CN204019529U - A kind of hanging apparatus - Google Patents
A kind of hanging apparatus Download PDFInfo
- 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
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- Prior art keywords
- fixed station
- fixed
- transmission mechanism
- expansion link
- manipulator
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- Expired - Lifetime
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- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 239000000725 suspension Substances 0.000 claims abstract description 13
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 abstract 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
本实用新型公开了一种吊装装置，包括机械手爪和悬吊机构，机械手爪包括驱动电机、传动机构、固定板和带有竖直机械臂的机械手夹爪，驱动电机固定于固定板上，固定板下方固定有第一固定台、第二固定台，传动机构的一端连接驱动电机的输出轴，另一端连接第二固定台，机械手夹爪通过伸缩部件与第一固定台、第二固定台相连。传动机构带动第二固定台做升降运动的同时带动机械手夹爪做张开抓紧运动，实现物品的抓取与放下。悬吊机构通过绳索与机械手爪连接，用于控制机械手爪在水平或竖直方向上的位置。本实用新型提供的吊装装置结构简单，操作方便，适用于对物品进行升降搬运，尤其适用于装卸套在立柱上的物品。
The utility model discloses a hoisting device, which comprises a manipulator claw and a suspension mechanism. The manipulator claw includes a driving motor, a transmission mechanism, a fixing plate and a manipulator jaw with a vertical mechanical arm. The driving motor is fixed on the fixing plate, and the The first fixed platform and the second fixed platform are fixed under the plate. One end of the transmission mechanism is connected to the output shaft of the drive motor, and the other end is connected to the second fixed platform. The jaws of the manipulator are connected to the first fixed platform and the second fixed platform through telescopic parts. . The transmission mechanism drives the second fixed table to do the lifting movement, and at the same time drives the jaws of the manipulator to do the opening and grasping movement, so as to realize the grabbing and putting down of the article. The suspension mechanism is connected with the manipulator claw by ropes, and is used to control the position of the manipulator claw in the horizontal or vertical direction. The hoisting device provided by the utility model has a simple structure and is convenient to operate, and is suitable for lifting and transporting articles, especially for loading and unloading articles sheathed on a column.
Description
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).
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 |
Family
ID=52059437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420367449.7U Expired - Lifetime CN204019529U (en) | 2014-07-04 | 2014-07-04 | A kind of hanging apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204019529U (en) |
Cited By (11)
| 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 | Confluence equipment of advancing bottle body of polypropylene infusion bottle |
| CN108127682A (en) * | 2018-01-16 | 2018-06-08 | 歌尔股份有限公司 | A kind of Automatic-clamping communication device |
| 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 |
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A four-degree-of-freedom operating device in a limited space |
| 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 |
-
2014
- 2014-07-04 CN CN201420367449.7U patent/CN204019529U/en not_active Expired - Lifetime
Cited By (18)
| 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 |
| CN104986677A (en) * | 2015-06-16 | 2015-10-21 | 江苏大学 | Material grasping, lifting and translating device for joist barrow |
| CN104986677B (en) * | 2015-06-16 | 2017-01-25 | 江苏大学 | Material grabbing, lifting and translation device for truss truck |
| CN105173671A (en) * | 2015-09-25 | 2015-12-23 | 四川科伦药业股份有限公司 | Confluence equipment of advancing bottle body of polypropylene infusion bottle |
| CN105173671B (en) * | 2015-09-25 | 2017-12-12 | 四川科伦药业股份有限公司 | Confluence equipment of advancing bottle body of polypropylene infusion 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 |
| CN108127682A (en) * | 2018-01-16 | 2018-06-08 | 歌尔股份有限公司 | A kind of Automatic-clamping communication device |
| CN108127682B (en) * | 2018-01-16 | 2024-04-30 | 歌尔股份有限公司 | Automatic clamping communication 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 |
| CN110355747B (en) * | 2018-11-21 | 2022-06-14 | 上海交通大学 | Two-degree-of-freedom planar flexible pick-and-place mechanism |
| 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 |
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A four-degree-of-freedom operating device in a limited space |
| 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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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141217 Effective date of abandoning: 20160413 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20141217 Effective date of abandoning: 20160413 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |