CN205915340U - Robot hacking machine - Google Patents
Robot hacking machine Download PDFInfo
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- CN205915340U CN205915340U CN201620952556.5U CN201620952556U CN205915340U CN 205915340 U CN205915340 U CN 205915340U CN 201620952556 U CN201620952556 U CN 201620952556U CN 205915340 U CN205915340 U CN 205915340U
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- arm
- auxiliary
- rotating part
- fixed
- handgrip
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Abstract
The utility model discloses a robot hacking machine, including the lift frame, the revolving stage, main arm, auxiliary machinery arm and tongs, the lift frame comprises frame and hydraulic stretching bracing piece, the hydraulic pressure bracing piece sets up the bottom at the frame, the revolving stage can be followed the horizontal direction pivoted and set up the top at the frame, main arm and auxiliary machinery arm all set up on the revolving stage, main arm is by consecutive fixed arm, first rotating part, first linking arm, the second rotating part, second linking arm and tongs fixed part constitute, the auxiliary machinery arm is by consecutive supplementary fixed arm, an auxiliary rotating portion, first auxiliary connection arm, second auxiliary connection portion, second auxiliary connection arm, third auxiliary connection portion and third auxiliary connection arm constitute, auxiliary machinery arm and main arm link to each other. The problem of the hacking machine can not be carried the object that exceedes basis weight volume among the prior art, and the clamping device of hacking machine can not follow the rotation of vertical direction simultaneously is solved.
Description
Technical field
This utility model is related to mechanical handing field and in particular to a kind of robot stacking machine.
Background technology
With social development and progress, increasing manufacturing enterprise, select to carry out generation using automated mechanical equipment
Work for artificial, this is because, in normal conditions, plant equipment is more more stable than people, to be controlled by the program that then passes through,
It is more accurate that plant equipment completes, and complete single work using plant equipment, and cost is more low, Er Qieji
Tool equipment can be used for high-risk work, so being replaced with plant equipment manually working is the inexorable trend of social development.
Aborning, when packaged article being carried, generally first carry out piling with stacking machine, article are deposited into
Together, stacking machine of the prior art, due to the restriction of power, generally can not carry too heavy object, and this just makes making of stacking machine
With receiving certain restriction.
Utility model content
The purpose of this utility model is to provide a kind of robot stacking machine, and in solution prior art, stacking machine is to more than one
Determine the problem that the object of weight can not be carried, what the clamping device of solution stacking machine can not vertically rotate simultaneously asks
Topic.
For solving above-mentioned technical problem, this utility model employs the following technical solutions:
A kind of robot stacking machine, including lifting seat, turntable, main mechanical arm, auxiliary mechanical arm and handgrip, lifting seat
It is made up of support and hydraulically extensible support bar, hydraulic pressure support bar is arranged on the bottom of support, turntable can rotate in the horizontal direction
It is arranged on the top of support, main mechanical arm and auxiliary mechanical arm are arranged on turntable, main mechanical arm includes fixed arm, the first rotation
Transfer part, the first linking arm, the second rotating part, the second linking arm and handgrip fixed part, one end of fixed arm is fixed on support, separately
One end is connected with the first rotating part that can vertically rotate, and one end of the first linking arm is connected with the first rotating part, the other end
It is connected with the second rotating part that can vertically rotate, the rotation direction of the first rotating part and the second rotating part is consistent, and second even
The one end connecing arm is connected with the second rotating part, and the other end is connected with handgrip fixed part, the setting that handgrip can rotate in the horizontal direction
On handgrip fixed part, along the vertical rotation direction of main mechanical arm, handgrip is located at the side of fixed arm, and auxiliary mechanical arm is arranged on solid
Determine the opposite side of arm, auxiliary fixed arm that auxiliary mechanical arm includes being sequentially connected, the first auxiliary rotating part, the first auxiliary connect
Arm, the second auxiliary connecting portion, the second auxiliary linking arm, the 3rd auxiliary connecting portion and the 3rd auxiliary linking arm, auxiliary fixed arm is solid
It is scheduled on support, what the first auxiliary rotating part can vertically rotate is arranged on auxiliary fixed arm, the first auxiliary rotating part
Rotation direction consistent with the rotation direction of the first rotating part, second auxiliary connecting portion and the 3rd auxiliary connecting portion all pass through lift
Arm is connected with the second rotating part, the 3rd auxiliary linking arm end be connected with handgrip fixed part, turntable, the first rotating part, second
It is equipped with servomotor on rotating part, handgrip fixed part and the first auxiliary rotating part.
When using robot stacking machine crawl goods, start the servo electricity on turntable and main mechanical arm by controller
Machine, now in the presence of servomotor, main mechanical arm is taken to by turntable needs the goods side of crawl, then in the first rotation
Under servomotor collective effect in portion and the second rotating part, handgrip moves to main mechanical arm on the goods needing crawl
Side, then controls the servomotor of handgrip fixed part, so that handgrip is horizontally rotated, to adjust handgrip according to putting of goods,
After adjusting, just captured, by controlling hydraulic pressure support bar, the height of lifting seat can be adjusted, so can be according to goods
The height stacked stacking machine is adjusted, and adapts to more situations, when carrying motionless because the goods of carrying is too heavy,
By controller, start auxiliary mechanical arm, the servomotor on the first auxiliary rotating part comes into operation, with auxiliary mechanical arm,
Rotated in vertical direction, now by lifting arm and the 3rd auxiliary linking arm, transfer energy to main mechanical arm, reduce master
Heavier goods thus can be picked up and be carried by the heavy burden of mechanical arm.
As of the present utility model further preferably, the quantity of described hydraulically extensible support bar is more than 4.This be in order to
Make lifting seat more steady, reduce the burden of each hydraulically extensible support bar simultaneously, extend hydraulically extensible support bar
Service life.
As of the present utility model further preferably, to intermediate recess, the other end revolves with second for one end of described lifting arm
Transfer part is connected, and the second auxiliary connecting portion and the 3rd auxiliary connecting portion are arranged on lifting arm and are recessed in two raised points of one end.
As of the present utility model further preferably, described support top is provided with horizon detector.Goods due to crawl
Generally all heavier, use over a long time can make hydraulically extensible support bar loosen unavoidably, and such equipment will incline when capturing goods
Tiltedly, if processed not in time, robot stacking machine may be toppled over, damaged, arranges horizon detector at support top, with regard to energy
Timely detect this situation, machinery is adjusted, fixing.
Compared with prior art, this utility model at least can reach in following beneficial effect:
1. stacking machine can be made to copy heavier goods mechanically.
2. the height that can stack as needed, is adjusted to the height of stacking machine, stacking machine can be made to adapt to a greater variety
Situation.
3. the situation that stacking machine tilts can be detected at any time, stacking machine is adjusted, reduce the machine that stacking machine damages
Rate.
Brief description
Fig. 1 is structural representation of the present utility model.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Specific embodiment 1:
Fig. 1 shows a kind of robot stacking machine, including lifting seat 1, turntable 2, main mechanical arm 3, auxiliary mechanical arm 4 and
Handgrip 5, lifting seat 1 is made up of support 11 and hydraulically extensible support bar 12, and hydraulic pressure support bar 12 is arranged on the bottom of support 11,
What turntable 2 can rotate in the horizontal direction is arranged on the top of support 11, and main mechanical arm 3 and auxiliary mechanical arm 4 are arranged at turntable 2
On, main mechanical arm 3 includes fixed arm 31, the first rotating part 32, the first linking arm 33, the second rotating part 34, the second linking arm 35
With handgrip fixed part 36, one end of fixed arm 31 is fixed on support 11, and the other end is connected with first can vertically rotating
Rotating part 32, one end of the first linking arm 33 is connected with the first rotating part 32, and the other end is connected with can vertically rotating
Two rotating parts 34, the first rotating part 32 is consistent with the rotation direction of the second rotating part 34, one end and second of the second linking arm 35
Rotating part 34 is connected, and the other end is connected with handgrip fixed part 36, and what handgrip 5 can rotate in the horizontal direction is arranged on handgrip fixed part
On 36, along the vertical rotation direction of main mechanical arm 3, handgrip 5 is located at the side of fixed arm 31, and auxiliary mechanical arm 4 is arranged on fixed arm
31 opposite side, auxiliary mechanical arm 4 includes auxiliary fixed arm 41, first auxiliary rotating part 42, first auxiliary being sequentially connected even
Connect arm 43, second auxiliary connecting portion 44, second auxiliary linking arm the 45, the 3rd auxiliary connecting portion 46 and the 3rd auxiliary linking arm 47,
Auxiliary fixed arm 41 is fixed on support 11, and what the first auxiliary rotating part 42 can vertically rotate is arranged on auxiliary fixed arm
On 41, the rotation direction of the first auxiliary rotating part 42 is consistent with the rotation direction of the first rotating part 32, the second auxiliary connecting portion 44
With the 3rd auxiliary connecting portion 46 all pass through lift arm 13 be connected with the second rotating part 34, the 3rd assist linking arm 47 end with grab
Handss fixed part 36 is connected, turntable 2, the first rotating part 32, the second rotating part 34, handgrip fixed part 36 and the first auxiliary rotating part 42
On be equipped with servomotor.
When using robot stacking machine crawl goods, start the servo electricity on turntable 2 and main mechanical arm 3 by controller
Machine, now in the presence of servomotor, main mechanical arm 3 is taken to by turntable 2 needs the goods side of crawl, then in the first rotation
Under servomotor collective effect on transfer part 32 and the second rotating part 34, handgrip 5 moves to main mechanical arm 3 needs crawl
Above goods, then control the servomotor of handgrip fixed part 36, so that handgrip 5 is horizontally rotated, next according to putting of goods
Adjustment handgrip 5, after adjusting, is just captured, and by controlling hydraulic pressure support bar 12, can adjust the height of lifting seat 1, this
Sample can be adjusted to stacking machine according to the height that goods is stacked, and adapts to more situations, because the goods of carrying is too heavy
And when carrying motionless, by controller, start auxiliary mechanical arm 4, the servomotor on the first auxiliary rotating part 42 comes into operation,
With auxiliary mechanical arm 4, rotated in vertical direction, now by lifting arm 13 and the 3rd auxiliary linking arm 47, by energy
Pass to main mechanical arm 3, reduce the heavy burden of main mechanical arm 3, thus heavier goods can be picked up and be carried, due to the
The end of three auxiliary linking arms 47 is fixedly linked with handgrip fixed part 36, and one end of the second linking arm 35 and handgrip fixed part 36 can
Being connected of activity, thus can control auxiliary mechanical arm 4 by controller, so that handgrip 5 in the vertical direction is rotated.
Specific embodiment 2:
The present embodiment is on the basis of specific embodiment 1, the quantity of hydraulically extensible support bar 12 have been carried out further
Illustrate, the quantity of described hydraulically extensible support bar 12 is more than 4.This is in order that lifting seat 1 is more steady, subtracts simultaneously
The burden of few each hydraulically extensible support bar 12, extends the service life of hydraulically extensible support bar 12.
Specific embodiment 3:
The present embodiment is on the basis of specific embodiment 1, the shape of lifting arm 13 to be described in detail, described
To intermediate recess, the other end is connected with the second rotating part 34 for one end of lifting arm 13, and the second auxiliary connecting portion 44 and the 3rd assists
Connecting portion 46 is arranged on lifting arm 13 and is recessed in two raised points of one end.This allows for lifting arm 13 and the second auxiliary linking arm
Define the structure of triangle between 45, thus the 3rd auxiliary connecting portion can be pulled for fulcrum with the second auxiliary connecting portion 44
46, then strength is passed to by the 3rd auxiliary linking arm 47 by the 3rd auxiliary connecting portion 46, eventually through the 3rd auxiliary linking arm
Strength is passed to handgrip fixed part 36 by 47, realizes the power-assisted to main mechanical arm 3.
Specific embodiment 4:
The present embodiment is to be additionally arranged horizon detector 14 on the basis of specific embodiment 1, and described support 11 top is provided with
Horizon detector 14.Because the goods of crawl is generally all heavier, use over a long time can make hydraulically extensible support bar 12 pine unavoidably
Dynamic, such equipment will tilt when capturing goods, if processed not in time, robot stacking machine may be toppled over, damaged,
Horizon detector 14 is set at support 11 top, just can timely detect this situation, machinery is adjusted, fixing.
Although reference be made herein to multiple explanatory embodiment of the present utility model is described to this utility model, but,
It should be understood that those skilled in the art can be designed that a lot of other modifications and embodiment, these are changed and embodiment
To fall within spirit disclosed in the present application and spirit.More specifically, in disclosure, drawings and claims
In the range of, multiple modifications and improvement can be carried out to the building block of theme composite configuration and/or layout.Except to building block
And/or the deformation that carries out of layout and improve outer, to those skilled in the art, other purposes also will be apparent from.
Claims (4)
1. a kind of robot stacking machine it is characterised in that: include lifting seat (1), turntable (2), main mechanical arm (3), auxiliary machine
Tool arm (4) and handgrip (5), lifting seat (1) is made up of support (11) and hydraulically extensible support bar (12), hydraulic pressure support bar (12)
It is arranged on the bottom of support (11), the top being arranged on support (11) that turntable (2) can rotate in the horizontal direction, main mechanical arm
(3) be arranged on turntable (2) with auxiliary mechanical arm (4), main mechanical arm (3) include fixed arm (31), the first rotating part (32),
First linking arm (33), the second rotating part (34), the second linking arm (35) and handgrip fixed part (36), one end of fixed arm (31)
It is fixed on support (11), the other end is connected with the first rotating part (32) that can vertically rotate, the first linking arm (33)
One end is connected with the first rotating part (32), and the other end is connected with the second rotating part (34) that can vertically rotate, the first rotation
Portion (32) is consistent with the rotation direction of the second rotating part (34), one end of the second linking arm (35) and the second rotating part (34) phase
Even, the other end is connected with handgrip fixed part (36), and what handgrip (5) can rotate in the horizontal direction is arranged on handgrip fixed part (36)
On, along main mechanical arm (3) vertically rotation direction, handgrip (5) is located at the side of fixed arm (31), and auxiliary mechanical arm (4) is arranged on
The opposite side of fixed arm (31), auxiliary mechanical arm (4) includes auxiliary fixed arm (41), the first auxiliary rotating part being sequentially connected
(42), the first auxiliary linking arm (43), the second auxiliary connecting portion (44), the second auxiliary linking arm (45), the 3rd auxiliary connecting portion
(46) and the 3rd auxiliary linking arm (47), auxiliary fixed arm (41) be fixed on support (11), first auxiliary rotating part (42) can
Vertically rotate is arranged in auxiliary fixed arm (41), and the rotation direction of the first auxiliary rotating part (42) rotates with first
The rotation direction in portion (32) is consistent, the second auxiliary connecting portion (44) and the 3rd auxiliary connecting portion (46) all pass through lifting arm (13) and
Second rotating part (34) is connected, and the end of the 3rd auxiliary linking arm (47) is connected with handgrip fixed part (36), described turntable (2),
It is equipped with servo in first rotating part (32), the second rotating part (34), handgrip fixed part (36) and the first auxiliary rotating part (42)
Motor.
2. robot according to claim 1 stacking machine it is characterised in that: the quantity of described hydraulically extensible support bar (12)
For more than 4.
3. robot according to claim 1 stacking machine it is characterised in that: described lifting arm (13) one end to middle concave
Fall into, the other end is connected with the second rotating part (34), the second auxiliary connecting portion (44) and the 3rd auxiliary connecting portion (46) are arranged on and carry
Torque arm (13) is recessed in two raised points of one end.
4. robot according to claim 1 stacking machine it is characterised in that: described support (11) top is provided with horizontal detection
Instrument (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620952556.5U CN205915340U (en) | 2016-08-28 | 2016-08-28 | Robot hacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620952556.5U CN205915340U (en) | 2016-08-28 | 2016-08-28 | Robot hacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205915340U true CN205915340U (en) | 2017-02-01 |
Family
ID=57868559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620952556.5U Active CN205915340U (en) | 2016-08-28 | 2016-08-28 | Robot hacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205915340U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
| CN113510687A (en) * | 2021-08-03 | 2021-10-19 | 普迈科（芜湖）机械有限公司 | Stacking robot based on Delta parallel platform and use method |
-
2016
- 2016-08-28 CN CN201620952556.5U patent/CN205915340U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
| CN113510687A (en) * | 2021-08-03 | 2021-10-19 | 普迈科（芜湖）机械有限公司 | Stacking robot based on Delta parallel platform and use method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 650000 Yunnan Province, Kunming city Guandu District Spring City Road No. 276 Patentee after: Yunnan energy investment Limited by Share Ltd Address before: 650000 Yunnan Province, Kunming city Guandu District Spring City Road No. 276 Patentee before: Yanhua Co., Ltd., Yunnan |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200601 Address after: 650000 Yunnan Province, Kunming city Guandu District Spring City Road No. 276 Co-patentee after: YUNNAN SALT INDUSTRY Co.,Ltd. Patentee after: YUNNAN PROVINCIAL ENERGY INVESTMENT Co.,Ltd. Address before: 650000 Yunnan Province, Kunming city Guandu District Spring City Road No. 276 Patentee before: YUNNAN PROVINCIAL ENERGY INVESTMENT Co.,Ltd. |