CN205572457U - Mechanical type hand claw and have transfer robot of this mechanical type hand claw - Google Patents
Mechanical type hand claw and have transfer robot of this mechanical type hand claw Download PDFInfo
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- CN205572457U CN205572457U CN201620271782.7U CN201620271782U CN205572457U CN 205572457 U CN205572457 U CN 205572457U CN 201620271782 U CN201620271782 U CN 201620271782U CN 205572457 U CN205572457 U CN 205572457U
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- pallet
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Abstract
The utility model belongs to the industrial automation field relates to one kind and is used for loading and unloading and the stack mechanical type hand claw of goods and materials in bags, still relates to one kind and has the transfer robot of mechanical type hand claw. This mechanical type hand claw include with the coupling mechanism that is connected of the mechanical arm of transport, fixed connection in coupling mechanism and guide rail (2) of extending along the horizontal direction, fixed connection in guide rail (2) tray (3) and construct along the loader of the extending direction motion of guide rail (2), tray (3) are constructed the component with loader and are held the space of goods and materials in bags. The utility model is used for loading and unloading and stack the mechanical type hand claw of goods and materials have in bags improved handling efficiency, have reduced environmental pollution, make the operation more simple and convenient, realize the mechanization and the automation of means of agricultural production loading and unloading.
Description
Technical field
This utility model belongs to industrial automation, in particular it relates to a kind of mechanical type paw for handling with the packed goods and materials of stacking, further relates to a kind of transfer robot with described mechanical type paw.
Background technology
At present, the warehouse carrying of the packed goods and materials of China and handling mode mainly shoulder are shouldered and are drawn with dolly, and stevedore's not only labor intensity is big, inefficiency, and is to work in the environment of dust, easily endangers physical and mental health.
The equipment being widely used in the handling of packed goods and materials both at home and abroad has two kinds: vacuum suction crane formula paw and mechanical type paw.For vacuum suction crane formula paw, though simple and quick, but the handling requirement in small space can not be met；For mechanical type paw, the structure generally bent due to its paw, cause the packed goods and materials of intensive stacking being carried out crawl lossless, quick and handling.
In sum, handling facilities of the prior art are all poorly suitable for the handling of packed goods and materials of intensive stacking, it is impossible to packed goods and materials carry out lossless quick crawl.
Therefore in the urgent need to a kind of mechanical type paw that can meet the quick and lossless handling of packed goods and materials and stacking.
Summary of the invention
This utility model needs the problems such as the mode that working place is big, paw directly captures easily makes packaging bag damaged for the structure that existing machinery formula paw bends, provide a kind of mechanical type paw for handling with the packed goods and materials of stacking, use and promote and pull the mode of packed goods and materials to carry out loading and unloading and stacking, solve a difficult problem for packaging bag cracky during crawl well.
For achieving the above object, this utility model is achieved through the following technical solutions:
A kind of mechanical type paw for handling with the packed goods and materials of stacking, this mechanical type paw includes: bindiny mechanism, guide rail 2, pallet 3, charging crane and drive mechanism, pallet 3 and the space of the charging crane composition packed goods and materials of receiving, wherein,
Two guide rails 2 are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam 18 is fixing, and the other end connects by pallet connecting cross beam 12 is fixing；
Described pallet 3 includes many " L " shape pallet bars that are connected fixing with pallet connecting cross beam 12 the most spaced apart, and described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is below guide rail 2；
Described bindiny mechanism is fixedly connected between the upper end of two guide rails 2；
Described charging crane includes slide block 8, link 9, first clamping plate 10 and the second clamping plate 11, wherein, described slide block 8 is slidably connected with guide rail 2, described link 9 is rectangular frame structure, it includes the first link side 19, second link side 20 and connect the first link side 19 and crossbeam at the second link side 20 two ends respectively, first link side 19 is fixing with the lower end of slide block 8 to be connected, and vertically it is arranged at intervals with many first clamping plate 10, second link side 20 is vertically arranged at intervals with many second clamping plate 11, and first clamping plate 10 be disposed in proximity to the vertical portion of pallet 3, second clamping plate 11 are arranged at the vertical portion away from pallet 3；
Described drive mechanism includes either-rotation motor 13, ball-screw 14, nut 15, shaft coupling 16 and lobe 17, wherein, ball-screw 14 is arranged between two guide rails 2 and parallel with guide rail 2, ball-screw 14 one end is connected by shaft coupling 16 is fixing with the outfan of either-rotation motor 13, the other end is connected with the bearing block being fixed on inside guide rail connecting cross beam 18, lobe 17 is fixed on the first link side 19, lobe 17 has through hole, being connected in the through hole of described lobe 17 to described nut 15 interference fit, nut 15 is socketed on ball-screw 14.
The upper end of described bindiny mechanism is detachably connected with carrying implement mechanical arm.
Described bindiny mechanism includes connecting portion 1 and bracing frame 6；
Described connecting portion 1 is the disk-like structure of disk or square plate；
Support frame as described above 6 is frame structure, including cylinder 7, horizontal connecting plate 61, vertical connecting plate 62 and connection floor 63, wherein, the upper end of cylinder 7 is fixing with the lower end of connecting portion 1 to be connected, the lower end of described cylinder 7 is fixing with horizontal connecting plate 61 to be connected, the lower end of horizontal connecting plate 61 is fixing with the upper end of vertical connecting plate 62 to be connected, and the lower end of vertical connecting plate 62 is fixing with guide rail 2 to be connected, and the upper end of described horizontal connecting plate 61 is also fixedly connected with the connection floor 63 extended from cylinder 7 to edge.
Described connecting portion 1 outer rim is provided with bolt connecting hole, detachably connected with the carrying implement mechanical arm of robot by bolt.
Described connecting portion 1 is detachably connected with the carrying implement mechanical arm of robot by magnetic force.
Connecting portion 1 center is provided with through hole 4, and the center of horizontal connecting plate 61 is provided with hole, and the endoporus of cylinder 7 is corresponding with the hole on the through hole 4 of connecting portion 1 and horizontal connecting plate 61 respectively.
Spacing between described first clamping plate 10 and the second clamping plate 11 is more than or equal to the width of packed goods and materials, and is more than or equal to the length of pallet 3 horizontal part.
Being additionally provided with position sensor 5 on described charging crane, position sensor 5 is connected on the second link side 20.
Described mechanical paw also includes that controller, position sensor 5 and/or either-rotation motor 13 are electrically connected to controller, and according to the signal of position sensor 5, controller sends the signal making either-rotation motor 13 move or stop.
A kind of have for handling and the transfer robot of the mechanical type paw of the packed goods and materials of stacking.
The beneficial effects of the utility model are:
Mechanical type paw for handling and the packed goods and materials of stacking of the present utility model uses straight clamping plate to carry out vertically as well as horizontally so that the space needed for the motion of mechanical type paw is little, does not has other to hinder, has the crawl feature such as flexible reliable, mobile；Meanwhile, use either-rotation motor, utilize its rotating, just can realize two steps of loading, unloading to packed goods and materials.Replace a dead lift in means of agricultural production handling occasion, alleviate the labor intensity of stevedore, improve the efficiency of loading and unloading, reduce environmental pollution, make operation easier, it is achieved the mechanization of means of agricultural production handling and automatization.
Accompanying drawing explanation
Fig. 1 is the structural representation for handling with the mechanical type paw of the packed goods and materials of stacking of the present utility model.
Fig. 2 is the structural representation for handling with mechanical type another angle of paw of the packed goods and materials of stacking of the present utility model.
Reference
1 connecting portion 2 guide rail
3 pallet 4 through holes
5 position sensor 6 bracing frames
The 61 vertical connecting plates of horizontal connecting plate 62
63 connect floor
7 cylinder 8 slide blocks
9 link 10 first clamping plate
11 second clamping plate 12 pallet connecting cross beams
13 either-rotation motor 14 ball-screws
15 nut 16 shaft couplings
17 lobe 18 guide rail connecting cross beams
19 first link side 20 second link sides
Detailed description of the invention
Below in conjunction with the accompanying drawings, detailed description of the invention of the present utility model is described in further detail.
As shown in Figure 1-2, the mechanical type paw for handling and the packed goods and materials of stacking of the present utility model includes: bindiny mechanism, guide rail 2, pallet 3, charging crane and drive mechanism.Wherein, pallet 3 and charging crane constitute the space accommodating packed goods and materials.
Two guide rails 2 are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam 18 is fixing, and the other end connects by pallet connecting cross beam 12 is fixing.
Pallet 3 includes many " L " shape pallet bars that are connected fixing with pallet connecting cross beam 12 the most spaced apart, and described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is below guide rail 2.The mode using interval to arrange many pallet bars replaces integrated pallet can effectively alleviate mechanical paw weight, reduces power consumption.
Bindiny mechanism is fixedly connected between the upper end of two guide rails 2, and the upper end of bindiny mechanism is detachably connected with carrying implement mechanical arm, and bindiny mechanism includes connecting portion 1 and bracing frame 6.Connecting portion 1 is preferably disk or the disk-like structure of square plate, and center is provided with through hole 4.Connecting portion 1 outer rim is preferably provided with bolt connecting hole, detachably connected with the carrying implement mechanical arm of robot by bolt.Alternatively, connecting portion 1 can also be detachably connected with the carrying implement mechanical arm of robot by magnetic force.Bracing frame 6 is frame structure, including cylinder 7, horizontal connecting plate 61, vertical connecting plate 62 and connection floor 63, wherein, the upper end of cylinder 7 is fixing with the lower end of connecting portion 1 to be connected, the lower end of described cylinder 7 is fixing with horizontal connecting plate 61 to be connected, the center of horizontal connecting plate 61 is provided with hole, and the endoporus of cylinder 7 is corresponding with the hole on the through hole 4 of connecting portion 1 and horizontal connecting plate 61 respectively, it is easy to pass for the wire harness connected, making overall structure more compact, arranging of through hole can alleviate overall weight simultaneously.The lower end of horizontal connecting plate 61 is fixing with the upper end of vertical connecting plate 62 to be connected, and the lower end of vertical connecting plate 62 is fixing with guide rail 2 to be connected.The upper end of described horizontal connecting plate 61 is also fixedly connected with the connection floor 63 extended from cylinder 7 to edge, the structural strength overall to promote bindiny mechanism.
Charging crane includes slide block 8, link the 9, first clamping plate 10 and the second clamping plate 11.Wherein, described slide block 8 is slidably connected with guide rail 2, makes slide block 8 can slide along the bearing of trend of guide rail 2.Described link 9 is rectangular frame structure, it includes the first link side 19, second link side 20 and connect the first link side 19 and crossbeam at the second link side 20 two ends respectively, first link side 19 is fixing with the lower end of slide block 8 to be connected, and vertically it is arranged at intervals with many first clamping plate 10, second link side 20 is vertically arranged at intervals with many second clamping plate 11, and first clamping plate 10 be disposed in proximity to the vertical portion of pallet 3, second clamping plate 11 are arranged at the vertical portion away from pallet 3, spacing between described first clamping plate 10 and the second clamping plate 11 is more than or equal to the width of packed goods and materials, and more than or equal to the length of pallet 3 horizontal part.
Drive mechanism includes either-rotation motor 13, ball-screw 14, the nut 15 on flanged limit, shaft coupling 16 and lobe 17.Wherein, ball-screw 14 is arranged between two guide rails 2 and parallel with guide rail 2, and ball-screw 14 one end is connected by shaft coupling 16 is fixing with the outfan of either-rotation motor 13, and the other end is connected with the bearing block being fixed on inside guide rail connecting cross beam 18.Lobe 17 is fixed on the first link side 19, and lobe 17 has through hole, is connected in the through hole of described lobe 17 to described nut 15 interference fit, and nut 15 is socketed on ball-screw 14, drives handler to move along guide rail 2 by either-rotation motor 13.When either-rotation motor 13 drives ball-screw 14 to rotate, nut 15 drive charging crane away from or close to either-rotation motor 13.
Being additionally provided with position sensor 5 on described charging crane, position sensor 5 is connected on the second link side 20, it is possible to be positioned at the diverse location of charging crane according to concrete occasion, is mainly used in the relative position sensing with measuring charging crane and packed goods and materials.
Described mechanical paw also includes that controller, position sensor 5 and/or either-rotation motor 13 are electrically connected to controller, and according to the signal of position sensor 5, controller sends the signal making either-rotation motor 13 move or stop, to realize automatic loading and unloading.
This utility model also provides for a kind of transfer robot, and this transfer robot includes above-mentioned mechanical paw.
The work process of the mechanical type paw for loading and unloading packed goods and materials of the present utility model is as follows:
By connecting portion 1, the mechanical type paw for loading and unloading packed goods and materials of the present utility model is connected to the mechanical arm of transfer robot.
During work, either-rotation motor 13 drives ball-screw 14 to rotate, and nut 15 and lobe 17 are moved along the bearing of trend of guide rail 2, thus are further driven to charging crane and are moved outwardly to distalmost end along guide rail 2；
Then transfer robot drives the motion of mechanical type paw, after position sensor 5 finds the gap of vertical direction between packed goods and materials, transfer robot drives the second clamping plate 11 of mechanical type paw to move to the top in described gap, rear drive the second clamping plate 11 move downward, make the second clamping plate 11 be inserted among gap；
After dropping to appropriate depth, either-rotation motor 13 inverts, and the second clamping plate 11 back move along guide rail 2 under the drive of driving force, thus pulls packed goods and materials to be moved on pallet 3.
Mechanical type paw equipped with packed goods and materials is moved by the carrying implement mechanical arm of robot, when position is piled up in arrival, first clamping plate 10 promote packed goods and materials to leave pallet 3 under the effect of the driving force of either-rotation motor 13, it is achieved thereby that to the handling of packed goods and materials and stacking.
Claims (10)
1. a mechanical type paw, it is characterised in that:
This mechanical type paw includes: bindiny mechanism, guide rail (2), pallet (3), charging crane and drive mechanism, pallet (3) and the space of the charging crane composition packed goods and materials of receiving, wherein,
Two guide rails (2) are arranged parallel in the horizontal direction, and one end connects by guide rail connecting cross beam (18) is fixing, and the other end connects by pallet connecting cross beam (12) is fixing；
Described pallet (3) includes many " L " shape pallet bars that are connected fixing with pallet connecting cross beam (12) the most spaced apart, described " L " shape pallet bar includes vertical portion and horizontal part, and described horizontal position is in guide rail (2) lower section；
Described bindiny mechanism is fixedly connected between the upper end of two guide rails (2)；
nullDescribed charging crane includes slide block (8)、Link (9)、First clamping plate (10) and the second clamping plate (11)，Wherein，Described slide block (8) is slidably connected with guide rail (2)，Described link (9) is rectangular frame structure，It includes the first link side (19)、Second link side (20) and connect the first link side (19) and the crossbeam at the second link side (20) two ends respectively，First link side (19) is fixing with the lower end of slide block (8) to be connected，And vertically it is arranged at intervals with many first clamping plate (10)，Second link side (20) is vertically arranged at intervals with many second clamping plate (11)，And first clamping plate (10) be disposed in proximity to the vertical portion of pallet (3)，Second clamping plate (11) are arranged at the vertical portion away from pallet (3)；
Described drive mechanism includes either-rotation motor (13), ball-screw (14), nut (15), shaft coupling (16) and lobe (17), wherein, ball-screw (14) is arranged between two guide rails (2) and parallel with guide rail (2), ball-screw (14) one end is connected by shaft coupling (16) is fixing with the outfan of either-rotation motor (13), the other end and the bearing block being fixed on guide rail connecting cross beam (18) inner side are connected, lobe (17) is fixed on the first link side (19), lobe (17) has through hole, it is connected in the through hole of described lobe (17) to described nut (15) interference fit, nut (15) is socketed on ball-screw (14).
Mechanical type paw the most according to claim 1, it is characterised in that:
The upper end of described bindiny mechanism is detachably connected with carrying implement mechanical arm.
Mechanical type paw the most according to claim 1, it is characterised in that:
Described bindiny mechanism includes connecting portion (1) and bracing frame (6)；
Described connecting portion (1) is the disk-like structure of disk or square plate；
Support frame as described above (6) is frame structure, including cylinder (7), horizontal connecting plate (61), vertical connecting plate (62) and connection floor (63), wherein, the upper end of cylinder (7) is fixing with the lower end of connecting portion (1) to be connected, the lower end of described cylinder (7) is fixing with horizontal connecting plate (61) to be connected, the lower end of horizontal connecting plate (61) is fixing with the upper end of vertical connecting plate (62) to be connected, vertically the lower end of connecting plate (62) is fixing with guide rail (2) is connected, the upper end of described horizontal connecting plate (61) is also fixedly connected with the connection floor (63) extended from cylinder (7) to edge.
Mechanical type paw the most according to claim 3, it is characterised in that:
Described connecting portion (1) outer rim is provided with bolt connecting hole, detachably connected with the carrying implement mechanical arm of robot by bolt.
Mechanical type paw the most according to claim 3, it is characterised in that:
Described connecting portion (1) is detachably connected with the carrying implement mechanical arm of robot by magnetic force.
Mechanical type paw the most according to claim 3, it is characterised in that:
Connecting portion (1) center is provided with through hole (4), the center of horizontal connecting plate (61) is provided with hole, and the endoporus of cylinder (7) is corresponding with the hole on the through hole of connecting portion (1) (4) and horizontal connecting plate (61) respectively.
Mechanical type paw the most according to claim 1, it is characterised in that:
Spacing between described first clamping plate (10) and the second clamping plate (11) is more than or equal to the width of packed goods and materials, and is more than or equal to the length of pallet (3) horizontal part.
Mechanical type paw the most according to claim 1, it is characterised in that:
Being additionally provided with position sensor (5) on described charging crane, position sensor (5) is connected on the second link side (20).
Mechanical type paw the most according to claim 8, it is characterised in that:
Described mechanical paw also includes controller, position sensor (5) and/or either-rotation motor (13) are electrically connected to controller, according to the signal of position sensor (5), controller sends the signal making either-rotation motor (13) move or stop.
10. a transfer robot, it is characterised in that: this transfer robot has the mechanical type paw as described in one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620271782.7U CN205572457U (en) | 2016-04-05 | 2016-04-05 | Mechanical type hand claw and have transfer robot of this mechanical type hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620271782.7U CN205572457U (en) | 2016-04-05 | 2016-04-05 | Mechanical type hand claw and have transfer robot of this mechanical type hand claw |
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| Publication Number | Publication Date |
|---|---|
| CN205572457U true CN205572457U (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620271782.7U Expired - Fee Related CN205572457U (en) | 2016-04-05 | 2016-04-05 | Mechanical type hand claw and have transfer robot of this mechanical type hand claw |
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| CN (1) | CN205572457U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773649A (en) * | 2016-04-05 | 2016-07-20 | 中国农业大学 | Mechanical paw for loading, unloading and stacking bagged materials |
| CN106625577A (en) * | 2016-11-16 | 2017-05-10 | 广东国哲自动化设备有限公司 | Carrying manipulator |
| CN114012699A (en) * | 2021-08-27 | 2022-02-08 | 安徽绿谷新材料有限公司 | Mechanical arm for grabbing and carrying elastic breathable materials |
| CN115284373A (en) * | 2022-08-05 | 2022-11-04 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat pressing flat die-cutting machine |
-
2016
- 2016-04-05 CN CN201620271782.7U patent/CN205572457U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773649A (en) * | 2016-04-05 | 2016-07-20 | 中国农业大学 | Mechanical paw for loading, unloading and stacking bagged materials |
| CN106625577A (en) * | 2016-11-16 | 2017-05-10 | 广东国哲自动化设备有限公司 | Carrying manipulator |
| CN114012699A (en) * | 2021-08-27 | 2022-02-08 | 安徽绿谷新材料有限公司 | Mechanical arm for grabbing and carrying elastic breathable materials |
| CN114012699B (en) * | 2021-08-27 | 2024-05-10 | 安徽绿谷新材料有限公司 | Manipulator for grabbing and carrying elastic breathable material |
| CN115284373A (en) * | 2022-08-05 | 2022-11-04 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat pressing flat die-cutting machine |
| CN115284373B (en) * | 2022-08-05 | 2024-06-07 | 瑞安市晨力机械制造有限公司 | Waste removing machine for flat-pressing flat die cutting machine |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20170405 |