CN204019529U - A kind of hanging apparatus - Google Patents

A kind of hanging apparatus Download PDF

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Publication number
CN204019529U
CN204019529U CN201420367449.7U CN201420367449U CN204019529U CN 204019529 U CN204019529 U CN 204019529U CN 201420367449 U CN201420367449 U CN 201420367449U CN 204019529 U CN204019529 U CN 204019529U
Authority
CN
China
Prior art keywords
fixed station
fixed
expansion link
transmission
hanging
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Withdrawn - After Issue
Application number
CN201420367449.7U
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Chinese (zh)
Inventor
张松松
王建礼
谢敏
夏航
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
Original Assignee
Zhejiang University of Technology ZJUT
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN201420367449.7U priority Critical patent/CN204019529U/en
Application granted granted Critical
Publication of CN204019529U publication Critical patent/CN204019529U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of hanging apparatus, comprise mechanical paw and suspension gear, mechanical paw comprises drive motors, transmission mechanism, fixed head and the manipulator jaw with vertical mechanical arm, drive motors is fixed on fixed head, the first fixed station, the second fixed station is fixed with below fixed head, one end of transmission mechanism connects the output shaft of drive motors, and the other end connects the second fixed station, and manipulator jaw is connected with the first fixed station, the second fixed station by extensible member.While transmission mechanism drives the second fixed station to move up and down, driving mechanical hand jaw does and opens promptly motion, realizes the crawl of article and puts down.Suspension gear is connected with mechanical paw by rope, for controlling the position of mechanical paw on horizontal or vertical direction.The hanging apparatus structure that the utility model provides is simple, easy to operate, is applicable to carry out lifting carrying to article, is particularly useful for loading and unloading the article be enclosed within column.

Description

A kind of hanging apparatus
Technical field
The utility model relates to a kind of hanging apparatus, especially a kind of hanging apparatus for loading and unloading the article be enclosed within column.
Background technology
Requiring the today of the automated handling realizing goods, existing hanging apparatus still needs the participation of people could realize picking and placeing of goods mostly.Load and unload the article be enclosed within column, need the elevating movement carried out when horizontal movement is little on vertical direction, common mechanical paw can clamp the article be enclosed within column, but article are taken out comparatively difficulty from column, i.e. enable taking-up, also require that mechanical paw has the more free degree, make its complex structure and operation not convenient.
Summary of the invention
It is simple that the technical problems to be solved in the utility model is to provide a kind of structure, and easy to operate hanging apparatus, is especially suitable for loading and unloading the article be enclosed within column.
For solving the problems of the technologies described above, hanging apparatus of the present utility model comprises mechanical paw, described mechanical paw comprises drive motors, transmission mechanism, fixed head and the manipulator jaw with vertical mechanical arm, drive motors is fixed on fixed head, fixed head center is provided with the first through hole, the first fixed station is fixed with below fixed head, described first fixed station center is provided with second through hole concentric with the first through hole, immediately below first fixed station, a distance is provided with the second fixed station, there is the concentric third through-hole arranged with the second through hole second fixed station center, one end of transmission mechanism connects the output shaft of drive motors, the other end of transmission mechanism connects the second fixed station, manipulator jaw is by extensible member and the first fixed station, second fixed station is connected, when drive motors drives the second fixed station to do vertical ascending motion by transmission mechanism, extensible member drives corresponding manipulator jaw to do opening movement respectively, otherwise, when the second fixed station does vertical descending motion, extensible member drives corresponding manipulator jaw to do promptly motion, hanging apparatus also comprises suspension gear, suspension gear comprises and being horizontally disposed with and the leading screw be parallel to each other and guide rail, feed screw nut seat, lifting motor and the translation motor be socketed on leading screw and guide rail, lifting motor is fixed in feed screw nut seat, lifting motor is connected with described mechanical paw by rope, for regulating the vertical position of mechanical paw, translation motor is fixedly connected with leading screw axle center, for regulating the horizontal level of mechanical paw.
As preferably, transmission mechanism comprises and engages each other gear and tooth bar, and gear is fixedly connected with drive motors output shaft, and tooth bar is vertically placed, and its one end is fixed on the second fixed station.
As preferably, extensible member and manipulator jaw have three groups, and vertical mechanical arm is provided with groove, and can slide up and down in groove slide block; Extensible member comprises the first expansion link and the second expansion link, first expansion link one end and the second fixed station chain connection, the other end and slide block chain connection, second expansion link one end and the first fixed station chain connection, the other end is hingedly coupled on the vertical mechanical arm below groove, and the first expansion link is crossing with the middle part of the second expansion link and by chain connection.
As preferably, first fixed station shape is positive hexagon, its side is evenly distributed with the hinged projection of three confession second expansion links, second fixed station shape is positive hexagon, its side all has and is distributed with the hinged projection of three confession first expansion links, and the bump position of the second fixed station is equivalent to the distance of the first expansion link thickness relative to the bump position skew of the first fixed station.
The beneficial effect of the utility model hanging apparatus is: realize the crawl of article by mechanical paw and put down, the rise and fall of mechanical paw are controlled by suspension gear, mechanical paw part adopts the through hole auxiliary positioning of multiple concentric setting, therefore mechanical paw part does not need the very high free degree, only adopt one piece of fixed head and two fixed stations as body frame, simplify the structure of mechanical paw greatly; Transmission mechanism adopts one group of rack pinion, while simplification structure, ensure that bearing strength and transmission accuracy; Three extensible members corresponding to three manipulator jaws are all fixed on the second fixed station, three manipulator jaws being driven when transmission mechanism drives the second fixed station to move up and down simultaneously to do and to open promptly motion, ensure that the simultaneity of manipulator jaw when capturing article.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model hanging apparatus;
Fig. 2 is the structural representation of the mechanical paw part of the utility model hanging apparatus;
Fig. 3 is the structural representation at another visual angle of mechanical paw part of the utility model hanging apparatus;
Description of reference numerals: 1-drive motors, 2-transmission mechanism, 201-gear, 202-tooth bar, 3-fixed head, 301-first through hole, 4-first fixed station, 401-second through hole, 5-second fixed station, 501-third through-hole, 6-extensible member, 601-first expansion link, 602-second expansion link, 7-manipulator jaw, 701-jaw, the vertical mechanical arm of 702-, 8-groove, 9-slide block, 10-mechanical paw, 11-suspension gear, 12-leading screw, 13-guide rail, 14-feed screw nut seat, 15-translation motor, 16-lifting motor, 17-rope.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As Figure 1-3, the utility model hanging apparatus comprises mechanical paw 10 and suspension gear 11, and wherein mechanical paw 10 comprises drive motors 1, transmission mechanism 2, fixed head 3 and the manipulator jaw 7 with vertical mechanical arm 702.Wherein drive motors 1 is fixed on fixed head 3, fixed head 3 center is provided with the first through hole 301, the first fixed station 4 is fixed with below fixed head 3, first fixed station 4 center is provided with second through hole 401 concentric with the first through hole, immediately below first fixed station 4, a distance is provided with the second fixed station 5, second fixed station 5 center the concentric third through-hole 501 arranged with the second through hole.Multiple concentric pylone be provided with the location helping mechanical paw.
Transmission mechanism 2 comprises pitch wheel 201 and tooth bar 202, gear 201 is fixedly connected with the output shaft of motor, tooth bar 202 is vertically placed, and its one end is fixed on the second fixed station 5, adopts this kind of transmission mechanism can ensure bearing strength and transmission accuracy while simplification structure.Manipulator jaw 7 is connected with the first fixed station 4, second fixed station 5 by extensible member 6.
First fixed station 4 shape is positive hexagon, its side is evenly distributed with the hinged projection of three confession second expansion links (602), first fixed station 4 shape is positive hexagon, its side is evenly distributed with the hinged projection of three confession first expansion links (601), second fixed station 5 shape is positive hexagon, correspond to the first fixed station to have three of the side of projection sides to be equipped with projection identical, bump position and the distance offseting the first expansion link 601 thickness relative to the first fixed station 4 bump position to the right of the second fixed station 5.
Extensible member 6 and manipulator jaw 7 all have three, and vertical mechanical arm 702 is provided with groove 8, and can slide up and down in groove 8 slide block 9; Extensible member 6 comprises the first expansion link 601 and the second expansion link 602, first expansion link 601 one end and the second fixed station 5 chain connection, the other end and slide block 9 chain connection, second expansion link 602 one end and the first fixed station 4 chain connection, the other end is hingedly coupled on the vertical mechanical arm 702 below groove 8, and described first expansion link 601 is crossing with the middle part of the second expansion link 602 and by chain connection.When drive motors 1 drives the second fixed station 5 to do vertical ascending motion by transmission mechanism 2, extensible member 6 drives corresponding manipulator jaw 7 to do opening movement respectively, otherwise when the second fixed station 5 does vertical descending motion, extensible member 6 drives corresponding manipulator jaw 7 to do promptly motion.
Suspension gear 11 is provided with above mechanical paw, suspension gear 11 comprises and being horizontally disposed with and the leading screw 12 be parallel to each other and guide rail 13, feed screw nut seat 14, translation motor 15 and the lifting motor 16 be socketed on leading screw 12 and guide rail 13, lifting motor 16 is fixed in feed screw nut seat 14, lifting motor 16 is connected with described mechanical paw 10 by rope 17, for regulating the vertical position of mechanical paw 10, described translation motor 15 is fixedly connected with leading screw 12 axle center, for regulating the horizontal level of mechanical paw 10.The arranging of suspension gear 11 can contribute to the structure simplifying mechanical paw part.
During the utility model hanging apparatus specific works, due to the fixed head 3 in mechanical paw 10, first fixed station 4, the center of the second fixed station 5 is all provided with concentric pylone, only needing the translation motor 15 in suspension gear 11 to work makes the through-hole alignment cover in mechanical paw 10 have the column of article, the location of mechanical paw can be completed, lifting motor 16 works subsequently, mechanical paw 10 just to overlap column and move downwardly to and be handled upside down article place, the drive motors 1 of mechanical paw 10 rotates, the second fixed station 5 is driven to move straight down by transmission mechanism 2, now, extensible member driving mechanical hand jaw 7 do promptly move to jaw 701 fit article time, article can be taken out from column, when article decontroled by needs, motor rotates backward, gripper opens relieving article.Three extensible members 6 corresponding to three manipulator jaws 7 are all fixed on the second fixed station 5, transmission mechanism 2 can drive three manipulator jaws 7 to do when driving the second fixed station 5 to move up and down to open promptly motion simultaneously, ensure that simultaneity when manipulator jaw captures article.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (4)

1. a hanging apparatus, comprises mechanical paw (10), and described mechanical paw (10) comprises drive motors (1), transmission mechanism (2), fixed head (3) and the manipulator jaw (7) with vertical mechanical arm (702), it is characterized in that:
Described drive motors (1) is fixed on fixed head (3), described fixed head (3) center is provided with the first through hole (301), described fixed head (3) below is fixed with the first fixed station (4), described first fixed station (4) center is provided with second through hole (401) concentric with the first through hole, immediately below described first fixed station (4), a distance is provided with the second fixed station (5), there is the concentric third through-hole (501) arranged with the second through hole described second fixed station (5) center, one end of described transmission mechanism (2) connects the output shaft of drive motors, the other end of described transmission mechanism (2) connects the second fixed station (5), described manipulator jaw (7) is by extensible member (6) and the first fixed station (4), second fixed station (5) is connected, when described drive motors (1) drives the second fixed station (5) to do vertical ascending motion by transmission mechanism (2), extensible member (6) drives described manipulator jaw (7) to do opening movement, otherwise, when the second fixed station (5) does vertical descending motion, extensible member (6) drives corresponding manipulator jaw (7) to do promptly motion,
Described hanging apparatus also comprises suspension gear (11), described suspension gear (11) comprises and being horizontally disposed with and the leading screw be parallel to each other (12) and guide rail (13), be socketed in the feed screw nut seat (14) on leading screw (12) and guide rail (13), translation motor (15) and lifting motor (16), described lifting motor (16) is fixed in feed screw nut seat (14), described lifting motor (16) is connected with described mechanical paw (10) by rope (17), for regulating the vertical position of mechanical paw (10), described translation motor (15) is fixedly connected with leading screw (12) axle center, for regulating the horizontal level of mechanical paw (10).
2. hanging apparatus according to claim 1, it is characterized in that: described transmission mechanism (2) comprises pitch wheel (201) and tooth bar (202), described gear (201) is fixedly connected with drive motors (1) output shaft, described tooth bar (202) is vertically placed, and its one end is fixed on the second fixed station (5).
3. hanging apparatus according to claim 2, it is characterized in that: described extensible member (6) and manipulator jaw (7) have three groups, described vertical mechanical arm (702) top is provided with groove (8), and can slide up and down in described groove (8) slide block (9); Extensible member (6) comprises the first expansion link (601) and the second expansion link (602), described first expansion link (601) one end and the second fixed station (5) chain connection, the other end and described slide block (9) chain connection, described second expansion link (602) one end and the first fixed station (4) chain connection, the other end is hingedly coupled on the vertical mechanical arm (702) of groove (8) below, and described first expansion link (601) is crossing with the middle part of the second expansion link (602) and by chain connection.
4. hanging apparatus according to claim 3, it is characterized in that: described first fixed station (4) shape is positive hexagon, its side is evenly distributed with the hinged projection of three confession second expansion links (602), described second fixed station (5) shape is positive hexagon, its side all has and is distributed with the hinged projection of three confession first expansion links (601), and the bump position of described second fixed station (5) is equivalent to the distance of the first expansion link (601) thickness relative to the bump position skew of the first fixed station (4).
CN201420367449.7U 2014-07-04 2014-07-04 A kind of hanging apparatus Withdrawn - After Issue CN204019529U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420367449.7U CN204019529U (en) 2014-07-04 2014-07-04 A kind of hanging apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420367449.7U CN204019529U (en) 2014-07-04 2014-07-04 A kind of hanging apparatus

Publications (1)

Publication Number Publication Date
CN204019529U true CN204019529U (en) 2014-12-17

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CN201420367449.7U Withdrawn - After Issue CN204019529U (en) 2014-07-04 2014-07-04 A kind of hanging apparatus

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN104986677A (en) * 2015-06-16 2015-10-21 江苏大学 Material grasping, lifting and translating device for joist barrow
CN105173671A (en) * 2015-09-25 2015-12-23 四川科伦药业股份有限公司 Converging equipment for advancing bottle bodies of polypropylene infusion bottles
CN108190485A (en) * 2017-12-22 2018-06-22 戚华军 A kind of chemical industry weight haulage equipment
CN108262848A (en) * 2018-03-10 2018-07-10 山东高速轨道设备材料有限公司 Track plates production service sleeve Zai Zhi robots
CN108273648A (en) * 2017-12-25 2018-07-13 朱园园 A kind of grab type rubbish pulverization process feeding transport device
CN110355747A (en) * 2018-11-21 2019-10-22 上海交通大学 Two-freedom planar flexible pick and place machine structure
CN111633366A (en) * 2019-03-01 2020-09-08 深圳市腾达丰实业有限公司 H-shaped steel assembling equipment
CN111762679A (en) * 2020-06-09 2020-10-13 付安英 Automatic hoisting clamp

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN104117988B (en) * 2014-07-04 2016-04-13 浙江工业大学 A kind of automation hanging apparatus
CN104986677B (en) * 2015-06-16 2017-01-25 江苏大学 Material grasping, lifting and translating device for joist barrow
CN104986677A (en) * 2015-06-16 2015-10-21 江苏大学 Material grasping, lifting and translating device for joist barrow
CN105173671A (en) * 2015-09-25 2015-12-23 四川科伦药业股份有限公司 Converging equipment for advancing bottle bodies of polypropylene infusion bottles
CN105173671B (en) * 2015-09-25 2017-12-12 四川科伦药业股份有限公司 A kind of joining system of polypropylene transfusion bottle traveling bottle
CN108190485B (en) * 2017-12-22 2020-06-09 南京溧水高新创业投资管理有限公司 Heavy object haulage equipment for chemical industry
CN108190485A (en) * 2017-12-22 2018-06-22 戚华军 A kind of chemical industry weight haulage equipment
CN108273648A (en) * 2017-12-25 2018-07-13 朱园园 A kind of grab type rubbish pulverization process feeding transport device
CN108262848A (en) * 2018-03-10 2018-07-10 山东高速轨道设备材料有限公司 Track plates production service sleeve Zai Zhi robots
CN110355747A (en) * 2018-11-21 2019-10-22 上海交通大学 Two-freedom planar flexible pick and place machine structure
CN111633366A (en) * 2019-03-01 2020-09-08 深圳市腾达丰实业有限公司 H-shaped steel assembling equipment
CN111762679A (en) * 2020-06-09 2020-10-13 付安英 Automatic hoisting clamp
CN111762679B (en) * 2020-06-09 2022-04-08 付安英 Automatic hoisting clamp

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C14 Grant of patent or utility model
GR01 Patent grant
C25 Abandonment of patent right or utility model to avoid double patenting
AV01 Patent right actively abandoned

Granted publication date: 20141217

Effective date of abandoning: 20160413