CN205397474U - Novel multi -functional material manipulator that snatchs - Google Patents
Novel multi -functional material manipulator that snatchs Download PDFInfo
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- CN205397474U CN205397474U CN201620167855.8U CN201620167855U CN205397474U CN 205397474 U CN205397474 U CN 205397474U CN 201620167855 U CN201620167855 U CN 201620167855U CN 205397474 U CN205397474 U CN 205397474U
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- finger
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Abstract
The utility model provides a novel multi -functional material manipulator that snatchs belongs to the manipulator field, including main frame and snatch the mechanism, should snatch the mechanism including snatching cylinder, drive assembly and snatch the finger, snatch on the cylinder is fixed in the main frame, snatch the cylinder pass through drive assembly with it links to each other to snatch the finger, drive assembly includes left side rack, gear and right side rack, the gear is located between this left side rack and the right side rack, and this gear and left side rack and right side rack toothing, the tailpiece of the piston rod who picks the cylinder is fixed continuous with left side rack or right side rack, it has two sets ofly, two sets of to snatch the finger snatch the finger respectively with left side rack and right side rack link to each other. This kind of manipulator structure is reliable, snatchs the flexibility, can snatch easy operation, degree of automation height to the high temperature object.
Description
Technical field
This utility model relates to mechanical hand field, grabs reclaimer robot in particular to a kind of Multifunction.
Background technology
In heat treatment industry, important procedure together with to heat treated part with the transfer of charging tray being, it is achieved it is the work of burdensome that the repetition between different station of different workpieces and charging tray accurately picks and places.In current Heat Treatment Enterprises, majority is all by manually completing this work, minority enterprise can be completed the transfer to quenching part by the automanual material device that captures, be piled up, but to the transfer of charging tray with pile up or by manually completing, there is high temperature, harmful smoke harm in most working environment, and labor intensity is significantly high.The Full-automatic grasping material mechanical hand that quenching workpiece captures and charging tray is carried out to capture function can be had both accordingly, it would be desirable to a kind of.
The Chinese utility model patent that number of patent application is CN201510392454.2 discloses a kind of disk-like accessory catching robot, mainly includes upper limit dish and joint pin, upper limit disk center and joint pin center and has slippage slot；Joint pin bottom has hook groove, and hook groove center and slippage slot connect, and hook groove surrounding is all communicated to joint pin side surface, and hook groove surrounding place is provided with slideway, and slideway slidably connects support bracket；Slippage slot slidably connects passage post, and passage post lower end is provided with pushing frame；Passage post is connected to stage clip, and stage clip is connected to outer screening box, and outer screening box lower end is provided with small-sized chute, is provided with and stirs bar in small-sized chute, and briquetting is installed in upper limit dish upper end.This utility model can complete disk-like accessory is captured and discharges operation by simple operations mode.
This disk-like accessory catching robot is mainly used in capturing and discharge operation in disk-like accessory transfer process, but its structural design is excessively simple, it is impossible to being applicable on same portion mechanical hand can crawl work to heat treated part and charging tray respectively.
Utility model content
This utility model provides a kind of Multifunction and grabs reclaimer robot, it is intended to solve the problems referred to above.
This utility model is achieved in that
A kind of Multifunction grabs reclaimer robot, and including main frame and grasping mechanism, this grasping mechanism includes capturing cylinder, transmission component and capturing finger, and described crawl cylinder is fixed on main frame, captures cylinder and is connected with described crawl finger by transmission component；Described transmission component includes left side tooth bar, gear and right side tooth bar, described gear is located on the left of this between tooth bar and right side tooth bar, and this gear engages with left side tooth bar and right side tooth bar, the tailpiece of the piston rod of described crawl cylinder is fixedly linked with left side tooth bar or right side tooth bar；Described crawl finger has two groups, captures finger and be connected with described left side tooth bar and right side tooth bar respectively described in two groups.
Further, described left side tooth bar and right side tooth bar are respectively connected with left lowering or hoisting gear and right lowering or hoisting gear, described crawl finger includes the charging tray finger for capturing charging tray and the workpiece finger for grabbing workpiece, described workpiece finger has at least two and is connected to described left side tooth bar and right side tooth bar, and described charging tray finger has at least two and is connected to described left lowering or hoisting gear and right lowering or hoisting gear.
Further, described left side tooth bar is connected to left dynamic crossbeam, and described left lowering or hoisting gear is connected with the dynamic crossbeam in this left side；Described right side tooth bar is connected to right dynamic crossbeam, and described right lowering or hoisting gear is connected with the dynamic crossbeam in this right side.
Further, described left lowering or hoisting gear includes left lift cylinder, and this left lift cylinder is connected to the dynamic crossbeam in a described left side by cylinder saddle, and described left lift cylinder is connected to lead, and described charging tray finger is connected to the bottom of this lead.
Further, the described workpiece finger being positioned at left side is connected by the dynamic crossbeam in governor motion and a described left side, this governor motion includes workpiece finger mounted seat, adjusting screw rod and adjusting nut, and described adjusting screw rod and described workpiece finger mounted seat are spirally connected, and described adjusting nut is connected to outside adjusting screw rod；Described workpiece finger and workpiece finger mounted seat pin connect.
Further, described crawl finger adopts heat resisting steel to make, and the bottom of described charging tray finger is provided with outwardly protuberance.
Further, the bottom of described main frame is connected to Tan Liao mechanism movable up and down.
Further, described Tan Liao mechanism includes visiting flitch, connecting rod and stage clip, and described connecting rod is vertically arranged and through main frame, described compression spring sleeve is located at outside connecting rod, and the two ends of this stage clip are connected with the end of described main frame and connecting rod respectively.
Further, the bottom of described main frame is provided with thermal insulation layer, described connecting rod this thermal insulation layer of traverse.
Further, described left lowering or hoisting gear is connected by the dynamic crossbeam in line slideway and a described left side, and described right lowering or hoisting gear is connected by the dynamic crossbeam in line slideway and the described right side.
The beneficial effects of the utility model are: the Multifunction that this utility model is obtained by above-mentioned design grabs reclaimer robot, and it at least has the advantage that
1, rational in infrastructure, reliable, the crawl respectively to quenching workpiece and charging tray can be realized as required.The technical solution of the utility model adopts two sets grasping mechanism (i.e. workpiece grabbing mechanism and charging tray grasping mechanism), carries out the switching between different Grasp Modes by cylinder action；To the grasping stability of material, firm.Adopt air cylinder driven tooth bar, complete synchronization crawl and the release movement of manipulator finger through mid-ambles gear movement mechanism；
2, capturing scope adjustable flexibly, adaptive is high.Capturing finger part and adopt high-quality heat resisting steel processing and fabricating, capturing angle can adjust within the specific limits, by replacing finger, the workpiece within the scope of certain size can be captured；
3, design You Tanliao mechanism, it is to avoid " sky is grabbed " of mechanical hand, can stop the partial radiation heat of heated work pieces simultaneously；
4, high temp objects (temperature < 900 DEG C) can be captured.Adopt heat insulation structural, thermo-labile components and parts (trachea, cylinder, cable etc.) are defined effective protection；
5, adopting Pneumatic drive system, be swift in motion, facilitate, without impact, element and the working media cost of use are low, it is simple to the automatic refit of existing machinery equipment, and environment is not polluted；
6, simple to operate, automaticity is high.Parameter only need to be configured by operator by touch screen, so that it may the whole-course automation realize material transfer, piling up.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, the accompanying drawing used required in embodiment will be briefly described below, it is to be understood that, the following drawings illustrate only some embodiment of the present utility model, therefore the restriction to scope it is not construed as, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the sectional view that the Multifunction that this utility model embodiment provides grabs reclaimer robot；
Fig. 2 is that the Multifunction that this utility model embodiment provides grabs the reclaimer robot sectional view when grabbing workpiece；
Fig. 3 is that the Multifunction that this utility model embodiment provides grabs the reclaimer robot sectional view when capturing charging tray；
Fig. 4 is the partial enlarged drawing of Fig. 1.
Figure acceptance of the bid note is respectively as follows:
1-main frame, 2-cylinder connects seat, 3-captures cylinder, 4-gear, tooth bar on the left of 5-, the left lift cylinder of 6-, 7-cylinder saddle, crossbeam is moved on a 8-left side, 9-lead, 10-charging tray finger mounted frame, 11 adjusting screw rods, 12 thermal insulation layers, 13-visits flitch, 14-workpiece, 15-charging tray, 16-charging tray hands refers to, 17-workpiece finger mounted seat, 18-bearing pin, 19-workpiece hands refers to, crossbeam is moved on the 20-right side, 21-line slideway, tooth bar on the right side of 22-, the right lift cylinder of 23-, 24-adjusting nut, 25-connecting rod, 26-stage clip.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in this utility model embodiment, technical scheme in this utility model embodiment is clearly and completely described, obviously, described embodiment is a part of embodiment of this utility model, rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.Therefore, below the detailed description of the embodiment of the present utility model provided in the accompanying drawings is not intended to limit claimed scope of the present utility model, but is merely representative of selected embodiment of the present utility model.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.
In description of the present utility model, it will be appreciated that, the term of indicating position or position relationship is based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than the equipment of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
In this utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in this utility model as the case may be.
In this utility model, unless otherwise clearly defined and limited, fisrt feature can include the first and second features on or below second feature and directly contact, it is also possible to includes the first and second features and is not directly contact but by the other characterisation contact between them.And, fisrt feature on second feature, above and above include fisrt feature directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature under second feature, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or are merely representative of fisrt feature level height less than second feature.
Embodiment, refers to Fig. 1-Fig. 4.
Present embodiments provide a kind of Multifunction and grab reclaimer robot, referred to as mechanical hand, this mechanical hand mainly includes main frame 1 and grasping mechanism, the major infrastructure part of the i.e. mechanical hand of main frame 1, for supporting and installing miscellaneous part, the main working parts of grasping mechanism and mechanical hand, has been used for capturing work.
Mainly include capturing cylinder 3, transmission component and capturing finger at grasping mechanism at the present embodiment, capture cylinder 3 and be fixed on main frame 1, specifically, capture cylinder 3 and be connected on main frame 1 by cylinder connection seat 2, capture cylinder 3 and be connected with capturing finger by transmission component；By capturing the action of cylinder 3, drive and capture finger movement, complete to capture work.
Transmission component is used for transmitting power, the structural design of transmission component whether rational relation to capture finger can work well, execution, transmission component adopts tooth transmission in the present embodiment, specifically, transmission component includes left side tooth bar 5, gear 4 and right side tooth bar 22, gear 4 is located on the left of this between tooth bar 5 and right side tooth bar 22, and this gear 4 engages with left side tooth bar 5 and right side tooth bar 22, symmetrical structure centered by the transmission component of this structure, left side tooth bar 5 and right side tooth bar 22 are located at the both sides of gear 4 about the centrosymmetry of gear 4, the process of gear 4 action can drive left side tooth bar 5 and right side tooth bar 22 towards or away from motion.
The tailpiece of the piston rod capturing cylinder 3 is fixedly linked with left side tooth bar 5 or right side tooth bar 22, captures cylinder 3 action and drives one of them tooth bar to do rectilinear motion, another tooth bar can be driven to do the motion of symmetry by the meshing relation of this rack and pinion 4；Capturing finger and have two groups, two groups capture finger and are connected with left side tooth bar 5 and right side tooth bar 22 respectively.The action of two tooth bars drives two groups to capture finger synchronization action, completes to capture and release work.
Can be seen that, the design of this robot manipulator structure is ingenious, by transmission component, the rectilinear motion capturing cylinder 3 tailpiece of the piston rod bar being changed into two groups of symmetrical actions capturing finger, course of action is stable, reliable in quality, failure rate is low, the transfer work of workpiece 14 and charging tray 15 in heat treatment process can be completed, servomotor can be passed through simultaneously and realize automatically controlling, control precisely, percent of automatization is high
Specifically, need workpiece 14 and charging tray 15 are shifted in heat treatment process, it is preferred to adopt different finger to realize: left side tooth bar 5 and right side tooth bar 22 are respectively connected with left lowering or hoisting gear and right lowering or hoisting gear, capture finger and include the charging tray finger 16 for capturing charging tray 15 and the workpiece finger 19 for grabbing workpiece 14, workpiece finger 19 has at least two and is connected to left side tooth bar 5 and right side tooth bar 22, and charging tray finger 16 has at least two and is connected to left lowering or hoisting gear and right lowering or hoisting gear.
Charging tray finger 16 is used for capturing charging tray 15, and workpiece finger 19 is used for grabbing workpiece 14.Charging tray finger 16 is connected with each lowering or hoisting gear so that it is can not only in level to completing gripping action, additionally it is possible to vertically inwardly realizing vertical motion.In the course of the work, by lowering or hoisting gear, charging tray finger 16 is removed, it is possible to make it will not hinder workpiece finger 19 action.
Lowering or hoisting gear is connected with each tooth bar, and in the present embodiment, left side tooth bar 5 is connected to left dynamic crossbeam 8, and left lowering or hoisting gear is connected with the dynamic crossbeam 8 in this left side；Right side tooth bar 22 is connected to right dynamic crossbeam 20, and right lowering or hoisting gear is connected with the dynamic crossbeam 20 in this right side.The setting of left dynamic crossbeam 8 and right dynamic crossbeam 20 makes each lowering or hoisting gear conveniently install.
The concrete form of the device that can complete elevating function is more, such as can be designed such that left lowering or hoisting gear includes left lift cylinder 6, left lift cylinder 6 is connected to left dynamic crossbeam 8 by cylinder saddle 7, left lift cylinder 6 is connected to lead 9, the charging tray finger 16 in left side is connected to the bottom of this lead 9, more specifically, charging tray finger 16 is arranged on lead 9 by charging tray finger mounted frame 10.Cylinder is a kind of more stable power set, and lift cylinder herein can adopt same source of the gas with the above-mentioned cylinder 3 that captures, and makes the structure of whole mechanical hand simplify.The setting of lead 9, makes the having stable behavior of left lift cylinder 6, lifts comparatively smooth and easy.
On this basis, right lowering or hoisting gear can be designed such that right lowering or hoisting gear includes right lift cylinder 23, right lift cylinder 23 is connected to right dynamic crossbeam 20 by cylinder saddle 7, and right lift cylinder 23 is connected to lead 9, and the charging tray finger 16 on right side is connected to the bottom of this lead 9.
Left lowering or hoisting gear and right lowering or hoisting gear symmetric design, drive the charging tray finger 16 in left side and the charging tray finger 16 on right side to lift simultaneously in course of action, harmony is higher.
In carrying out heat treatment process, the size difference of workpiece 14 is very big, for enabling this mechanical hand to be applicable to the different size of workpiece 14, has installed governor motion additional in the present embodiment in mechanical hand, has been used for regulating the position of workpiece finger 19.
Each parts for left side: the workpiece finger 19 being positioned at left side is connected by the dynamic crossbeam 8 in governor motion and a left side, this governor motion includes workpiece finger mounted seat 17, adjusting screw rod 11 and adjusting nut 24, adjusting screw rod 11 and workpiece finger mounted seat 17 are spirally connected, and it is outside that adjusting nut 24 is connected to adjusting screw rod 11；Workpiece finger 19 and workpiece finger mounted seat 17 pin joint.
After each parts install, tighten adjusting nut 24, make each parts be completely embedded, work process does not have loosening.When needing to adjust workpiece finger 19 position, unclamp adjusting nut 24 and screw adjusting screw rod 11 and can realize the adjustment of workpiece finger 19 position, after having adjusted, tighten adjusting nut 24.By such design, grasping mechanism is enable to capture various various sizes of workpiece 14.The relation that workpiece finger 19 and workpiece finger mounted seat 17 is connected by bearing pin 18, make workpiece finger 19 contact after workpiece 14 can in little scope adjusting angle, contact area is bigger, captures more stable.
The workpiece finger 19 on right side can also adopt same structure to design, and the workpiece finger 19 making the left and right sides is symmetrical structure, keeps strokes, capture more accurate during work.
For guaranteeing the performance capturing finger, capturing finger and adopt heat resisting steel to make, heat resisting steel can be carbon steel or steel alloy, and each crawl finger intensity and hardness that heat resisting steel is made are all higher, and resistance to elevated temperatures is better, will not occur deformation or chemical change in the course of the work.The bottom of charging tray finger 16 is provided with outwardly protuberance.As it can be seen, charging tray 15 can more stably be held up by the charging tray finger 16 of this structure, good stability.
During for preventing from not having on charging tray 15 workpiece 14, workpiece finger 19 still works, and is connected to Tan Liao mechanism movable up and down in the bottom of main frame 1.Tan Liao mechanism is used for detecting on charging tray 15 and whether there is workpiece 14, and Tan Liao mechanism also can stop the partial radiation heat of heated work pieces simultaneously, and its concrete structure those skilled in the art can rule of thumb be designed.
In the present embodiment, Tan Liao mechanism is designed so as to, and Tan Liao mechanism includes visiting flitch 13, connecting rod 25 and stage clip 26, and connecting rod 25 is vertically arranged and traverse main frame 1, it is outside that stage clip 26 is sheathed on connecting rod 25, and the two ends of this stage clip 26 are connected with the end of main frame 1 and connecting rod 25 respectively.Except above-mentioned each base structure, it is also possible to some detecting elements are set, for instance induction apparatus etc..
Visiting and confirm that workpiece 14 exists after flitch 13 contacts with workpiece 14, when spy flitch 13 is bigger with the contact forces of workpiece 14, compression press spring 26 makes connecting rod 25 rise, to reduce the intermolecular forces visiting flitch 13 with workpiece 14, it is prevented that damage the structural member within workpiece 14 or mechanical hand by pressure.Mechanical hand is enable to run with security and stability by such design.
Alternatively, the bottom of main frame 1 is provided with thermal insulation layer 12, connecting rod 25 this thermal insulation layer 12 of traverse.Thermal insulation layer 12 primarily serves heat-blocking action, and thermal insulation layer 12 can also play buffering effect.Thermal insulation layer 12 can adopt other heat-barrier materials such as rock wool to make.
Lowering or hoisting gear is connected with the dynamic crossbeam 8 in a left side, and specifically, left lowering or hoisting gear is connected by the dynamic crossbeam 8 in line slideway 21 and a left side, and right lowering or hoisting gear is connected by the dynamic crossbeam 20 in line slideway 21 and the right side.The design of line slideway 21 makes the motion in the horizontal direction of each operation parts more steady.
This mechanical hand, its complete operation can be as follows, certainly, can also realize its work by other steps through simple improvement:
1. when pair workpiece 14 captures:
(1) press " holder refers to rise " button and (control of this mechanical hand can be realized by arranging control equipment, the title of button can also be drafted voluntarily), left lift cylinder 6 and right lift cylinder 23 are regained simultaneously, drive charging tray 15 lowering or hoisting gear to rise, and stop when rising to limit position.At this moment charging tray 15 grasping mechanism (mechanism that namely lowering or hoisting gear forms with charging tray finger 16) is in off-position, and workpiece 14 grasping mechanism is in operating position；
(2) " firmly grasping " button is pressed, capturing cylinder 3 action, driven gear 4 tooth bar moves, and left dynamic crossbeam 8 and right dynamic crossbeam 20 do out movement under the pulling of each tooth bar, until workpiece 14 is firmly embraced the motion of rear grasping mechanism and stopped by workpiece finger 19, workpiece 14 " crawl " action completes；
(3) when workpiece 14 being transferred to blowing position, press " loosening " button, capture cylinder 3 action, driven gear 4 tooth bar moves, left and right dynamic crossbeam 20 does adverse movement under tooth bar pulls, workpiece finger 19 leaves workpiece 14, and workpiece 14 " loosening " action completes, it is achieved that the release to workpiece 14.
2. when pair charging tray 15 captures:
(1) pressing " holder refers to drop " button, left lift cylinder 6 and right lift cylinder 23 stretch out simultaneously, drive charging tray 15 grasping mechanism to decline, and stop when dropping to limit position.At this moment charging tray 15 grasping mechanism is in operating position (now, charging tray 15 should not be placed with workpiece 14)；
(2) " firmly grasping " button is pressed, capture cylinder 3 action, driven gear 4 and the motion of each tooth bar, left dynamic crossbeam 8 and right dynamic crossbeam 20 under the pulling of tooth bar, do out movement, until charging tray 15 is firmly embraced the motion of rear grasping mechanism and stopped by charging tray finger 16, charging tray 15 " crawl " action completes；
(3) when charging tray 15 being transferred to blowing position, press " loosening " button, capture cylinder 3 action, driven gear 4 and the motion of each tooth bar, left dynamic crossbeam 8 and right dynamic crossbeam 20 do adverse movement under tooth bar pulls, and charging tray finger 16 leaves charging tray 15, and charging tray 15 " loosening " action completes.Achieve the release to charging tray 15.
This robot device adopts servo-control system, when needs carry out the large batch of repeatability transfer of same workpiece 14, charging tray 15, can first pass through after material carries out system coordinates location by manual operation, by the Auto button, control system, by the position of memory, can realize automatically the shifting of material, pile up；
This Multifunction grab reclaimer robot can realize between differing heights and discontinuous workbench workpiece 14, charging tray 15 repeat pick and place, replace hand labor, alleviate hand labor intensity, improve the gentle labor productivity of Automated water, it is ensured that the quality of product and the safety of workman.
These are only preferred implementation of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (10)
1. a Multifunction grabs reclaimer robot, it is characterized in that, including main frame and grasping mechanism, this grasping mechanism includes capturing cylinder, transmission component and capturing finger, described crawl cylinder is fixed on main frame, captures cylinder and is connected with described crawl finger by transmission component；Described transmission component includes left side tooth bar, gear and right side tooth bar, described gear is located on the left of this between tooth bar and right side tooth bar, and this gear engages with left side tooth bar and right side tooth bar, the tailpiece of the piston rod of described crawl cylinder is fixedly linked with left side tooth bar or right side tooth bar；Described crawl finger has two groups, captures finger and be connected with described left side tooth bar and right side tooth bar respectively described in two groups.
2. Multifunction according to claim 1 grabs reclaimer robot, it is characterized in that, described left side tooth bar and right side tooth bar are respectively connected with left lowering or hoisting gear and right lowering or hoisting gear, described crawl finger includes the charging tray finger for capturing charging tray and the workpiece finger for grabbing workpiece, described workpiece finger has at least two and is connected to described left side tooth bar and right side tooth bar, and described charging tray finger has at least two and is connected to described left lowering or hoisting gear and right lowering or hoisting gear.
3. Multifunction according to claim 2 grabs reclaimer robot, it is characterised in that described left side tooth bar is connected to left dynamic crossbeam, and described left lowering or hoisting gear is connected with the dynamic crossbeam in this left side；Described right side tooth bar is connected to right dynamic crossbeam, and described right lowering or hoisting gear is connected with the dynamic crossbeam in this right side.
4. Multifunction according to claim 3 grabs reclaimer robot, it is characterized in that, described left lowering or hoisting gear includes left lift cylinder, this left lift cylinder is connected to the dynamic crossbeam in a described left side by cylinder saddle, described left lift cylinder is connected to lead, and described charging tray finger is connected to the bottom of this lead.
5. Multifunction according to claim 3 grabs reclaimer robot, it is characterized in that, the described workpiece finger being positioned at left side is connected by the dynamic crossbeam in governor motion and a described left side, this governor motion includes workpiece finger mounted seat, adjusting screw rod and adjusting nut, described adjusting screw rod and described workpiece finger mounted seat are spirally connected, and described adjusting nut is connected to outside adjusting screw rod；Described workpiece finger and workpiece finger mounted seat pin connect.
6. Multifunction according to claim 2 grabs reclaimer robot, it is characterised in that described crawl finger adopts heat resisting steel to make, and the bottom of described charging tray finger is provided with outwardly protuberance.
7. Multifunction according to claim 1 grabs reclaimer robot, it is characterised in that the bottom of described main frame is connected to Tan Liao mechanism movable up and down.
8. Multifunction according to claim 7 grabs reclaimer robot, it is characterized in that, described Tan Liao mechanism includes visiting flitch, connecting rod and stage clip, described connecting rod is vertically arranged and traverse main frame, described compression spring sleeve is located at outside connecting rod, and the two ends of this stage clip are connected with the end of described main frame and connecting rod respectively.
9. Multifunction according to claim 8 grabs reclaimer robot, it is characterised in that the bottom of described main frame is provided with thermal insulation layer, described connecting rod this thermal insulation layer of traverse.
10. Multifunction according to claim 3 grabs reclaimer robot, it is characterised in that described left lowering or hoisting gear is connected by the dynamic crossbeam in line slideway and a described left side, and described right lowering or hoisting gear is connected by the dynamic crossbeam in line slideway and the described right side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620167855.8U CN205397474U (en) | 2016-03-04 | 2016-03-04 | Novel multi -functional material manipulator that snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620167855.8U CN205397474U (en) | 2016-03-04 | 2016-03-04 | Novel multi -functional material manipulator that snatchs |
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| Publication Number | Publication Date |
|---|---|
| CN205397474U true CN205397474U (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620167855.8U Withdrawn - After Issue CN205397474U (en) | 2016-03-04 | 2016-03-04 | Novel multi -functional material manipulator that snatchs |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN111661641A (en) * | 2020-06-24 | 2020-09-15 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
-
2016
- 2016-03-04 CN CN201620167855.8U patent/CN205397474U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN105600429B (en) * | 2016-03-04 | 2018-04-24 | 宁夏机械研究院股份有限公司 | It is multi-functional to grab reclaimer robot |
| CN111661641A (en) * | 2020-06-24 | 2020-09-15 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
| CN111661641B (en) * | 2020-06-24 | 2022-03-08 | 博众精工科技股份有限公司 | Storage battery clamping mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160727 Effective date of abandoning: 20180424 |