CN204036464U - A kind of damping type palletizing mechanical pawl - Google Patents
A kind of damping type palletizing mechanical pawl Download PDFInfo
- Publication number
- CN204036464U CN204036464U CN201420432846.8U CN201420432846U CN204036464U CN 204036464 U CN204036464 U CN 204036464U CN 201420432846 U CN201420432846 U CN 201420432846U CN 204036464 U CN204036464 U CN 204036464U
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- side chain
- rod
- connecting rod
- parallel
- basal disc
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Abstract
The utility model relates to palletizing mechanical technical field, specifically a kind of damping type palletizing mechanical pawl, comprise basal disc, four support columns, mounting disc, three capture side chain, boot disk, electric pushrod, four side chains in parallel and fixed platforms, article four, side chain in parallel respectively symmetry be arranged between basal disc and fixed platform, side chain in parallel comprises an ear seat, master connecting-rod, slave connecting rod, CF bearing, No. two ear seats and torsion spring, the lower end of master connecting-rod is arranged on basal disc by an ear seat, is connected between its upper end with slave connecting rod by CF bearing; Slave connecting rod upper end is arranged on fixed platform by No. two ear seats, and torsion spring set is located on CF bearing, and one end of torsion spring is connected with master connecting-rod, and its other end is connected with slave connecting rod.The utility model, by the power operating characteristics adopting parallel institution technology to improve palletization, reduces the shock-effect in palletization, achieves high-precision damping and captures function, have easy and simple to handle and operating efficiency advantages of higher.
Description
Technical field
The utility model relates to palletizing mechanical technical field, specifically a kind of damping type palletizing mechanical pawl.
Background technology
In recent years, along with enterprise's production automation degree is more and more higher, the application of robot palletizer is more and more general, and stacking robot claw supporting with it also develops rapidly.Existing palletizing mechanical paw is various various, is applied to different fields.Mechanical paw on existing market is rigidity paw substantially; but in some manufacture fields; because the distribution of weight capturing thing is uneven; crank, causes the situation that often there will be shake in palletization, and the amplitude size of shake directly affects the stability of mechanical paw piling; if stability is not high; the failure of very possible meeting piling or crawl thing drop, and damaged crawl thing, and inefficiency are little.Given this, the utility model provides a kind of new technical scheme, by the power operating characteristics adopting parallel institution technology to improve palletization, reduce the shock-effect in palletization, achieve high-precision damping and capture function, there is easy and simple to handle and operating efficiency advantages of higher, i.e. a kind of damping type palletizing mechanical pawl.
Summary of the invention
In order to solve above-mentioned prior art Problems existing, the utility model provides a kind of damping type palletizing mechanical pawl.
The technical scheme in the invention for solving the above technical problem is: a kind of damping type palletizing mechanical pawl, comprise basal disc, four support columns, mounting disc, three capture side chain, boot disk, electric pushrod, four side chains in parallel and fixed platforms, four described support column upper ends are symmetrically welded at the lower surface of basal disc, its lower end is welded on the upper surface of mounting disc, support column plays the effect of support, strengthens load force of the present utility model; Be provided with through hole in the middle part of described mounting disc, the lower surface of mounting disc be provided with three single hangers; Described three are captured side chain and are connected by bolt respectively with between the single hanger of three in mounting disc, side chain is caught to comprise cradle head and hook, be connected by bolt between cradle head with single hanger, cradle head can rotate around single hanger, be connected by bearing pin between hook with cradle head, hook can rotate movable joint rotate; Described boot disk is captured between side chain be connected by bearing pin with three; Described electric pushrod upper end with in the middle part of basal disc lower surface between be connected by angle seat, its lower end through the through hole in mounting disc with in the middle part of the upper surface of boot disk be connected by angle seat, after electric pushrod is started working, drive boot disk moves up and down, due to boot disk with hook, all adopt bearing pin to be connected between hook with cradle head, boot disk drives hook and cradle head to rotate, thus have adjusted the angle capturing side chain, achieve the function that the utility model captures and discharges required article; Four described side chains in parallel respectively symmetry are arranged between basal disc and fixed platform, and the lower end of side chain in parallel is connected with basal disc, its upper end is connected with fixed platform, side chain in parallel comprises an ear seat, master connecting-rod, slave connecting rod, CF bearing, No. two ear seats and torsion spring, the lower end of master connecting-rod is arranged on the upper surface of basal disc by an ear seat, be connected between its upper end with slave connecting rod by CF bearing; Slave connecting rod upper end is arranged on fixed platform by No. two ear seats, and torsion spring set is located on CF bearing, and one end of torsion spring is connected with master connecting-rod, and its other end is connected with slave connecting rod.In the utility model, by fixed platform, article four, the 4-RRR parallel institution of side chain in parallel and basal disc composition Three Degree Of Freedom, wherein basal disc makes moving platform, be connected by the first revolute pair between master connecting-rod and an ear seat, be connected by the second revolute pair between master connecting-rod and slave connecting rod, be connected by the 3rd revolute pair between slave connecting rod and No. two ear seats, and be connected with torsion spring between master connecting-rod and slave connecting rod, when the distribution of weight capturing thing is uneven, crank, discontinuity in palletization is caused to occur shake, and mechanism of overdriving refers to that drive input number is greater than the parallel institution of the institution freedom number of degrees, 4-RRR parallel institution is effectively alleviated by adopting overdrive technique and eliminates the power singular problem of parallel institution, improve the power operating characteristics of palletization, reduce the shock-effect in palletization, ensure that the utility model stability operationally, thus achieve high-precision damping crawl function, easy and simple to handle, operating efficiency is high.
As a kind of optimal technical scheme of the present utility model, described fixed platform upper end is symmetrically arranged with four installing holes, is arranged on the mechanical arm of robot palletizer by the utility model by installing hole.
The utility model has the advantage of: a kind of damping type palletizing mechanical pawl, by the power operating characteristics adopting parallel institution technology to improve palletization, reduce the shock-effect in palletization, achieve high-precision damping and capture function, there is easy and simple to handle and operating efficiency advantages of higher.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is perspective view of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is the perspective view of the utility model cradle head;
Fig. 4 is the perspective view of the utility model hook
Fig. 5 is the perspective view of the utility model CF bearing.
Detailed description of the invention
The technological means realized to make the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the utility model further.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of damping type palletizing mechanical pawl, comprise basal disc 1, four support columns 2, mounting disc 3, three captures side chain 4, boot disk 5, electric pushrod 6, four side chains 7 in parallel and fixed platform 8, four described support column 2 upper ends are symmetrically welded at the lower surface of basal disc 1, its lower end is welded on the upper surface of mounting disc 3, support column 2 plays the effect of support, strengthens load force of the present utility model; Be provided with through hole in the middle part of described mounting disc 3, the lower surface of mounting disc 3 be provided with three single hangers 301, and the angle between three single hangers 301 is 120 degree, ensure that three uniform force capturing side chain 4, improve operating efficiency; Described three are captured side chain 4 and are connected by bolt respectively with between the single hanger 301 of three in mounting disc 3, side chain 4 is caught to comprise cradle head 401 and hook 402, be connected by bolt between cradle head 401 with single hanger 301, cradle head 401 can rotate around single hanger 301, be connected by bearing pin between hook 402 with cradle head 401, hook 402 movable joint 401 that can rotate rotates; Described boot disk 5 is captured between side chain 4 be connected by bearing pin with three; Described electric pushrod 6 upper end with in the middle part of basal disc 1 lower surface between be connected by angle seat, its lower end through the through hole in mounting disc 3 with in the middle part of the upper surface of boot disk 5 be connected by angle seat, after electric pushrod 6 is started working, boot disk 5 is driven to move up and down, due to boot disk 5 with hook 402, all adopt bearing pin to be connected between hook 402 with cradle head 401, boot disk 5 drives hook 402 and cradle head 401 to rotate, thus have adjusted the angle capturing side chain 4, achieve the function that the utility model captures and discharges required article; Described four side chains 7 in parallel respectively symmetry are arranged between basal disc 1 and fixed platform 8, and the lower end of side chain in parallel 7 is connected with basal disc 1, and its upper end is connected with fixed platform 8; Described fixed platform 8 upper end is symmetrically arranged with four installing holes, is arranged on the mechanical arm of robot palletizer by installing hole by the utility model; Described side chain in parallel 7 comprises an ear seat 701, master connecting-rod 702, slave connecting rod 703, CF bearing 704, No. two ear seats 705 and torsion spring 706, the lower end of master connecting-rod 702 is arranged on the upper surface of basal disc 1 by an ear seat 701, be connected between its upper end with slave connecting rod 703 by CF bearing 704; Slave connecting rod 703 upper end is arranged on fixed platform 8 by No. two ear seats 705, and torsion spring 706 is set on CF bearing 704, and one end of torsion spring 706 is connected with master connecting-rod 702, and its other end is connected with slave connecting rod 703.In the utility model, by fixed platform 8, article four, side chain 7 in parallel and basal disc 1 form the 4-RRR parallel institution of Three Degree Of Freedom, wherein basal disc 1 makes moving platform, be connected by the first revolute pair between master connecting-rod 702 and an ear seat 701, be connected by the second revolute pair between master connecting-rod 702 and slave connecting rod 703, be connected by the 3rd revolute pair between slave connecting rod 703 and No. two ear seats 705, and be connected with torsion spring 706 between master connecting-rod 702 and slave connecting rod 703, when the distribution of weight capturing thing is uneven, crank, discontinuity in palletization is caused to occur shake, and mechanism of overdriving refers to that drive input number is greater than the parallel institution of the institution freedom number of degrees, the 4-RRR parallel institution of Three Degree Of Freedom is effectively alleviated by adopting overdrive technique and eliminates the power singular problem of parallel institution, improve the power operating characteristics of palletization, reduce the shock-effect in palletization, ensure that the utility model stability operationally, thus achieve high-precision damping crawl function, easy and simple to handle, operating efficiency is high.
During work, first according to actual needs, the utility model is arranged on the mechanical arm of robot palletizer, after robot palletizer is started working, electric pushrod 6 on the utility model is started working, promote boot disk 5 to move up and down, hook 402 and cradle head 401 is driven to rotate to correct position, crawl side chain 4 is made to rest on correct position, then the utility model starts to capture required article, if capture, the distribution of weight of thing is uneven when causing discontinuity to occur shake situation, the 4-RRR parallel institution of Three Degree Of Freedom is effectively alleviated by adopting overdrive technique and eliminates the power singular problem of parallel institution, improve the power operating characteristics of palletization, reduce the shock-effect in palletization, ensure that the utility model stability operationally, thus achieve high-precision damping crawl function, reach object.
More than show and describe general principle of the present utility model, principal character and advantage.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (2)
1. a damping type palletizing mechanical pawl, comprise basal disc (1), four support columns (2), mounting disc (3), three capture side chain (4), boot disk (5), electric pushrod (6), four side chains in parallel (7) and fixed platforms (8), four described support column (2) upper ends are symmetrically welded at the lower surface of basal disc (1), and its lower end is welded on the upper surface of mounting disc (3), described mounting disc (3) middle part is provided with through hole, the lower surface of mounting disc (3) is provided with three and singly hangs (301), described three are captured side chain (4) and are connected by bolt respectively and between three single hangers (301) in mounting disc (3), side chain (4) is caught to comprise cradle head (401) and hook (402), be connected by bolt between cradle head (401) with single hanger (301), be connected by bearing pin between hook (402) with cradle head (401), described boot disk (5) is captured between side chain (4) be connected by bearing pin with three, described electric pushrod (6) upper end with in the middle part of basal disc (1) lower surface between be connected by angle seat, its lower end through the through hole in mounting disc (3) with in the middle part of the upper surface of boot disk (5) be connected by angle seat, it is characterized in that: four described side chains in parallel (7) respectively symmetry are arranged between basal disc (1) and fixed platform (8), and the lower end of side chain in parallel (7) is connected with basal disc (1), its upper end is connected with fixed platform (8), side chain (7) in parallel comprises an ear seat (701), master connecting-rod (702), slave connecting rod (703), CF bearing (704), No. two ear seats (705) and torsion spring (706), the lower end of master connecting-rod (702) is arranged on the upper surface of basal disc (1) by an ear seat (701), be connected by CF bearing (704) between its upper end with slave connecting rod (703), slave connecting rod (703) upper end is arranged on fixed platform (8) by No. two ear seats (705), torsion spring (706) is set on CF bearing (704), and one end of torsion spring (706) is connected with master connecting-rod (702), its other end is connected with slave connecting rod (703).
2. a kind of damping type palletizing mechanical pawl according to claim 1, is characterized in that: described fixed platform (8) upper end is symmetrically arranged with four installing holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420432846.8U CN204036464U (en) | 2014-08-02 | 2014-08-02 | A kind of damping type palletizing mechanical pawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420432846.8U CN204036464U (en) | 2014-08-02 | 2014-08-02 | A kind of damping type palletizing mechanical pawl |
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| Publication Number | Publication Date |
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| CN204036464U true CN204036464U (en) | 2014-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420432846.8U Expired - Fee Related CN204036464U (en) | 2014-08-02 | 2014-08-02 | A kind of damping type palletizing mechanical pawl |
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Cited By (16)
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| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN105858242A (en) * | 2016-05-25 | 2016-08-17 | 刘明月 | Stacking manipulator of automobile hub stacking robot |
| CN105945910A (en) * | 2016-05-16 | 2016-09-21 | 安庆米锐智能科技有限公司 | Clamping mechanical arm of unmanned aerial vehicle |
| CN106069385A (en) * | 2016-07-06 | 2016-11-09 | 詹晨 | Automatic watering function equipment is used in a kind of agricultural byproducts plantation |
| CN106109199A (en) * | 2016-06-23 | 2016-11-16 | 安庆市好迈网络信息技术有限公司 | A kind of based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106149755A (en) * | 2016-07-06 | 2016-11-23 | 詹晨 | A kind of landslide-proofing special retaining wall lifting haulage equipment |
| CN106193109A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of retaining wall former for bituminous concrete highway |
| CN106193108A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of Concrete Highway special retaining wall construction equipment |
| CN106193110A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of ground landslide-proofing retaining wall special construction apparatus |
| CN107960245A (en) * | 2016-07-06 | 2018-04-27 | 巩莉 | A kind of adjustable automation watering production recovery arrangement of ecological ideas vegetable cultivation |
| CN108124528A (en) * | 2016-07-06 | 2018-06-08 | 徐子桐 | A kind of intelligent scarifier attachment of greenhouse ecology proportion of crop planting |
| CN108221627A (en) * | 2016-05-16 | 2018-06-29 | 安溪钟泰专利技术转移有限公司 | A kind of robot |
| CN108284702A (en) * | 2018-01-12 | 2018-07-17 | 清华大学 | A kind of built-in link-type damping wheel |
| CN108301449A (en) * | 2016-07-06 | 2018-07-20 | 徐子桐 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
| CN108425397A (en) * | 2016-06-23 | 2018-08-21 | 吴彬 | The working method of the higher highway ditch cleaning intelligent robot of intelligence degree |
| CN108584798A (en) * | 2016-07-06 | 2018-09-28 | 詹晨 | A kind of geotechnical engineering stone masonry handling machinery |
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- 2014-08-02 CN CN201420432846.8U patent/CN204036464U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105945910B (en) * | 2016-05-16 | 2017-11-21 | 黄勇 | A kind of unmanned plane clamping manipulator |
| CN105945910A (en) * | 2016-05-16 | 2016-09-21 | 安庆米锐智能科技有限公司 | Clamping mechanical arm of unmanned aerial vehicle |
| CN108221627A (en) * | 2016-05-16 | 2018-06-29 | 安溪钟泰专利技术转移有限公司 | A kind of robot |
| CN105858242A (en) * | 2016-05-25 | 2016-08-17 | 刘明月 | Stacking manipulator of automobile hub stacking robot |
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN108425397A (en) * | 2016-06-23 | 2018-08-21 | 吴彬 | The working method of the higher highway ditch cleaning intelligent robot of intelligence degree |
| CN106109199A (en) * | 2016-06-23 | 2016-11-16 | 安庆市好迈网络信息技术有限公司 | A kind of based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106109199B (en) * | 2016-06-23 | 2018-03-23 | 河南科技大学第一附属医院 | One kind is based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106193109B (en) * | 2016-07-06 | 2018-02-06 | 江苏山推工程机械有限公司 | A kind of retaining wall former for bituminous concrete highway |
| CN106149755B (en) * | 2016-07-06 | 2018-05-01 | 吉林大学 | A kind of special retaining wall lifting haulage equipment of landslide-proofing |
| CN106193108A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of Concrete Highway special retaining wall construction equipment |
| CN106193110B (en) * | 2016-07-06 | 2018-03-02 | 江苏省中成建设工程总公司 | A kind of ground landslide-proofing retaining wall special construction apparatus |
| CN106193108B (en) * | 2016-07-06 | 2018-03-06 | 赵勇锋 | A kind of special retaining wall construction equipment of Concrete Highway |
| CN106193109A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of retaining wall former for bituminous concrete highway |
| CN107960245A (en) * | 2016-07-06 | 2018-04-27 | 巩莉 | A kind of adjustable automation watering production recovery arrangement of ecological ideas vegetable cultivation |
| CN106193110A (en) * | 2016-07-06 | 2016-12-07 | 巩莉 | A kind of ground landslide-proofing retaining wall special construction apparatus |
| CN108124528A (en) * | 2016-07-06 | 2018-06-08 | 徐子桐 | A kind of intelligent scarifier attachment of greenhouse ecology proportion of crop planting |
| CN106149755A (en) * | 2016-07-06 | 2016-11-23 | 詹晨 | A kind of landslide-proofing special retaining wall lifting haulage equipment |
| CN108584798B (en) * | 2016-07-06 | 2019-09-24 | 杭州富阳和翔模具有限公司 | A kind of geotechnical engineering stone masonry handling machinery |
| CN108301449A (en) * | 2016-07-06 | 2018-07-20 | 徐子桐 | A kind of building ground stone masonry automatic hydraulic capture apparatus based on parallel connection |
| CN106069385A (en) * | 2016-07-06 | 2016-11-09 | 詹晨 | Automatic watering function equipment is used in a kind of agricultural byproducts plantation |
| CN108584798A (en) * | 2016-07-06 | 2018-09-28 | 詹晨 | A kind of geotechnical engineering stone masonry handling machinery |
| CN108284702A (en) * | 2018-01-12 | 2018-07-17 | 清华大学 | A kind of built-in link-type damping wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20150802 |
|
| EXPY | Termination of patent right or utility model |