CN204416549U - A kind of robot revolute grabbing device - Google Patents
A kind of robot revolute grabbing device Download PDFInfo
- Publication number
- CN204416549U CN204416549U CN201520040993.5U CN201520040993U CN204416549U CN 204416549 U CN204416549 U CN 204416549U CN 201520040993 U CN201520040993 U CN 201520040993U CN 204416549 U CN204416549 U CN 204416549U
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- China
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- axis
- axle
- crossbeam
- grasping mechanism
- dibit
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Abstract
A kind of robot revolute grabbing device of the utility model, include R axle column, X-axis crossbeam, Z axis lifting part, dibit grasping mechanism, the top of described R axle column is provided with X-axis crossbeam, the end of X-axis crossbeam is connected with Z axis lifting part, and described dibit grasping mechanism is arranged in Z axis lifting part.The utility model robot revolute grabbing device can solve the increase labor strength, inefficiency, the reduction that use a dead lift pork to bring and butcher hygienic standard, do not meet food hygiene and require problem.
Description
Technical field
the utility model relates to a kind of special haulage equipment, is specially a kind of robot revolute grabbing device.
Background technology
butcher in production at meat processing combine's pork, it is two rear-mounteds between marketing fresh delivery on track shoulder pole hook that pork is split through spliting machine one, a dead lift transport vehicle box after shower, a dead lift increases labor strength, inefficiency, reduce and butcher hygienic standard, do not meet food hygiene requirement, add enterprises using the labor cost simultaneously.
Summary of the invention
the utility model provides a kind of and can solve the increase labor strength, inefficiency, the reduction that use a dead lift pork to bring and butcher hygienic standard, do not meet a kind of robot revolute grabbing device that food hygiene requires problem.
the technical solution of the utility model is: a kind of robot revolute grabbing device, include R axle column, X-axis crossbeam, Z axis Lift Part, dibit grasping mechanism and base, it is characterized in that: the top of described R axle column is provided with X-axis crossbeam, the end of X-axis crossbeam is connected with Z axis Lift Part, dibit grasping mechanism and Z axis Lift Part are bolted together, R axle column part drives and adopts servomotor, described R axle column lower end is connected with base, X-axis crossbeam and R axle pillar parts are linked together by nut seat, described dibit grasping mechanism is horizontal arrangement.
r axle pillar parts upper end described in the utility model is provided with rotating shaft, and rotating shaft bottom is connected with nut seat, nut sleeve in nut seat mounting hole by bolted after screw in rotating shaft, rotating shaft is fixedly connected with X-axis crossbeam; Z axis Lift Part sidepiece is provided with slide block, nut sleeve in nut seat mounting hole by bolted after screw on slide block, the end of slide block and X-axis crossbeam fits.
the utility model have also been devised described device and also comprises the pneumatic system, electric control system, the remote control system that are connected with each parts.
clip claw assembly: install jaw fix shaft apart from hole place, edge second at two jaw staight shanks, installs jaw adapter shaft at its excess-three hole place; At the jaw adapter shaft at jaw staight shank and Curved handle binding site place, be inserted in two oscillating bearing locating bushs, in the middle of two oscillating bearing locating bushs, install overall spherical plain bearing rod ends, all the other two jaw adapter shafts are inserted in a jaw locating bush respectively; Nut screwing clamping is used respectively in jaw two ends.
clamping cylinder is bolted in sliding connection plate through installing case back side rectangular channel, and clamping cylinder gas rod end connects cylinder shaft clevis; Sliding connection plate is installed four revolution axle beds, clip claw assembly is placed in two relatively between revolution axle bed, in middle mounting hole, assign fixture axis of revolution being arranged on the overall spherical plain bearing rod end rod end connection clamping cylinder connecting pin in clamp assembly, clamping cylinder connecting pin is placed on cylinder shaft clevis both sides, clamping cylinder bolt is installed in two pieces mounting hole, clamping cylinder bolt two ends clip is fixed, and can be realized the folding of jaw by above-mentioned connection.
the increase labor strength that this practical new beneficial effect uses a dead lift pork to bring for: the utility model can solve, inefficiency, reduction butcher hygienic standard, do not meet food hygiene requires problem.
Accompanying drawing explanation
fig. 1 is the utility model integral structure schematic diagram.
Detailed description of the invention
a kind of robot revolute grabbing device, include R axle column 1, X-axis crossbeam 2, Z axis Lift Part 3, dibit grasping mechanism 4 and base 5, the top of described R axle column 1 is provided with X-axis crossbeam 2, the end of X-axis crossbeam 2 is connected with Z axis Lift Part 3, dibit grasping mechanism 4 and Z axis Lift Part 3 are bolted together, R axle column part 1 drives and adopts servomotor, described R axle column lower end is connected with base 5, X-axis crossbeam 2 and R axle pillar parts are linked together by nut seat, and described dibit grasping mechanism 4 is in horizontal arrangement.
the utility model R axle pillar parts 1 upper end is provided with rotating shaft, and rotating shaft bottom is connected with nut seat, nut sleeve in nut seat mounting hole by bolted after screw in rotating shaft, rotating shaft is fixedly connected with X-axis crossbeam (2); Z axis Lift Part 3 sidepiece is provided with slide block, nut sleeve in nut seat mounting hole by bolted after screw on slide block, the end of slide block and X-axis crossbeam 2 fits.
the utility model have also been devised described device and also comprises pneumatic system, electric control system, remote control system.
workflow of the present utility model is: 1.R axle column: R axle column part drives and adopts servomotor, and base is welded structure, and its bottom is installed on the ground, and the upper end of base is provided with swing bearing; Driven by servomotor gear and swing bearing rotate thus drive other execution unit be arranged on swing bearing to turn round together.
2. X-axis crossbeam: X-axis crossbeam is connected with swing bearing adapter plate by line slideway, the ball-screw that the expanding-contracting action of X-axis is driven by servomotor completes.Crossbeam adopts commercial aluminum alloy section combination to form, and has high, the lightweight advantage of intensity.
3. Y-axis lifting part: Y-axis lifting part is arranged on the end of X-axis crossbeam, is made up of servomotor, ball-screw, line slideway and other attaching partss, be used for material capture after hoist.
4. dibit grasping mechanism: dibit grasping mechanism is arranged on Y-axis lifting mechanism, in horizontal arrangement; Grasping mechanism completes synchronous on-off by air cylinder driven.
motion flow:
1., after material puts in place, material is exercised material under compressing balancing device and is horizontal and sends by position switch the signal that puts in place.
2.R axle rotates to the teaching position in material front, sender.
3.Z axle drops to the teaching height needed for material crawl, sender.
4. grasping mechanism opens, sender.
5.X axle is forwarded to material and captures desired position, sender.
6. gripper mechanism closes, sender.
7.Z axle rises to the teaching position needed for unhook, sender.
8.X axle rotates desired position back to material, sender.
9.R axle rotates to the teaching position one of material discharging, sender.
10. manually pressing the Action Button be arranged on grasping mechanism makes an open-and-close mechanism open, or presses another one Action Button and make two open-and-close mechanisms complete discharging.
11.R axle can be rotated to the teaching position two of material discharging, sender; Manually pressing the Action Button be arranged on grasping mechanism makes an open-and-close mechanism open, or presses another one Action Button and make two open-and-close mechanisms complete discharging.
after 12. dischargings complete, manually press next cycle button, equipment enters actuation cycle next time.
The utility model X-axis beam part and R axle pillar parts are bolted together by nut seat, slide block and line slideway bonded to each other; Y-axis Lift Part and X-axis beam part are bolted together by nut seat, slide block and line slideway bonded to each other; Dibit grasping mechanism and Y-axis Lift Part are bolted together.
Claims (2)
1. a robot revolute grabbing device, include R axle column (1), X-axis crossbeam (2), Z axis Lift Part (3), dibit grasping mechanism (4) and base (5), it is characterized in that: the top of described R axle column (1) is provided with X-axis crossbeam (2), the end of X-axis crossbeam (2) is connected with Z axis Lift Part (3), dibit grasping mechanism (4) and Z axis Lift Part (3) are bolted together, R axle column part (1) drives and adopts servomotor, described R axle column lower end is connected with base (5), X-axis crossbeam (2) and R axle pillar parts are linked together by nut seat, described dibit grasping mechanism (4) is in horizontal arrangement.
2. a kind of robot revolute grabbing device according to claim 1, it is characterized in that: R axle pillar parts (1) upper end is provided with rotating shaft, rotating shaft bottom is connected with nut seat, nut sleeve in nut seat mounting hole by bolted after screw in rotating shaft, rotating shaft is fixedly connected with X-axis crossbeam (2); Z axis Lift Part (3) sidepiece is provided with slide block, nut sleeve in nut seat mounting hole by bolted after screw on slide block, the end of slide block and X-axis crossbeam (2) fits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520040993.5U CN204416549U (en) | 2015-01-21 | 2015-01-21 | A kind of robot revolute grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520040993.5U CN204416549U (en) | 2015-01-21 | 2015-01-21 | A kind of robot revolute grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204416549U true CN204416549U (en) | 2015-06-24 |
Family
ID=53466938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520040993.5U Expired - Fee Related CN204416549U (en) | 2015-01-21 | 2015-01-21 | A kind of robot revolute grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204416549U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560763A (en) * | 2021-08-17 | 2021-10-29 | 烟台华创智能装备有限公司 | Glove box automatic feeding unloading seal welding system |
-
2015
- 2015-01-21 CN CN201520040993.5U patent/CN204416549U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560763A (en) * | 2021-08-17 | 2021-10-29 | 烟台华创智能装备有限公司 | Glove box automatic feeding unloading seal welding system |
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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: 20150624 Termination date: 20170121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |