CN203527466U - Box type cargo stacking mechanical hand - Google Patents
Box type cargo stacking mechanical hand Download PDFInfo
- Publication number
- CN203527466U CN203527466U CN201320632554.4U CN201320632554U CN203527466U CN 203527466 U CN203527466 U CN 203527466U CN 201320632554 U CN201320632554 U CN 201320632554U CN 203527466 U CN203527466 U CN 203527466U
- Authority
- CN
- China
- Prior art keywords
- nut
- bolt
- pin
- guide rail
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Jigs For Machine Tools (AREA)
Abstract
The utility model discloses a box type cargo stacking mechanical hand which comprises a drive mechanism, a main parallel four-bar mechanism and a clamping mechanism. The drive mechanism comprises a lead screw shaft, a nut disc, a guide rail, an installation top plate, a nut and a connecting rod. The main parallel four-bar mechanism comprises a rack shaft, a connecting rod, a fixed disc, a fastening bolt and a pin bolt. The clamping mechanism comprises an invariant clamping mechanism and a variable clamping mechanism. The invariant clamping mechanism comprises a connecting plate, a bolt, a supporting plate, a clamping plate and a nut. The variable clamping mechanism comprises a connecting plate, a bolt, a supporting plate, a clamping plate, a nut, a guide rail and a hydraulic cylinder. The box type cargo stacking mechanical hand is compact in structure, easy to drive, convenient to install, reliable in clamping, and capable of meeting the requirements for box type cargo stacking.
Description
Technical field
The utility model relates to palletizing mechanical arm technical field, particularly a kind of casing class goods palletizing mechanical arm.
Background technology
Along with the extensive use of palletizing technology, the research that palletizing mechanical arm is grabbed design becomes focus, and the palletizing mechanical arm of research and design highly versatile is the new demand of palletizing technology development.The common structure of existing manipulator, driving, mounting means more complicated, versatility is poor, is only only applicable to certain specific products or storage facilities, has been difficult to the reliable crawl to the casing class goods of different length-width ratios.Had not yet to see highly versatile, simple in structure, drive palletizing mechanical arm easily.
Summary of the invention
The purpose of this utility model is to provide a kind of casing class goods palletizing mechanical arm, can realize the action such as crawl, movement of casing class goods, and simple in structure, driving facilitates, applied range, can be used as the carrying and piling tool hand of large warehoused unit, also can realize the piling work of small box body class goods.
The utility model achieves the above object by the following technical programs: a kind of casing class goods palletizing mechanical arm, comprise driving mechanism, trunk parallelogram lindage and clamping device, described driving mechanism comprises screw axis, nut disk, the first guide rail, the second guide rail, top board is installed, the first nut, the second nut, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first pin, the second pin, the 3rd pin and the 4th pin, described screw axis is fixed on drive motors, top board is installed and is placed in screw axis upper end, the first guide rail and the second guide rail are by the first nut, being threaded of the second nut is fixed on installation top board, nut disk is connected on screw axis by screw thread pair, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod is by the first pin, the second pin, the 3rd pin, the 4th pin is connected on nut disk,
Described trunk parallelogram lindage comprises frame axle, the first disk, the second disk, the first tight fixed bolt and the second tight fixed bolt, and the first disk and the second disk are fixed on respectively the upper and lower of frame axle by the first tight fixed bolt and the second tight fixed bolt,
Described clamping device is comprised of constant clamping device and variable clamping device, described constant clamping device comprises the first connecting plate, the first bolt, the second bolt, the 3rd nut, the 4th nut, the first gripper shoe, the first clamping plate, the 3rd bolt and the 4th bolt, the first gripper shoe is fixed on the first connecting plate by the first bolt, the second bolt, the 3rd nut, the 4th nut, and the first clamping plate are bolted in the first gripper shoe by the 3rd bolt, the 4th, described variable clamping device comprises the second connecting plate, the 5th bolt, the 6th bolt, the 5th nut, the 6th nut, the second gripper shoe, the second clamping plate, postive stop baffle, the 7th nut, the 8th nut, the 9th nut, the tenth nut, the 3rd guide rail, the 4th guide rail and hydraulic cylinder, described the second gripper shoe is by the 5th bolt, the 6th bolt, the 5th nut, the 6th nut is fixed on the second connecting plate, the 3rd guide rail, the 4th guide rail one end is threaded connection, and by the 7th nut, the 8th nut is fixed in the second gripper shoe, hydraulic cylinder is arranged in the second gripper shoe, hydraulic stem is fixed on the second clamping plate, the 3rd guide rail, the 4th guide rail is connected with the second clamping plate sliding pair, postive stop baffle is placed in the 3rd guide rail, the 4th guide rail other end, and by the 9th nut, the tenth nut is fixed, described constant clamping device is by the 7th bolt, the 8th bolt, the 11 nut, the 12 nut is connected with trunk parallelogram lindage, described variable clamping device is connected with trunk parallelogram lindage by the 9th bolt, the tenth bolt, the 13 nut, the 14 nut.
Described constant clamping device has two, its structure is identical, variable clamping device has two, its structure is identical, two constant clamping devices and two variable clamping devices are spent layout in totally four clamping device intervals 90, two constant clamping device interval 90 degree are arranged, two variable clamping device interval 90 degree layouts.
Described parallelogram lindage has four, its structure is identical, each parallelogram lindage is by the first rocking bar, the second rocking bar, working arm, the 5th pin, the 6th pin, the 7th pin and the 8th pin form, the first rocking bar is connected on the first disk by the 5th pin, working arm is connected on the first rocking bar by the 6th pin, the second rocking bar is connected on working arm by the 7th pin, the second rocking bar is connected on the second disk by the 8th pin, four parallelogram lindages are respectively by the 9th pin, the tenth pin, the 11 pin, the 12 pin and first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod connects.
Operation principle:
During use, palletizing mechanical arm drives screw axis to rotate by motor, and drive nut disk is along screw axis rectilinear motion, the motion of drivening rod, and drive rocker swings, and realizes the motion of working arm, drives clamping plate motion; By other two clamping plate of Driven by Hydraulic Cylinder, realize the clamping to casing class goods.
Outstanding advantages of the present utility model is:
1, simple in structure, driving facilitates, is convenient to manufacture, do not need complicated electric-control system can realize action.
2, by changing design size, can realize the carrying piling to casing class goods under any operating mode, applied range.
Accompanying drawing explanation
Fig. 1 is the structural front view of casing class goods palletizing mechanical arm described in the utility model.
Fig. 2 is the axonometric drawing of casing class goods palletizing mechanical arm described in the utility model.
Fig. 3 is the top view of casing class goods palletizing mechanical arm described in the utility model.
Fig. 4 is the working state figure that opens of casing class goods palletizing mechanical arm described in the utility model.
Fig. 5 is the crawl working state figure of casing class goods palletizing mechanical arm described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is clearly and completely described, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on embodiment of the present utility model, those skilled in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
Contrast Fig. 1,2 and 3, described a kind of casing class goods palletizing mechanical arm, comprises driving mechanism, trunk parallelogram lindage and clamping device.
Described driving mechanism is by screw axis 1, nut disk 61, the first guide rail 4, the second guide rail 53, top board 3 is installed, the first nut 2, the second nut 58, first connecting rod 6, second connecting rod 27, third connecting rod 55, the 4th connecting rod 59, the first pin 5, the second pin 26, the 3rd pin 56 and the 4th pin 57 form, screw axis 1 is fixed on drive motors, top board 3 is installed and is placed in screw axis 1 upper end, the first guide rail 4 and the second guide rail 55 are threaded connection and pass through the first nut 2, the second nut 58 is fixed on to be installed on top board 3, nut disk 61 is connected on screw axis 1 by screw thread pair, and passed by the first guide rail 4 and the second guide rail 53, first connecting rod 6, second connecting rod 27, third connecting rod 55, the 4th connecting rod 59 is by the first pin 5, the second pin 26, the 3rd pin 56, the 4th pin 57 is connected on nut disk 61.
Described trunk parallelogram lindage is comprised of frame axle 62, the first disk 11, the second disk 30, the first tight fixed bolt 51 and the second tight fixed bolt 52.The first disk 11 and the second disk 30 are separately fixed at the upper and lower of frame axle 61, and strengthen fixing by the first tight fixed bolt 51 and the second tight fixed bolt 52.
Described parallelogram lindage has four, and its structure is identical.Each parallelogram lindage is comprised of the first rocking bar 8, the second rocking bar 13, working arm 18, the 5th pin 10, the 6th pin 7, the 7th pin 12 and the 8th pin 29, the first rocking bar 8 is connected on the first disk 11 by the 5th pin 10, working arm 18 is connected on the first rocking bar 8 by the 6th pin 7, the second rocking bar 13 is connected on working arm 18 by the 7th pin 12, and the second rocking bar 13 is connected on the second disk 30 by the 8th pin 29.Four parallelogram lindages are connected with first connecting rod 6, second connecting rod 27, third connecting rod 55, the 4th connecting rod 59 by the 9th pin 9, the tenth pin the 28, the 11 pin the 54, the 12 pin 60 respectively.
Described clamping device is comprised of constant clamping device and variable clamping device, described constant clamping device is comprised of the first connecting plate 19, the first bolt 20, the second bolt 22, the 3rd nut 21, the 4th nut 23, the first gripper shoe 24, the first clamping plate 25, the 3rd bolt 63, the 4th bolt 64, the first gripper shoe 24 is fixed on the first connecting plate 19 by the first bolt 20, the second bolt 22, the 3rd nut 21, the 4th nut 23, and the first clamping plate 25 are fixed in the first gripper shoe 24 by the 3rd bolt 63, the 4th bolt 64; Described variable clamping device is comprised of the second connecting plate 36, the 5th bolt 40, the 6th bolt 44, the 5th nut 41, the 6th nut 43, the second gripper shoe 42, the second clamping plate 45, postive stop baffle 37, the 7th nut 49, the 8th nut 50, the 9th nut 38, the tenth nut 39, the 3rd guide rail 46, the 4th guide rail 48 and hydraulic cylinder 47, and the second gripper shoe 42 is fixed on the second connecting plate 36 by the 5th bolt 40, the 6th bolt 44, the 5th nut 41, the 6th nut 43.The 3rd guide rail 46, the 4th guide rail 48 one end are threaded connection, and be fixed in the second gripper shoe 42 by the 7th nut 49, the 8th nut 50, hydraulic cylinder 47 is arranged in the second gripper shoe 42, hydraulic stem is fixed on the second clamping plate 45, the 3rd guide rail 46, the 4th guide rail 48 are connected with the second clamping plate 45 sliding pairs, postive stop baffle 37 is placed in the 3rd guide rail 46, the 4th guide rail 48 other ends, and is fixed by the 9th nut 38, the tenth nut 39.
Described constant clamping device has two, and its structure is identical.Variable clamping device has two, and its structure is identical.Two constant clamping devices and two variable clamping devices are spent layout in totally four clamping device intervals 90, and two constant clamping device intervals 90 degree are arranged, two variable clamping device intervals 90 degree layouts.
Described constant clamping device is connected with trunk parallelogram lindage by the 7th bolt 14, the 8th bolt the 16, the 11 nut the 15, the 12 nut 17; Described variable clamping device is connected with trunk parallelogram lindage by the 9th bolt 32, the tenth bolt the 34, the 13 nut the 31, the 14 nut 33.
Claims (3)
1. a casing class goods palletizing mechanical arm, comprise driving mechanism, trunk parallelogram lindage and clamping device, it is characterized in that: described driving mechanism comprises screw axis, nut disk, the first guide rail, the second guide rail, top board is installed, the first nut, the second nut, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first pin, the second pin, the 3rd pin and the 4th pin, described screw axis is fixed on drive motors, top board is installed and is placed in screw axis upper end, the first guide rail and the second guide rail are by the first nut, being threaded of the second nut is fixed on installation top board, nut disk is connected on screw axis by screw thread pair, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod is by the first pin, the second pin, the 3rd pin, the 4th pin is connected on nut disk,
Described trunk parallelogram lindage comprises frame axle, the first disk, the second disk, the first tight fixed bolt and the second tight fixed bolt, and the first disk and the second disk are fixed on respectively the upper and lower of frame axle by the first tight fixed bolt and the second tight fixed bolt,
Described clamping device is comprised of constant clamping device and variable clamping device, described constant clamping device comprises the first connecting plate, the first bolt, the second bolt, the 3rd nut, the 4th nut, the first gripper shoe, the first clamping plate, the 3rd bolt and the 4th bolt, the first gripper shoe is fixed on the first connecting plate by the first bolt, the second bolt, the 3rd nut, the 4th nut, and the first clamping plate are bolted in the first gripper shoe by the 3rd bolt, the 4th, described variable clamping device comprises the second connecting plate, the 5th bolt, the 6th bolt, the 5th nut, the 6th nut, the second gripper shoe, the second clamping plate, postive stop baffle, the 7th nut, the 8th nut, the 9th nut, the tenth nut, the 3rd guide rail, the 4th guide rail and hydraulic cylinder, described the second gripper shoe is by the 5th bolt, the 6th bolt, the 5th nut, the 6th nut is fixed on the second connecting plate, the 3rd guide rail, the 4th guide rail one end is threaded connection, and by the 7th nut, the 8th nut is fixed in the second gripper shoe, hydraulic cylinder is arranged in the second gripper shoe, hydraulic stem is fixed on the second clamping plate, the 3rd guide rail, the 4th guide rail is connected with the second clamping plate sliding pair, postive stop baffle is placed in the 3rd guide rail, the 4th guide rail other end, and by the 9th nut, the tenth nut is fixed, described constant clamping device is by the 7th bolt, the 8th bolt, the 11 nut, the 12 nut is connected with trunk parallelogram lindage, described variable clamping device is connected with trunk parallelogram lindage by the 9th bolt, the tenth bolt, the 13 nut, the 14 nut.
2. casing class goods palletizing mechanical arm according to claim 1, it is characterized in that, described constant clamping device has two, its structure is identical, variable clamping device has two, and its structure is identical, and two constant clamping devices and two variable clamping devices are spent layout in totally four clamping device intervals 90, two constant clamping device interval 90 degree are arranged, two variable clamping device interval 90 degree layouts.
3. casing class goods palletizing mechanical arm according to claim 1, it is characterized in that, described parallelogram lindage has four, its structure is identical, each parallelogram lindage is by the first rocking bar, the second rocking bar, working arm, the 5th pin, the 6th pin, the 7th pin and the 8th pin form, the first rocking bar is connected on the first disk by the 5th pin, working arm is connected on the first rocking bar by the 6th pin, the second rocking bar is connected on working arm by the 7th pin, the second rocking bar is connected on the second disk by the 8th pin, four parallelogram lindages are respectively by the 9th pin, the tenth pin, the 11 pin, the 12 pin and first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632554.4U CN203527466U (en) | 2013-10-14 | 2013-10-14 | Box type cargo stacking mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320632554.4U CN203527466U (en) | 2013-10-14 | 2013-10-14 | Box type cargo stacking mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203527466U true CN203527466U (en) | 2014-04-09 |
Family
ID=50413726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320632554.4U Withdrawn - After Issue CN203527466U (en) | 2013-10-14 | 2013-10-14 | Box type cargo stacking mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203527466U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495976A (en) * | 2013-10-14 | 2014-01-08 | 广西大学 | Box-type goods stacking manipulator |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN105383944A (en) * | 2015-12-21 | 2016-03-09 | 中山市厚源电子科技有限公司 | Automatic tray stacking mechanical arm and controller |
| CN106516800A (en) * | 2017-01-06 | 2017-03-22 | 哈尔滨博实自动化股份有限公司 | Full automatic loader |
| CN107161691A (en) * | 2017-07-07 | 2017-09-15 | 上海观谷科技有限公司 | Vertical clamping administration device |
-
2013
- 2013-10-14 CN CN201320632554.4U patent/CN203527466U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495976A (en) * | 2013-10-14 | 2014-01-08 | 广西大学 | Box-type goods stacking manipulator |
| CN103495976B (en) * | 2013-10-14 | 2015-07-01 | 广西大学 | Box-type goods stacking manipulator |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN104858887B (en) * | 2015-06-11 | 2016-09-07 | 温州市兴泰科技有限公司 | A kind of six degree of freedom based on parallel institution is grabbed bucket from steady casing |
| CN105383944A (en) * | 2015-12-21 | 2016-03-09 | 中山市厚源电子科技有限公司 | Automatic tray stacking mechanical arm and controller |
| CN106516800A (en) * | 2017-01-06 | 2017-03-22 | 哈尔滨博实自动化股份有限公司 | Full automatic loader |
| CN107161691A (en) * | 2017-07-07 | 2017-09-15 | 上海观谷科技有限公司 | Vertical clamping administration device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203527466U (en) | Box type cargo stacking mechanical hand | |
| CN103495976B (en) | Box-type goods stacking manipulator | |
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN104907816A (en) | Flexible automatic screw locking equipment | |
| CN202575430U (en) | Mechanical claw device of stacking machine | |
| CN103737584A (en) | Hydraulic mechanical hand | |
| CN106166739A (en) | A kind of linear type parallel robot | |
| CN202726920U (en) | Back mechanical arm for cleaning | |
| CN103495973B (en) | Planar three-freedom-degree parallel mechanism driven by three linear drivers and application thereof | |
| CN203212222U (en) | Carbon block clamp | |
| CN107457779A (en) | Manipulator based on linkage | |
| CN108214530A (en) | A kind of mechanical arm suction means | |
| CN107336253A (en) | A kind of low speed movement grasp handling robot | |
| CN208914093U (en) | A kind of track walking robot | |
| CN103231363A (en) | Operational type table-surface parallel robot | |
| CN203254416U (en) | Three-degree-of-freedom parallel mechanism | |
| CN202684589U (en) | Clamping device | |
| CN205870532U (en) | Panel is got and is put manipulator | |
| CN205184787U (en) | Automatic drawing robot | |
| CN204771478U (en) | Automatic make screw machine | |
| CN204546525U (en) | A kind of link manipulator | |
| CN203294354U (en) | Telescopic gripping apparatus | |
| CN207841352U (en) | A kind of grasping mechanism | |
| CN203558495U (en) | Connecting rod bushing feeding device | |
| CN207598864U (en) | A kind of three-shaft linkage device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140409 Effective date of abandoning: 20150701 |
|
| RGAV | Abandon patent right to avoid regrant |