CN203682629U - Mechanical arm for stacking pesticide cases - Google Patents
Mechanical arm for stacking pesticide cases Download PDFInfo
- Publication number
- CN203682629U CN203682629U CN201420045401.4U CN201420045401U CN203682629U CN 203682629 U CN203682629 U CN 203682629U CN 201420045401 U CN201420045401 U CN 201420045401U CN 203682629 U CN203682629 U CN 203682629U
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- mechanical arm
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- base plate
- crossbeam
- electric machine
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Abstract
The utility model provides a mechanical arm for stacking pesticide cases and belongs to the field of automatic machining equipment. The mechanical arm comprises a cross beam and two guide rails arranged in parallel. The two sides of the cross beam are supported on the corresponding guide rails through movable wheels. The cross beam is arranged perpendicular to the guide rails. A screw rod structure is arranged above the cross beam. A screw rod of the screw rod structure is provided with a moving block in a sleeved mode. The lower end of the moving block is arranged on the cross beam in a sleeved mode. The mechanical arm further comprises a fixing frame, a telescopic rod, a panel with a shaft, and two paws. The upper end of the fixing frame is fixedly connected with the moving block. The telescopic rod is connected to the two sides of the bottom face of the fixing frame in a corresponding mode through a spherical hinge. The bottom end of the telescopic rod is connected to the two sides of the bottom plate in a corresponding mode through a spherical hinge. The bottom plate is provided with a shaft hole. A central shaft is fixed to the upper end face of the panel with the shaft, and a guide sleeve is arranged under the lower end face in a protruding mode. The central shaft is provided with a locating nut in a sleeved mode after penetrating through the shaft hole in the bottom plate from top to bottom. The locating nut is supported on the upper end face of the bottom plate. The guide sleeve is provided with two sliding blocks in a sleeved mode.
Description
Technical field
The utility model belongs to automated machine Fabricating machinery field, is specially a kind of case dress agricultural chemicals palletizing mechanical arm.
Background technology
Along with improving constantly of social development and China's mechanical industry level, a lot of factories, in order to save cost, reduce manpower wage, enhance productivity, and most of production also realized mechanical automation substantially.But piling link is still implemented by artificial, its production efficiency is low, labour intensity large, have secondary pollution hidden danger, many agricultural chemicals are all poisonous to health simultaneously, and there is the features such as inflammable, explosive, perishable, the hidden danger that makes piling have safety and can pollute environment, therefore very necessary when the application of robot palletizer in modern industry, adopt robot palletizer technology to replace manual operation, realize environmental protection, the automation of efficient case dress agricultural chemicals piling, Unmanned operation, become the inexorable trend of pesticide producing piling link development.
Summary of the invention
In order to address the above problem, the utility model proposes a kind of case dress agricultural chemicals palletizing mechanical arm, it can carry out piling automatically and quickly by the agricultural chemicals that case installs, and makes piling efficiency high and avoided the hidden danger of secondary pollution.
A kind of case dress agricultural chemicals palletizing mechanical arm, its technical scheme is such: it comprises crossbeam, two guide rails that are arranged in parallel, the both sides of described crossbeam are supported on corresponding described guide rail by driving wheel respectively, described beam vertical is arranged in described guide rail, described crossbeam top is provided with screw structure, on the screw mandrel of described screw structure, be set with motion block, the lower end of described motion block is set on described crossbeam, it is characterized in that: it also comprises fixed mount, expansion link, tape spool panel, two paws, the upper end of described fixed mount is fixedly connected on described motion block, described expansion link is connected respectively in the both sides of the bottom surface of described fixed mount by ball pivot, the bottom of described expansion link is connected respectively the both sides of base plate by ball pivot, on described base plate, have axis hole, the upper surface of described tape spool panel is fixed with center shaft, protruding under lower surface have an orienting sleeve, described center shaft from bottom to top axle is set with setscrew nut after running through the axis hole of described base plate, described setscrew nut is supported on the upper surface of described base plate, on described orienting sleeve, be set with two slide blocks, two described slide blocks between position, be fixed with in opposite directions double acting hydraulic cylinder, the piston rod tail end of the every side of described double acting hydraulic cylinder connects respectively the inner side of corresponding described slide block, the outside of two described slide blocks connects corresponding kinematic link by connecting rod rotating shaft respectively, described paw is C character form structure, its top is connecting frame structure, bottom is uniform finger-shaped structure, the top of described connecting frame structure is respectively arranged with mounting hole, rotating shaft mounting hole, the two ends of described kinematic link are anchored in the mounting hole of both sides of the connecting frame structure of corresponding paw, the both sides, lower surface of described tape spool panel are furnished with symmetrical locating convex block, turning cylinder runs through respectively the described locating convex block of determining correspondence, the corresponding rotating shaft mounting hole of connecting frame structure, the finger-shaped structure of two described paws after assembling is arranged in opposite directions.
It is further characterized in that: the upper surface fastening cover of described base plate is equipped with electric machine support, servomotor is anchored on described electric machine support, between described electric machine support and described base plate, form installation cavity, the output shaft of described servomotor connects the top of described center shaft by coupler, described coupler is positioned at described installation cavity;
Described servomotor is positioned at the upper surface of described electric machine support, and the output shaft of described servomotor runs through the top that connects described center shaft after described electric machine support by coupler;
Between described center shaft and described axis hole, be provided with bearing;
One end of described leading screw is fastened with motor, and described motor bearing is in described crossbeam.
The structure that the utility model is taked is parallel institution, use after the utility model, roller drives crossbeam motion, add upper screw rod drives motion block motion, and the horizontal motion of two vertical direction is guaranteed the accurate location of fixed mount, afterwards and the flexible lifting that can control paw of expansion link; Paw is for grasping workpiece, and its principle of work is to need code while stamping product when detecting, double acting hydraulic cylinder effect respectively to extrapolation, and then promotes slide block by two piston rods, makes the finger-shaped folding structures of two paws, and weight is grabbed in hand; In the time that described paw moves to assigned address, the action of described double acting hydraulic cylinder promotes the piston rod of both sides simultaneously to the inside, and its band movable slider moves inward, and the finger-shaped folding structures of two paws is opened, and weight is put down; By above-mentioned means, realize the agricultural chemicals that case installs has been carried out to piling automatically and quickly, make piling efficiency high and avoided the hidden danger of secondary pollution.
Accompanying drawing explanation
Fig. 1 is structure letter view of the present utility model;
Fig. 2 is the block diagram of the utility model paw;
Fig. 3 is the connection structure schematic diagram of fixed mount of the present utility model and its rectangular structure;
Fig. 4 is the connection structure block diagram of fixed mount of the present utility model and its rectangular structure;
Fig. 5 is the assembling schematic diagram of the utility model guide rail and crossbeam;
Fig. 6 is the sectional structure schematic diagram of double acting hydraulic cylinder of the present utility model;
Fig. 7 is the sectional structure schematic diagram of expansion link of the present utility model.
The specific embodiment
A kind of case dress agricultural chemicals palletizing mechanical arm, as Fig. 1 ~ Fig. 7: it comprises crossbeam 1, two guide rails that are arranged in parallel 2, the both sides of crossbeam 1 are supported on corresponding guide rail 2 by driving wheel 3 respectively, crossbeam 1 is arranged perpendicular to guide rail 2, crossbeam 1 top is provided with screw structure, on the screw mandrel 5 of screw structure, be set with motion block 6, the lower end of motion block 6 is set on crossbeam 1, it also comprises fixed mount 7, expansion link 8, tape spool panel 9, two paws 10, the upper end of fixed mount 7 is fixedly connected on motion block 6, expansion link 8 is connected respectively in the both sides of the bottom surface of fixed mount 7 by ball pivot 11, the bottom of expansion link 8 is connected respectively the both sides of base plate 12 by ball pivot 11, on base plate 12, have axis hole, the upper surface of tape spool panel 9 is fixed with center shaft 13, protruding under lower surface have an orienting sleeve 14, center shaft 13 from bottom to top axle is set with setscrew nut 15 after running through the axis hole 29 of base plate 12, setscrew nut 15 is supported on the upper surface of base plate 12, on orienting sleeve 14, be set with two slide blocks 16, two slide blocks 16 between position, be fixed with in opposite directions double acting hydraulic cylinder 17, piston rod 37 tail ends of double acting hydraulic cylinder 17 every sides connect respectively the inner side of corresponding slide block 16, the outside of two slide blocks 16 connects corresponding kinematic link 19 by connecting rod rotating shaft 18 respectively, paw 10 is C character form structure, its top is connecting frame structure 20, bottom is uniform finger-shaped structure 21, the top of connecting frame structure 20 is respectively arranged with mounting hole 22, rotating shaft mounting hole 23, the two ends of kinematic link 19 are anchored in the mounting hole 22 of both sides of the connecting frame structure 20 of corresponding paw 10, the both sides, lower surface of tape spool panel 9 are furnished with symmetrical locating convex block 24, turning cylinder 25 runs through respectively the locating convex block 24 of determining correspondence, the corresponding rotating shaft mounting hole 23 of connecting frame structure 20, the finger-shaped structure 21 of two paws 10 after assembling is arranged in opposite directions.
The upper surface fastening cover of base plate 12 is equipped with electric machine support 26, servomotor 27 is anchored on electric machine support 26, between electric machine support 26 and base plate 12, form installation cavity 36, the output shaft 4 of servomotor 27 connects the top of center shaft 13 by coupler 28, and coupler 28 is positioned at installation cavity 36; Servomotor 27 is positioned at the upper surface of electric machine support 26, and the output shaft 4 of servomotor 27 runs through the top that connects center shaft 13 after electric machine support 26 by coupler 28; Servomotor 27 is for the rotation of rotating band axial plane plate 9, guarantees that when excessive at case dress agricultural chemicals integral level angle of inclination, paw still can normally clamp, and the wrist mechanism that forms paw realizes the rotation of wide-angle; Between center shaft 13 and axis hole 29, be provided with bearing 30; One end of leading screw 5 is fastened with motor 31, and motor 31 is supported on crossbeam 1, the position of motor 31 for driving the level attitude of motion block 6 and then guaranteeing paw 10.
See Fig. 6, wherein sequence number 32 is that middle part hydraulic port, 33 is sidepiece hydraulic port, in the time that needs paw clamps, and 32 injection pressure liquid, in the time that needs paw unclamps, 33 injection pressure liquid.
See Fig. 7, wherein 34 is that top hydraulic port, 35 is bottom hydraulic port, in the time that paw rises, and 35 injection pressure liquid, in the time that receipts turn decline, 34 injection pressure liquid.
Claims (5)
1. a case dress agricultural chemicals palletizing mechanical arm, it comprises crossbeam, two guide rails that are arranged in parallel, the both sides of described crossbeam are supported on corresponding described guide rail by driving wheel respectively, described beam vertical is arranged in described guide rail, described crossbeam top is provided with screw structure, on the screw mandrel of described screw structure, be set with motion block, the lower end of described motion block is set on described crossbeam, it is characterized in that: it also comprises fixed mount, expansion link, tape spool panel, two paws, the upper end of described fixed mount is fixedly connected on described motion block, described expansion link is connected respectively in the both sides of the bottom surface of described fixed mount by ball pivot, the bottom of described expansion link is connected respectively the both sides of base plate by ball pivot, on described base plate, have axis hole, the upper surface of described tape spool panel is fixed with center shaft, protruding under lower surface have an orienting sleeve, described center shaft from bottom to top axle is set with setscrew nut after running through the axis hole of described base plate, described setscrew nut is supported on the upper surface of described base plate, on described orienting sleeve, be set with two slide blocks, two described slide blocks between position, be fixed with in opposite directions double acting hydraulic cylinder, the piston rod tail end of the every side of described double acting hydraulic cylinder connects respectively the inner side of corresponding described slide block, the outside of two described slide blocks connects corresponding kinematic link by connecting rod rotating shaft respectively, described paw is C character form structure, its top is connecting frame structure, bottom is uniform finger-shaped structure, the top of described connecting frame structure is respectively arranged with mounting hole, rotating shaft mounting hole, the two ends of described kinematic link are anchored in the mounting hole of both sides of the connecting frame structure of corresponding paw, the both sides, lower surface of described tape spool panel are furnished with symmetrical locating convex block, turning cylinder runs through respectively the described locating convex block of determining correspondence, the corresponding rotating shaft mounting hole of connecting frame structure, the finger-shaped structure of two described paws after assembling is arranged in opposite directions.
2. a kind of case dress agricultural chemicals palletizing mechanical arm according to claim 1, it is characterized in that: the upper surface fastening cover of described base plate is equipped with electric machine support, servomotor is anchored on described electric machine support, between described electric machine support and described base plate, form installation cavity, the output shaft of described servomotor connects the top of described center shaft by coupler, described coupler is positioned at described installation cavity.
3. a kind of case dress agricultural chemicals palletizing mechanical arm according to claim 2, it is characterized in that: described servomotor is positioned at the upper surface of described electric machine support, the output shaft of described servomotor runs through the top that connects described center shaft after described electric machine support by coupler.
4. according to a kind of case dress agricultural chemicals palletizing mechanical arm described in arbitrary claim in claims 1 to 3, it is characterized in that: between described center shaft and described axis hole, be provided with bearing.
5. a kind of case dress agricultural chemicals palletizing mechanical arm according to claim 4, is characterized in that: one end of described leading screw is fastened with motor, and described motor bearing is in described crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420045401.4U CN203682629U (en) | 2014-01-24 | 2014-01-24 | Mechanical arm for stacking pesticide cases |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420045401.4U CN203682629U (en) | 2014-01-24 | 2014-01-24 | Mechanical arm for stacking pesticide cases |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203682629U true CN203682629U (en) | 2014-07-02 |
Family
ID=51004567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420045401.4U Withdrawn - After Issue CN203682629U (en) | 2014-01-24 | 2014-01-24 | Mechanical arm for stacking pesticide cases |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203682629U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103818732A (en) * | 2014-01-24 | 2014-05-28 | 江南大学 | Packed pesticide stacking manipulator |
-
2014
- 2014-01-24 CN CN201420045401.4U patent/CN203682629U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103818732A (en) * | 2014-01-24 | 2014-05-28 | 江南大学 | Packed pesticide stacking manipulator |
| CN103818732B (en) * | 2014-01-24 | 2015-11-04 | 江南大学 | A kind of case dress agricultural chemicals palletizing mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140702 Effective date of abandoning: 20151104 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |