CN203141486U - Material loading and unloading mechanical arm mechanism - Google Patents

Material loading and unloading mechanical arm mechanism Download PDF

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Publication number
CN203141486U
CN203141486U CN 201320138997 CN201320138997U CN203141486U CN 203141486 U CN203141486 U CN 203141486U CN 201320138997 CN201320138997 CN 201320138997 CN 201320138997 U CN201320138997 U CN 201320138997U CN 203141486 U CN203141486 U CN 203141486U
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CN
China
Prior art keywords
mechanical arm
described
principal arm
arm
mechanism
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CN 201320138997
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Chinese (zh)
Inventor
沈锡鹤
劳渝声
魏民
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沈锡鹤
上海亚东国际货运有限公司
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Priority to CN 201320138997 priority Critical patent/CN203141486U/en
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Publication of CN203141486U publication Critical patent/CN203141486U/en

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Abstract

The utility model relates to the technical field of loading and unloading equipment, in particular to a material loading and unloading mechanical arm mechanism. The material loading and unloading mechanical arm mechanism comprises a mechanical arm, a mechanical arm seat frame, a main arm seat frame, a connecting rod, a hydraulic cylinder and a hydraulic motor. The mechanical arm comprises a goods fork, a front arm and a main arm. The material loading and unloading mechanical arm mechanism is characterized in that the mechanical arm seat frame is installed and fixed on a van wall plate of a van; the main arm seat frame is fixed on the mechanical arm seat frame, and is sequentially and fixedly connected with the main arm, the front arm and the goods fork; the main arm, the front arm, the goods fork are connected in a control mode through a main arm hydraulic cylinder, a front arm hydraulic cylinder and a front fork hydraulic cylinder; a mechanical arm linear displacement mechanism and a left and right angle rotating mechanism are further arranged between the mechanical arm seat frame and the main arm seat frame. The material loading and unloading mechanical arm mechanism can achieve the whole working process such as extraction, lifting, moving, stacking and position taking of loading and unloading of goods, manual labor is replaced by mechanical working, and working efficiency is improved. Furthermore, the material loading and unloading mechanical arm mechanism is simple in installment, reasonable in design, light in structure, low in manufacturing cost and suitable for mass production, and production cost can be reasonably controlled and reduced.

Description

A kind of material handling manipulator mechanism

[technical field]

The utility model relates to the handling facilities technical field, a kind of material handling manipulator mechanism specifically is applicable to that medium-and-large-sized van, fixed truck logistics car, factory and warehouse need load and unload material, move, pile, operating environment such as in place.

[background technology]

The conventional cargo handling operation of China's motor van is based on a dead lift, medium-sized motor van with 20 tons of useful loads is example, if single good weight is 25Kg, Total Cargo reaches 800, every goods all must be moved on the compartment board from promoting 1.5M on the ground, and then move the position of determining to the compartment, workload and the labour intensity of visible a dead lift loading and unloading goods are very big, and operating efficiency is very low.Development along with China's transport service, in vast small and medium-sized cities and rural area, a large amount of shipping companies and affiliated vehicle assets are returned privately owned, general motor van is not equipped with the loader, cargo handling takes into account operation by truck man basically, truck man is very arduous and tired, therefore stays unsafe hidden danger.

At present, motor van for the Urban Commercial Net Sites dispensing, there is a spot of vehicle of part to install hydraulic elevating platform additional at afterbody, solved the freight lifting problem, part has alleviated stevedore's labour intensity, but hoistable platform can't solve in the cargo handling process must carry out shop problems such as goods is moved, pile is in place in the compartment.Because it is bigger that lorry installs the hydraulic elevating platform cost of manufacture additional, and relate to the vehicle standard problem, is unfavorable for promoting on a large scale.A kind of material handling manipulator mechanism that the utility model relates to has effectively solved above use problem.

[summary of the invention]

The purpose of this utility model is, solve the technical problem that existing loading and unloading apparatus exists, a kind of van assembling and disassembling manipulator mechanism is provided, and by the hydraulic control operation,---lifting---is moved---pile---cargo handling operation overall process in place to finish extraction.

For achieving the above object, by the following technical solutions:

Design a kind of material handling manipulator mechanism, comprise mechanical arm, mechanical arm mounting 14, principal arm mounting 12, connecting rod, hydraulic cylinder and hydraulic motor 13, described mechanical arm comprises pallet fork 1, forearm 2 and principal arm 3, it is characterized in that described mechanical arm mounting 14 is as the supporting structure of manipulator mechanism maximum load, must be fixed on securely on the railway carriage or compartment ancient piece of jade, round, flat and with a hole in its centre plate of van, 14 fixedly have principal arm mounting 12 on the described mechanical arm mounting, described principal arm mounting 12 principal arm 3 that is fixedly connected sequentially, forearm 2, described forearm 2 front ends connect pallet fork 1, described principal arm 3 by long connecting rod 7 and short connecting rod 8, forearm 2, pallet fork 1 is respectively by principal arm hydraulic cylinder 11, preceding arm hydraulic cylinder 10 and front fork hydraulic cylinder 9 control connections; Also be provided with mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism between described mechanical arm mounting 14 and the principal arm mounting 12.

Described mechanical arm straight-line displacement mechanism is by hydraulic motor 13, long bolt 17, screw-bearing 15 and glide base 6 constitute, described glide base 6 is fixed on the mechanical arm mounting 14, principal arm mounting 12 is fixed by embedding to be connected with mechanical arm mounting 14 with glide base, be provided with long bolt 17 in the described glide base 6, one end of described long bolt 17 links to each other with the hydraulic motor 13 that is positioned at glide base 6 right-hand members by screw-bearing 15, the other end of long bolt 17 is fixed by screw-bearing 15 and glide base 6 left ends, and described principal arm mounting 12 is at hydraulic motor 13, the cooperation lower edge glide base 6 of long bolt 17 and screw-bearing is the shift reciprocately structure linearly.

Described mechanical arm left and right sides angle rotating mechanism constitutes by waving gear 4, wave tooth bar 5 and waving oil cylinder 16, the described oil cylinder 16 that waves is installed in the glide base, and link to each other with principal arm 3 by waving tooth bar 5 and waving gear 4, the described oil cylinder 16 that waves waves gear 4, waves tooth bar 5 and realize mechanical arm left and right sides angle rotational structures by control connection.

Described principal arm 3 adopts active syndeton with principal arm mounting 12, and described principal arm 3 cooperates principal arm hydraulic cylinder 11 to present the lower angle displacement structure with respect to principal arm mounting 12.

Described forearm 2 adopts active syndeton with principal arm 3, and arm hydraulic cylinder was presented the lower angle displacement structure with respect to principal arm 3 before described forearm 2 cooperated.

Described pallet fork 1 adopts active syndeton with forearm 2, and described pallet fork 1 is realized pallet fork angle rotational structure by front fork hydraulic cylinder 10, long connecting rod 7, short connecting rod 8.

Described mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism possess 5 nodes.

Described pallet fork and the replaceable use of forearm 2 suspension hooks.

The utility model compared with prior art has following effect:

(1) the utility model can finish cargo handling extraction, lifting, move, pile, operation overall process such as in place, reduce labour intensity in large quantities;

(2) the utility model is by the centralized Control to hydraulic system, and the mechanization operation will replace most of artificial work, increase work efficiency greatly;

(3) the utility model is installed simply, and highly versatile is applicable to various vans, and the hydraulic power dc source can directly be taken from Vehicular battery;

(4) the utility model is reasonable in design, structure is light, compares with the conventional hydraulic hoistable platform, and is cheap, be beneficial to and promote the use of;

(5) the suitable factory normalization of the utility model product, mass production can rationally be controlled and reduce production costs.

[description of drawings]

Fig. 1 is axonometric drawings such as the utility model;

1 is pallet fork among the figure; 2 is forearm; 3 is principal arm; 4 for waving gear; 5 for waving tooth bar; 6 is glide base;

Fig. 2 is the utility model right view;

7 is long connecting rod among the figure; 8 is short connecting rod; 9 is the front fork hydraulic cylinder; 10 is preceding arm hydraulic cylinder; 11 is the principal arm hydraulic cylinder; 12 is the principal arm mounting; 13 is hydraulic motor;

Fig. 3 is the utility model front view;

14 is the mechanical arm mounting among the figure; 15 is screw-bearing; 16 for waving oil cylinder; 17 is long bolt.

[specific embodiment]

Now in conjunction with concrete drawings and the specific embodiments this patent complete technical scheme is done further substantial elaboration, believe to those skilled in the art and can realize.

Embodiment

Manipulator mechanism in this patent, mainly in order to be applicable in the van cargo handling process, to goods realize extraction, lifting, move, pile, control operation in place, therefore designed mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism, realized that the linear reciprocation displacement of mechanical arm, the rotation of left and right sides angle reach angle displacement up and down.

Therefore, its necessary parts comprise,

(1) support unit: comprise as the mechanical arm mounting 14 of the supporting structure of manipulator mechanism maximum load, the fixing principal arm mounting 12 of principal arm 3;

(2) main element: mechanical arm, described mechanical arm comprise pallet fork 1, forearm 2 and principal arm 3, connecting rod;

(3) control and drive disk assembly: hydraulic cylinder, the concrete preceding arm hydraulic cylinder 10 that control principal arm 3 principal arm hydraulic cylinders 11, control forearm 2 are arranged and front fork hydraulic cylinder 9, hydraulic motor 13, hydraulic power unit and the electrical control part of control pallet fork 1; The mechanical arm straight-line displacement mechanism that is constituted by glide base 6, long bolt 17, screw-bearing 15; And by waving gear 4, wave tooth bar 5, waving the mechanical arm left and right sides angle rotating mechanism that oil cylinder 16 constitutes.

Above-mentioned parts are assembled according to structure as shown in Figure 1 to Figure 3, specifically,

(1) at first, mechanical arm mounting 14 is fixed on securely on the railway carriage or compartment ancient piece of jade, round, flat and with a hole in its centre plate of van, 14 fixedly have principal arm mounting 12 on the mechanical arm mounting, and mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism are installed between mechanical arm mounting 14 and principal arm mounting 12;

Described mechanical arm straight-line displacement mechanism structure as shown in Figures 2 and 3, described glide base 6 is fixed on the mechanical arm mounting 14, principal arm mounting 12 is fixed by embedding to be connected with mechanical arm mounting 14 with glide base, be provided with long bolt 17 in the described glide base 6, one end of described long bolt 17 links to each other with the hydraulic motor 13 that is positioned at glide base 6 right-hand members by screw-bearing 15, the other end of long bolt 17 is fixed by screw-bearing 15 and glide base 6 left ends, and described principal arm mounting 12 is at hydraulic motor 13, the cooperation lower edge glide base 6 of long bolt 17 and screw-bearing is the shift reciprocately structure linearly;

Described mechanical arm left and right sides angle rotating mechanism as shown in figures 1 and 3, to wave oil cylinder 16 is installed in the glide base, and link to each other with principal arm 3 by waving tooth bar 5 and waving gear 4, the described oil cylinder 16 that waves waves gear 4, waves tooth bar 5 realization mechanical arm left and right sides angle rotational structures by control connection, and above-mentioned mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism possess 5 displacement nodes.

(2) then, carry out the main part assembling of mechanical arm assembly, described principal arm mounting 12 be fixedly connected sequentially principal arm 3, forearm 2 and pallet fork 1, specifically, principal arm mounting 12 active principal arm 3 rear ends that connect, active forearm 2 rear ends that connect of described principal arm 3 front ends, described forearm 2 front ends are by long connecting rod 7 and the short connecting rod 8 active pallet forks 1 that connect, described forearm 2 front ends connect by long connecting rod 7 and short connecting rod 8, and principal arm 3, forearm 2, pallet fork 1 are respectively by principal arm hydraulic cylinder 11, preceding arm hydraulic cylinder 10 and front fork hydraulic cylinder 9 control connections; Its purpose is, makes principal arm 3 can cooperate principal arm hydraulic cylinder 11 to present the lower angle displacement structure with respect to principal arm mounting 12; Arm hydraulic cylinder was presented the lower angle displacement structure with respect to principal arm 3 before forearm 2 cooperated; Pallet fork 1 is realized pallet fork angle rotational structure by front fork hydraulic cylinder 10, long connecting rod 7, short connecting rod 8, namely finishes the assembling of manipulator mechanism.

Also can on the basis of embodiment one, pallet fork be replaced with suspension hook, realize the operation of other purposes.

Claims (8)

1. material handling manipulator mechanism, comprise mechanical arm, mechanical arm mounting (14), principal arm mounting (12), connecting rod, hydraulic cylinder and hydraulic motor (13), described mechanical arm comprises pallet fork (1), forearm (2) and principal arm (3), it is characterized in that described mechanical arm mounting (14) is fixed on the railway carriage or compartment ancient piece of jade, round, flat and with a hole in its centre plate of van, (14) fixedly have principal arm mounting (12) on the described mechanical arm mounting, described principal arm mounting (12) principal arm (3) that is fixedly connected sequentially, forearm (2), described forearm (2) front end connects pallet fork (1), described principal arm (3) by long connecting rod (7) and short connecting rod (8), forearm (2), pallet fork (1) is respectively by principal arm hydraulic cylinder (11), preceding arm hydraulic cylinder (10) and front fork hydraulic cylinder (9) control connection; Also be provided with mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism between described mechanical arm mounting (14) and the principal arm mounting (12).
2. manipulator mechanism as claimed in claim 1, it is characterized in that described mechanical arm straight-line displacement mechanism is by hydraulic motor (13), long bolt (17), screw-bearing (15) and glide base (6) constitute, described glide base (6) is fixed on the mechanical arm mounting (14), principal arm mounting (12) is fixed by embedding to be connected with mechanical arm mounting (14) with glide base, be provided with long bolt (17) in the described glide base (6), one end of described long bolt (17) links to each other with the hydraulic motor (13) that is positioned at glide base (6) right-hand member by screw-bearing (15), the other end of long bolt (17) is fixed by screw-bearing (15) and glide base (6) left end, and described principal arm mounting (12) is in hydraulic motor (13), the cooperation lower edge glide base (6) of long bolt (17) and screw-bearing is the shift reciprocately structure linearly.
3. manipulator mechanism as claimed in claim 1, it is characterized in that described mechanical arm left and right sides angle rotating mechanism constitutes by waving gear (4), wave tooth bar (5) and waving oil cylinder (16), the described oil cylinder (16) that waves is installed in the glide base, and link to each other with principal arm (3) by waving tooth bar (5) and waving gear (4), the described oil cylinder (16) that waves waves gear (4), waves tooth bar (5) and realize mechanical arm left and right sides angle rotational structure by control connection.
4. manipulator mechanism as claimed in claim 1 is characterized in that described principal arm (3) and principal arm mounting (12) adopt active syndeton, and described principal arm (3) cooperates principal arm hydraulic cylinder (11) to present the lower angle displacement structure with respect to principal arm mounting (12).
5. manipulator mechanism as claimed in claim 1 is characterized in that described forearm (2) and principal arm (3) adopt active syndeton, and arm hydraulic cylinder was presented the lower angle displacement structure with respect to principal arm (3) before described forearm (2) cooperated.
6. manipulator mechanism as claimed in claim 1 is characterized in that described pallet fork (1) and forearm (2) adopt active syndeton, and described pallet fork (1) is realized pallet fork angle rotational structure by front fork hydraulic cylinder (10), long connecting rod (7), short connecting rod (8).
7. manipulator mechanism as claimed in claim 1 is characterized in that described mechanical arm straight-line displacement mechanism and left and right sides angle rotating mechanism possess 5 nodes.
8. manipulator mechanism as claimed in claim 1 is characterized in that described pallet fork replaces with suspension hook.
CN 201320138997 2013-03-25 2013-03-25 Material loading and unloading mechanical arm mechanism CN203141486U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320138997 CN203141486U (en) 2013-03-25 2013-03-25 Material loading and unloading mechanical arm mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320138997 CN203141486U (en) 2013-03-25 2013-03-25 Material loading and unloading mechanical arm mechanism

Publications (1)

Publication Number Publication Date
CN203141486U true CN203141486U (en) 2013-08-21

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Application Number Title Priority Date Filing Date
CN 201320138997 CN203141486U (en) 2013-03-25 2013-03-25 Material loading and unloading mechanical arm mechanism

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105492348A (en) * 2013-08-28 2016-04-13 因特利格兰特总部有限责任公司 Robotic carton unloader
CN105666474A (en) * 2016-04-13 2016-06-15 杨杰 Self-weight-balance intelligent control device
CN105666475A (en) * 2016-04-13 2016-06-15 杨杰 Rotatable double-arm industrial robot
CN107161873A (en) * 2017-04-19 2017-09-15 浙江水利水电学院 A kind of portable multifunctional hand push vehicle using motor
CN109250450A (en) * 2017-01-03 2019-01-22 东莞理工学院 A kind of assembling reclaimer convenient for conveying

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105492348A (en) * 2013-08-28 2016-04-13 因特利格兰特总部有限责任公司 Robotic carton unloader
CN105492348B (en) * 2013-08-28 2018-04-13 因特利格兰特总部有限责任公司 robot carton unloader
CN105666474A (en) * 2016-04-13 2016-06-15 杨杰 Self-weight-balance intelligent control device
CN105666475A (en) * 2016-04-13 2016-06-15 杨杰 Rotatable double-arm industrial robot
CN109250450A (en) * 2017-01-03 2019-01-22 东莞理工学院 A kind of assembling reclaimer convenient for conveying
CN107161873A (en) * 2017-04-19 2017-09-15 浙江水利水电学院 A kind of portable multifunctional hand push vehicle using motor

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Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
TR01 Transfer of patent right

Effective date of registration: 20140916

Address after: 201499 room 6, No. 2165, Lane 335, hope road, Shanghai, Fengxian District

Patentee after: SHANGHAI MINGWEI TRANSMISSION CONTROL CO., LTD.

Address before: 200237, room 11, No. 450, Lane 501, Longzhou Road, Shanghai, Xuhui District

Patentee before: Shen Xihe

Patentee before: Shanghai Asian Development International Transportation Pudong Co., Ltd.

C41 Transfer of patent application or patent right or utility model
ASS Succession or assignment of patent right

Owner name: SHANGHAI NUOWEI DRIVE CONTROL CO., LTD.

Free format text: FORMER OWNER: SHEN XIHE

Effective date: 20140916

Free format text: FORMER OWNER: SHANGHAI ASIAN DEVELOPMENT INT'L TRANS PU DONG CO., LTD.

Effective date: 20140916

COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 200237 XUHUI, SHANGHAI TO: 201499 FENGXIAN, SHANGHAI

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130821

Termination date: 20170325

CF01 Termination of patent right due to non-payment of annual fee