 6, and the bearing vertical plate 8 can conveniently move and adjust in the bearing frame 5 in the Z-axis direction back and forth through the sliding of the Z-axis slide blocks 601 on the Z-axis slide rails 6 (refer to fig. 1, 4 and 5 in the attached drawings of the specification);
the upper end and the lower end of the outer wall of the R-axis column 13 are fixedly connected with R-axis hoops 22, the R-axis hoops 22 are fixedly connected with the bearing frame 5, an R-axis synchronous transmission mechanism 23 is arranged in the inner cavity of the lower end supporting plate 3, the R-axis synchronous transmission mechanism 23 comprises an R-axis transmission belt 2302, R-axis synchronizing wheels 2301 are arranged at the left end and the right end of the inner cavity of the R-axis transmission belt 2302, a group of R-axis synchronizing wheels 2301 at the right side are arranged at one end of the R-axis column 13 extending into the inner cavity of the lower end supporting plate 3, a pre-tightening pin 2303 is arranged on the outer side of the R, the tightening of the pre-tightening pin 2303 on the R-shaft driving belt 2302 during transmission enables the transmission power to be sufficient, by the action of the rotary bearing on the pretensioning pin 2303, it is facilitated that, when the pretensioning pin 2303 tightens the R-axis drive belt 2302, the friction resistance between the pre-tightening pin 2303 and the R-shaft transmission belt 2302 is reduced, and the mechanical energy loss is reduced (refer to figure 2 in the specification and the drawings);
a Z-axis linkage block 9 is arranged on the rear side wall of the bearing vertical plate 8, and the bearing vertical plate 8 is connected with the Z-axis synchronous transmission mechanism 7 through the Z-axis linkage block 9 (refer to fig. 3 and 6 in the attached drawings of the specification);
the right end of the front side wall of the bearing vertical plate 8 is provided with a C-axis synchronous transmission mechanism 4, the C-axis synchronous transmission mechanism 4 comprises a C-axis transmission belt 401, the left side of the C-axis transmission belt 401 is connected with a support seat 15, the upper and lower ends of the inner cavity of the C-axis transmission belt 401 are both provided with C-axis synchronizing wheels 402, and a group of C-axis synchronizing wheels 402 at the lower end are rotatably connected with the bearing vertical plate 8, so that the C-axis transmission belt 401 can conveniently transmit on the two groups of C-axis synchronizing wheels 402 (refer to figure 9 in the attached drawing of the specification), the left end of the front side wall of the bearing vertical plate 8 is slidably connected with the support seat 15, the left end of the front side wall of the bearing vertical plate 8 is fixedly provided with a support slide rail 1501, the upper and lower ends of the support slide rail 1501 are both slidably connected with support sliders 1502, the front side wall, bear equal rigid coupling in both ends has right angle piece 801 about the left side wall of riser 8, the left side wall of two sets of right angle pieces 801 all is provided with archives kicking block 802, be convenient for snatch the archives through archives kicking block 802 to stopping the protection that blocks when snatching (refer to figure 8 in the description attached drawing), the top rigid coupling of supporting seat 15 has last claw connecting plate 16 that colludes, the bottom of supporting seat 15 is provided with right angle seat 17, and right angle seat 17 with bear riser 8 looks rigid coupling, the bottom rigid coupling of right angle seat 17 has lower claw connecting plate 18 that colludes, the left end that colludes claw connecting plate 18 and last claw connecting plate 16 down all is provided with archives claw piece 19 (refer to figure 7 in the description attached drawing).
The right side of the top of the lower end supporting plate 3 is provided with an R-axis motor 10, the bottom power output end of the R-axis motor 10 extends into the inner cavity of the lower end supporting plate 3, and the power output end of the R-axis motor 10 extending into the inner cavity of the lower end support plate 3 is connected with another group of R-axis synchronizing wheels 2301, the left side of the R-axis motor 10 is provided with an R-axis 270 degree limiting block 11, the right end of the front side wall of the lower end support plate 3 is provided with an R-axis 270 degree sensor 12, the front end of the rear side of the bearing frame 5 is provided with a Z-axis motor 20 and a Z-axis origin sensor 21, and the Z-axis motor 20 is located below the Z-axis origin sensor 21, the power output end of the Z-axis motor 20 is connected with another group of Z-axis synchronizing wheels 702 in the Z-axis synchronous transmission mechanism 7, the C-axis motor 14 is installed at the upper end of the front side wall of the bearing vertical plate 8, and the power output end of the C-axis motor 14 is connected with another group of C-axis synchronizing wheels 402 in the C-axis synchronous transmission mechanism 4.
One specific application of this embodiment is: the invention has reasonable structural design, the C-axis motor 14 rotates forwards or backwards to drive the C-axis transmission belt 401 to transmit on the two groups of C-axis synchronizing wheels 402, the support seat 15 is driven to slide on the support slide rails 1501 through the support slide blocks 1502 to slide up and down on the bearing vertical plate 8, so that the position of the upper hook claw connecting plate 16 is adjusted in the vertical direction, the distance between the upper hook claw connecting plate 16 and the lower hook claw connecting plate 18 can be further adjusted, the grabbing work of files with different heights can be met in an adjustable range, after the proper height distance is adjusted, the Z-axis motor 20 rotates forwards or backwards to drive the Z-axis transmission belt 701 to transmit on the two groups of Z-axis synchronizing wheels 702, the bearing vertical plate 8 is driven to move back and forth on the Z-axis slide rails 6 through the Z-axis linkage block 9 during the transmission of the Z-axis transmission belt 701, the lower hook claw connecting plate 18 and the upper hook claw connecting plate 16 are further moved out of or stored in the bearing frame, when moving out, the file is hooked by the file hook block 19, then the upper hook connecting plate 16 is closed to the lower hook connecting plate 18 to tighten and move the hooked file into the bearing frame 5, so as to facilitate the file to be picked up by the up-and-down clamping method, at the same time, when the upper hook connecting plate 16 and the lower hook connecting plate 18 extend out of the bearing frame 5 by half the length, one file is picked up, when the file is completely extended out of the bearing frame 5, two files are picked up at one time, one set of R-axis synchronizing wheels 2031 is driven to rotate by the R-axis motor 10, the other set of R-axis synchronizing wheels 2031 is driven to rotate by the R-axis driving belt 2032, the R-axis column 13 is further driven to rotate between the two sets of supporting plates 3, in the rotatable adjusting range, the manipulator is driven to rotate axially by the R-axis column 13 to move to the corresponding bin position, and the file taking and placing actions at one side bin position are carried out under the rotating state shown in figure, do the axial clockwise rotation 180 of 180 formation opposite side position in storehouse of taking of figure 5 by the state of figure 11 to the manipulator and put archives action to can satisfy the diversified work of getting shelves of multi-angle, continue clockwise rotation 90 under the state of figure 5 and rotate 270 altogether, position state and control R axle motor 10 stop work this moment of sensing this moment through R axle 270 sensor 12, it is spacing to assist to block the manipulator through R axle 270 stopper 11 simultaneously, high durability and convenient use.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a multi-angle archives management grabbing device, is including bearing connecting plate (1), its characterized in that: the upper end and the lower end of the right side wall of the bearing connecting plate (1) are both fixedly provided with Y-axis sliding blocks (2), the upper end and the lower end of the bearing connecting plate (1) are both provided with supporting plates (3), an R-axis column (13) is rotatably connected between the two groups of supporting plates (3), the R-axis column (13) extends into the inner cavity of the lower supporting plate (3), the front side of the R-axis column (13) is provided with a bearing frame (5), the upper end and the lower end of the rear side wall of the inner cavity of the bearing frame (5) are both provided with Z-axis sliding rails (6), a Z-axis synchronous transmission mechanism (7) is arranged between the two groups of Z-axis sliding rails (6), and the bearing frame (5) is slidably connected with a;
the upper end and the lower end of the outer wall of the R-axis column (13) are fixedly connected with R-axis hoops (22), the R-axis hoops (22) are fixedly connected with the bearing frame (5), and an R-axis synchronous transmission mechanism (23) is arranged in an inner cavity of the supporting plate (3) at the lower end;
a Z-axis linkage block (9) is arranged on the rear side wall of the bearing vertical plate (8), and the bearing vertical plate (8) is connected with a Z-axis synchronous transmission mechanism (7) through the Z-axis linkage block (9);
bear preceding lateral wall right-hand member of riser (8) and be provided with C axle synchronous drive mechanism (4), bear preceding lateral wall left end sliding connection of riser (8) has supporting seat (15), the top rigid coupling of supporting seat (15) has and colludes claw connecting plate (16), the bottom of supporting seat (15) is provided with right angle seat (17), and right angle seat (17) and bear riser (8) looks rigid coupling, the bottom rigid coupling of right angle seat (17) has and colludes claw connecting plate (18) down, the left end that colludes claw connecting plate (16) down and last claw connecting plate (18) all is provided with archives and colludes claw piece (19).
2. The multi-angle archive management gripping device of claim 1, wherein: bear frame (5) including bearing curb plate (501), the front side of bearing curb plate (501) is provided with right angle pin (502), the bottom rigid coupling of right angle pin (502) has bearing bottom plate (503), and the back lateral wall of bearing bottom plate (503) and bearing curb plate (501) looks rigid coupling, the top front side rigid coupling of bearing bottom plate (503) has lower spacing slat (5031), the right side of lower spacing slat (5031) is provided with back spacing dog (5032), back spacing dog (5032) and bearing curb plate (501) looks rigid coupling.
3. The multi-angle archive management gripping device of claim 1, wherein: two sets of one side that Z axle slide rail (6) kept away from each other all is provided with fender strip pole (5011), upper end the top rigid coupling of fender strip pole (5011) has last spacing slat (5012).
4. The multi-angle archive management gripping device of claim 1, wherein: the Z-axis synchronous transmission mechanism (7) comprises a Z-axis transmission belt (701), the Z-axis transmission belt (701) is connected with a Z-axis linkage block (9), Z-axis synchronizing wheels (702) are arranged on the left side and the right side of an inner cavity of the Z-axis transmission belt (701), and a group of Z-axis synchronizing wheels (702) are rotatably connected with a bearing side plate (501) in the bearing frame (5).
5. The multi-angle archive management gripping device of claim 1, wherein: r axle synchro-drive mechanism (23) are including R axle drive belt (2302), both ends all are provided with R axle synchronizing wheel (2301) about the inner chamber of R axle drive belt (2302), and a right side is a set of R axle synchronizing wheel (2301) is installed and is held on R jack-post (13) stretches into one end of lower extreme backup pad (3) inner chamber, the outside of R axle drive belt (2302) is provided with pretension round pin (2303), evenly cup jointed rolling bearing on pretension round pin (2303).
6. The multi-angle archive management gripping device of claim 1, wherein: the C-axis synchronous transmission mechanism (4) comprises a C-axis transmission belt (401), the left side of the C-axis transmission belt (401) is connected with the supporting seat (15), C-axis synchronizing wheels (402) are arranged at the upper end and the lower end of an inner cavity of the C-axis transmission belt (401), and a group of C-axis synchronizing wheels (402) at the lower end are rotatably connected with the bearing vertical plate (8).
7. The multi-angle archive management gripping device of claim 1, wherein: the left end of the front side wall of the bearing vertical plate (8) is fixedly provided with a supporting slide rail (1501), the upper end and the lower end of the supporting slide rail (1501) are both connected with a supporting slide block (1502) in a sliding mode, and the front side wall of the supporting slide block (1502) is fixedly connected with a supporting seat (15).
8. The multi-angle archive management gripping device of claim 1, wherein: the upper end and the lower end of the left side wall of the bearing vertical plate (8) are fixedly connected with right-angle blocks (801), and the left side walls of the two groups of right-angle blocks (801) are provided with file top blocks (802).
9. The multi-angle archive management gripping device of claim 1, wherein: and the upper end and the lower end of the right side wall of the bearing vertical plate (8) are fixedly connected with Z-axis sliding blocks (601) matched with the Z-axis sliding rails (6).
10. The utility model provides a multi-angle archives management grabbing device's control system which characterized in that: the lower end is provided with an R-axis motor (10) on the right side of the top of the supporting plate (3), the bottom power output end of the R-axis motor (10) extends into the inner cavity of the lower end supporting plate (3), the power output end of the R-axis motor (10) extending into the inner cavity of the lower end supporting plate (3) is connected with another group of R-axis synchronizing wheels (2301), the left side of the R-axis motor (10) is provided with an R-axis 270-degree limiting block (11), the right end of the front side wall of the lower end supporting plate (3) is provided with an R-axis 270-degree sensor (12), the front end of the rear side of the bearing frame (5) is provided with a Z-axis motor (20) and a Z-axis origin sensor (21), the Z-axis motor (20) is positioned below the Z-axis origin sensor (21), the power output end on the Z-axis motor (20) is connected with another group of, the upper end of the front side wall of the bearing vertical plate (8) is provided with a C-axis motor (14), and a power output end on the C-axis motor (14) is connected with another group of C-axis synchronous wheels (402) in the C-axis synchronous transmission mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010884810.3A CN112123357B (en) | 2020-08-28 | 2020-08-28 | Multi-angle archive management grabbing device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| US20150190929A1 (en) * | 2012-06-29 | 2015-07-09 | Toyota Jidosha Kabushiki Kaisha | Grasping method by grasping apparatus |
| CN205572407U (en) * | 2016-04-12 | 2016-09-14 | 长安大学 | Robot of library access arrangement |
| CN210589325U (en) * | 2019-06-25 | 2020-05-22 | 明阳科技（苏州）股份有限公司 | Automatic clamping device for cold extrusion customized spline transmission rod |
| CN111252550A (en) * | 2020-04-07 | 2020-06-09 | 兰溪微云自动化科技有限公司 | Clamping and carrying manipulator of general type |
| CN210704876U (en) * | 2019-08-01 | 2020-06-09 | 徐薇 | Manipulator is used in steel production |
| CN210744440U (en) * | 2019-12-16 | 2020-06-12 | 苏州南洋电缆有限公司 | High-temperature-resistant cable processing device |
| CN210819266U (en) * | 2019-10-18 | 2020-06-23 | 无锡申博机械制造有限公司 | Clamp for detecting inner and outer diameters of pipeline |
| CN111532969A (en) * | 2020-05-16 | 2020-08-14 | 唐山非晶科技有限公司 | Grabbing machine for amorphous strip preparation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150190929A1 (en) * | 2012-06-29 | 2015-07-09 | Toyota Jidosha Kabushiki Kaisha | Grasping method by grasping apparatus |
| CN205572407U (en) * | 2016-04-12 | 2016-09-14 | 长安大学 | Robot of library access arrangement |
| CN210589325U (en) * | 2019-06-25 | 2020-05-22 | 明阳科技（苏州）股份有限公司 | Automatic clamping device for cold extrusion customized spline transmission rod |
| CN210704876U (en) * | 2019-08-01 | 2020-06-09 | 徐薇 | Manipulator is used in steel production |
| CN210819266U (en) * | 2019-10-18 | 2020-06-23 | 无锡申博机械制造有限公司 | Clamp for detecting inner and outer diameters of pipeline |
| CN210744440U (en) * | 2019-12-16 | 2020-06-12 | 苏州南洋电缆有限公司 | High-temperature-resistant cable processing device |
| CN111252550A (en) * | 2020-04-07 | 2020-06-09 | 兰溪微云自动化科技有限公司 | Clamping and carrying manipulator of general type |
| CN111532969A (en) * | 2020-05-16 | 2020-08-14 | 唐山非晶科技有限公司 | Grabbing machine for amorphous strip preparation |
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| CN112123357B (en) | 2022-10-25 |
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