CN206654553U - A kind of material loader tool hand for compensation adjustment - Google Patents
A kind of material loader tool hand for compensation adjustment Download PDFInfo
- Publication number
- CN206654553U CN206654553U CN201720210346.3U CN201720210346U CN206654553U CN 206654553 U CN206654553 U CN 206654553U CN 201720210346 U CN201720210346 U CN 201720210346U CN 206654553 U CN206654553 U CN 206654553U
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- CN
- China
- Prior art keywords
- feed box
- lower feed
- small frame
- mechanical arm
- tool hand
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Automatic Assembly (AREA)
- Specific Conveyance Elements (AREA)
- Agricultural Machines (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses a kind of material loader tool hand for compensation adjustment, including mechanical arm（4）With installed in mechanical arm（4）The lower feed box of discharging end（6）, the mechanical arm（4）On be installed with and lower feed box（6）The small frame of the rigid structure of connection（51）, small frame（51）Or mechanical arm（4）Upper fixed installation power set（52）, power set（52）Output end by being arranged on small frame（51）Interior transmission device and lower feed box（6）Connection is adjusted with compensating.The utility model can realize lower feed box（6）The supplement displacement of a small range, more neat, accurately stacking can be realized, and can reduces mechanical arm and moves integrally frequency, and position adjustments response is fast, simple in construction.
Description
Technical field
Automatic loading apparatus field is the utility model is related to, is a kind of material entrucking for compensation adjustment specifically
Manipulator.
Background technology
Powder material generally is carried out into the packed laggard luggage car of packaging in building materials, metallurgy, chemical industry to ship, entrucking at present
This entrucking process is mainly still relied on and manually carried.The powder material of packed packaging is transported to by worker from workshop
During railway carriage carries out entrucking, in the environment largely spread in dust, easily trigger the correlation of the respiratory systems such as pneumoconiosis
Disease, great harm not only is brought to the physical and mental health of worker, return practitioner family and bring white elephant, defended according to country
It is that 27240 wherein pneumoconiosis account for 90.2% that life portion, which counts professional case in 2014,.State-level has attracted great attention,《State
Administration of Security Supervision of family is on strengthening the powder processing enterprise dust harzard controls such as cement manufacture and stone material》File " peace
Prison is total healthy (2013) No. 112 ", issue each provinces, autonomous regions and municipalities and Xinjiang production and construction soldier 14 parts of November in 2013
Security production supervision and management office of group.How to solve to produce a large amount of airborne dusts during the entrucking entrucking of the powder material of packed packaging and ask
Topic, has also triggered paying close attention to for industry.
Existing loading manipulator, conveying robot stretch into the operation that railway carriage carries out automatic dress bag, can be to a certain extent
Solve the problems, such as entrucking blind area, but its working end of loading manipulator, conveying robot（That is discharging end）The lower feed box and machine of installation
The position of tool arm installation is relatively fixed, and can not be relatively moved, and is only capable of performing and is simply unloaded bag action, is unable to reach material bag
Neatly, the standard of accurate stacking；If mechanical arm drives lower feed box to move together, to realize lower feed box correspondence position in a small range
Front and rear adjustment, movement range is larger, and power consumption is larger, response speed is slow and is not easy to be precisely controlled.
Utility model content
The purpose of this utility model is to provide a kind of material loader tool hand for compensation adjustment, and mechanical arm is stable not
Dynamic, lower feed box moves relative to front and rear compensation in mechanical arm, realizes the adjustment of lower feed box a small range position, can realize more
Neatly, accurately stacking, and can reduce mechanical arm and move integrally frequency, and position adjustments response is fast, simple in construction.
The utility model is achieved through the following technical solutions：A kind of material loader tool hand for compensation adjustment, including
Mechanical arm and the lower feed box installed in mechanical arm discharging end, the rigidity knot being connected with lower feed box is installed with the mechanical arm
The small frame of structure, power set are fixedly mounted in small frame or mechanical arm, the output end of power set is by being arranged on small frame
Interior transmission device is connected with lower feed box to compensate regulation.
The utility model includes the small frame of mechanical arm, lower feed box and internal installation transmission device, small frame or mechanical arm
Upper fixed installation power set, the clutch end of power set drive lower feed box in the extension side of small frame by transmission device
To movement, i.e., along the reach of small frame bearing of trend or rear shifting, realize the compensation adjustment of its position of lower feed box.Meanwhile this practicality is new
Small frame is rigid mechanism in type, undertakes lower feed box and is loaded in the weight of material bag in lower feed box.
In order to preferably realize the utility model, the clutch end of the power set exports for the rotation of rotary motion
Axle；The transmission device be lead screw transmission component, Worm Wheel System component, rack pinion component, link transmission component,
It is any in eccentric ratio transmission component, V belt translation component.
In order to preferably realize the utility model, the lead screw transmission component includes connecting by shaft coupling and rotating output shaft
The leading screw connect, the sliding block, the support base in small frame for support that are socketed on leading screw and are moved along leading screw central shaft；
Sliding block lower end connects as one with lower feed box.
In order to preferably realize the utility model, one end of the support base is fixed in small frame, support base it is another
End installation and the supporting bearing of leading screw.
In order to preferably realize the utility model, the cross section of the sliding block is in " C " font, and support base is provided with sliding
The chute of block exterior contour matching.
In order to preferably realize the utility model, what the link transmission component included being connected with rotating output shaft first pushes away
Bar and the first pushing block being connected with small housing slide；One end of first push rod is fixed on rotating output shaft by key connection
On, the other end of the first push rod is slidably connected with the narrow slot being arranged on the first pushing block, and the first pushing block is connected as one with lower feed box
Body.
In order to preferably realize the utility model, the eccentric ratio transmission component includes driving disk, is eccentrically mounted at
The second push rod on driving disk, the second pushing block for being connected and being slidably connected in small frame with the second push rod；The transmission circle
Disk and the coaxial key connection of rotating output shaft；One end of second push rod is arranged on driving disk surface and rotated with driving disk
Axle has a segment distance, and the other end of the second push rod is hinged with the second pushing block；Second pushing block connects as one with lower feed box.
In order to preferably realize the utility model, the output end of the power set is the push rod of linear motion；The biography
Dynamic device is scissor type telescopic component or extends push-rod assembly.
In order to preferably realize the utility model, the scissor type telescopic component includes mainly being cut with scissors by multiple continuous staggered forms
The scissor structure of the fork arm composition connect, installed in scissor structure distal end and the 3rd pushing block that is connected with small housing slide；It is described to push away
Bar is hinged with scissor structure to drive scissor structure expanding-contracting action；3rd pushing block connects as one with lower feed box.
Power set provide power in the utility model, and the transmission device of connection corresponding with power set realizes lower feed box
Displacement, i.e. compensation movement.Its output end of the power set is the rotating output shaft of rotary motion（Such as：Servomotor, asynchronous electricity
Machine）When, transmission device is lead screw transmission component or Worm Wheel System component or rack pinion component or link transmission group
Part or eccentric ratio transmission component or V belt translation component.Its output end of the power set is the push rod of linear motion（Such as：Electricity pushes away
Cylinder, pneumatically push away cylinder, hydraulic thrust cylinder）When, transmission device is scissor type telescopic component or extends push-rod assembly.
In order to preferably realize the utility model, the line slideway of Auxiliary support lower feed box is also set up in the small frame
It is secondary；The line slideway auxiliary includes the fixation guide rail being fixedly mounted in small frame and the buffering being slidably mounted on fixed guide rail
Sliding block, buffer sliding block both sides set limiting buffer block, and the both ends of fixed guide rail are respectively provided with the limit with limiting buffer block position correspondence
Position baffle plate.The buffer sliding block sets the dovetail groove coordinated with fixed guide rail.
The utility model compared with prior art, has advantages below and beneficial effect：
（1）The utility model realizes mechanical arm discharging end blanking by having the small frame of load-bearing and transmission agency simultaneously
The compensation movement of case, and mobile small range position adjustment is compensated by lower feed box, stacking position is more during making automatic loading
Precisely, while reduce mechanical arm and move integrally frequency, stacking position adjustments speed is fast；
（2）Power set drive lower feed box to carry out supplement movement by transmission device in the utility model, it is simple in construction and
Lower feed box movement is stable.
Brief description of the drawings
The structural representation that Fig. 1 is when in the utility model from transmission device being lead screw transmission component.
Fig. 2 is overall structure diagram of the present utility model.
The structural representation that Fig. 3 is when in the utility model from transmission device being link transmission component.
Fig. 4 be in the utility model from transmission device be inclined to link transmission component when structural representation.
The structural representation that Fig. 5 is when in the utility model from transmission device being scissor type telescopic component.
Fig. 6 is lower feed box and the schematic perspective view of small frame junction in the utility model.
Wherein：4- mechanical arms, 6- lower feed boxs, the small frames of 51-, 52- power set, 501- leading screws, 502- sliding blocks, 503- branch
Support seat, 504- line slideway auxiliaries, the push rods of 511- first, the pushing blocks of 512- first, 513- narrow slots, 521- driving disks, 522- second
Push rod, the pushing blocks of 523- second, 531- fork arms, the pushing blocks of 532- the 3rd.
Embodiment
When automatic loading equipment carries out entrucking, general entrucking follows principle and is：From a lateral opposite side, from bottom to top, from
Outward inside.Such as：First the lateral opposite side close to headstock one end inside railway carriage piles up first layer material bag, then same
It is horizontally-arranged to carry out piling up for second layer material bag, after this horizontally-arranged material bag piles up end, it is displaced outwardly carrying out the second horizontally-arranged material bag
Multilayer pile up, the like, complete all materials bags and pile up entrucking.
As shown in fig. 6, because the movement of mechanical arm in the utility model is only limitted to the moving along a straight line of horizontal direction, level side
To swing, the swing of linear motion, vertical direction of vertical direction this four class, wherein：The linear motion of horizontal direction refers to
The advance of corresponding X/Y plane, retreat, move to left, moving to right；The swing of horizontal direction refers to the left-hand rotation of corresponding X/Y plane, turned right；Vertically
The linear motion in direction refers to the rising of corresponding YZ planes, declined；The swing of vertical direction refer to corresponding YZ planes upper rotation, under
Rotation.
The utility model is described in further detail with reference to embodiment, but embodiment of the present utility model is not
It is limited to this.
Embodiment 1：
A kind of material loader tool hand for compensation adjustment of the present embodiment, as shown in Fig. 2 including mechanical arm 4, small machine
Frame 51, lower feed box 6, power set 52, transmission device；The discharging end of the mechanical arm 4, fix and pacify along the bearing of trend of mechanical arm 4
Fill a small frame 51；Transmission device is provided with the small frame 51, the power of a termination power set 52 of transmission device is defeated
Go out end, another termination lower feed box 6 of transmission device.The power set 52 are fixedly mounted in mechanical arm 4 or small frame 51.Institute
State power source in power set 52 drives transmission device to act by reduction box, to drive the compensation movement of lower feed box 6.
Power set 52 drive lower feed box 6 in the small scope of frame 51 by the transmission device in small frame 51 in the present embodiment
Interior compensation movement；Small frame 51 undertakes lower feed box 6 and is loaded in the weight of material bag in lower feed box 6 simultaneously.Relative to mechanical arm 4
Movement, the movement that power set 52 pass through actuator drives lower feed box 6 in the utility model is the micro shifting of a small range
It is dynamic.
When need to make during automatic loading stacking position from upper one it is horizontally-arranged to it is next horizontally-arranged mobile when：If mechanical arm 4 with
The position of lower feed box 6 is relatively fixed, it is necessary to moves mechanical arm 4 to realize movement that the correspondence code stack position of lower feed box 6 is put；According to this
Structure described in embodiment, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, keep machine
Tool arm 4 is motionless, and only drives the compensation of lower feed box 6 mobile by power set 52, transmission device.
Another kind, the mechanical arm 4 that the mechanical arm 4 swings for the and can vertical lifting that horizontal can swing, machine
The shaft core position that the level of tool arm 4 swings is constant, and blanking can be realized substantially by the regulation of the horizontal hunting angle of mechanical arm 4
The stacking position of case 6 moves to the action of compartment opposite side from railway carriage side：If mechanical arm 4 is relatively fixed with the position of lower feed box 6, blanking
6 actual motion track of case is an arc and non-rectilinear, can cause that stacking is irregular, position is not accurate；According in the present embodiment
The structure, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, under the drive of mechanical arm 4
During hopper 6 carries out transverse shifting, power set 52, transmission device drive lower feed box 6 to carry out the compensation of small distance and moved,
It can ensure that stacking position is smooth vertical and horizontal, uniform.
Embodiment 2：
A kind of material loader tool hand for compensation adjustment of the present embodiment, as shown in Fig. 2 can water installed in one
The discharging end of the mechanical arm 4 of the flat and can vertical lifting swing that swings, including be sequentially connected small frame 51, power set
52nd, transmission device, lower feed box 6, the small frame 51 that one end is fixed on mechanical arm 4 extend to its feed opening direction of mechanical arm 4, Gu
Power set 52 of the Dingan County in small frame 51 are by actuator drives lower feed box 6 in the flexible shifting of the small bearing of trend of frame 51
It is dynamic.
The small frame 51 is the main branch that one end is fixedly connected with mechanical arm 4 and the other end extends to the discharging end of mechanical arm 4
Support, main backstop are the support body of rigid structure.The lower feed box 6 is located at the lower section that main backstop stretches out the part of mechanical arm 4, under
Hopper 6 is connected with the mobile terminal of carriage.Slided on main backstop the mobile terminal of the carriage.The small frame 51
The guide effect during compensation movement of lower feed box 6 can be played, and can plays lower feed box 6 and is loaded in material bag in lower feed box 6
Aid in load-bearing effect.
The other parts of the present embodiment are same as Example 1, therefore repeat no more.
Embodiment 3：
The present embodiment does further optimization on the basis of embodiment 1 or 2, in order that when the compensation of lower feed box 6 is mobile more
Stable, transmission device is slidably connected with small frame 51.The transmission device and small frame 51 one of the mode that is slidably connected are pulley
Formula, i.e., set in small frame 51 and pulley corresponding with slide rail or slideway, transmission device are set on slide rail or slideway and transmission device
Pulley rolls on slide rail or slideway during driving the movement of lower feed box 6；Transmission device and small frame 51 are slidably connected mode
Two be ball-type, i.e., retainer, transmission device and the multiple ball contacts being arranged in retainer are set in small frame 51, passed
Ball rotation had not only supported transmission device but also had not influenceed its motion during dynamic device drives the movement of lower feed box 6.
The track of carriage sliding end linear motion can be provided for further limiting in the small frame 51, also may be used
It can be connected with the sliding end only by mechanical dimension's limit slippage device with the blanking device of lower section, and can is in small frame 51
Rectilinear movement.
The other parts of the present embodiment are identical with above-described embodiment 1 or 2, therefore repeat no more.
Embodiment 4：
The present embodiment does further optimization on the basis of any one of embodiment 1-3, as shown in figure 1, the power set
52 using servomotor as power source；The transmission device is lead screw transmission component.The output shaft of the servomotor passes through shaft coupling
Device is connected with the leading screw 501 in lead screw transmission component.The sliding block 502 being connected with lower feed box 6 is socketed on the leading screw 501.
More stablize in order that lower feed box 6 moves, the sliding block 502 is slidably connected with small frame 51.A kind of mode is：It is sliding
Pulley is set on block 502, and pulley is slided or rolled in small frame 51.Another way is：Small frame 51 contacts with sliding block 502
Place sets the retainer of embedded ball, and sliding block 502 moves on ball surface, had both improved and lower feed box 6 and load material bag are held
Weight effect reduces frictional resistance when sliding block 502 moves again, makes the supplement of lower feed box 6 mobile more stable, accurate.
More stable in order to further move lower feed box 6, one end of the support base 503 is fixed in small frame 51,
Other end installation and the supporting bearing of leading screw 501 of support base 503.This structure can improve the working strength of leading screw 501, preferably
Ensure the stability of transmission.
More stable in order to further move lower feed box 6, the cross section of the sliding block 502 is in " C " font, and support base
503 are provided with the chute matched with the exterior contour of sliding block 502.Chute matches with cross section in the sliding block 502 of " C " font, " C " word
Type docking structure can play guide effect, and and can further aids in load-bearing, ensure the stabilization of carriage its sliding end movement
Property.On the one hand, " C " font docking structure contact area is big, and relative movement is more stable；On the other hand, cross section is " C " font
Sliding block 502 can be processed by way of first turning again flat surface grinding, processing cost is low；Also on the one hand, " C " font
Sliding block 502 its plane convenient be fixedly connected with the lower feed box 6 of lower section.
More stable in order to further move lower feed box 6, the sliding block 502 forms a ball-screw with leading screw 501
It is secondary.
The performance of servomotor can influence the mobile precision of compensation, and the MR-E systems of Mitsubishi can be selected in the present embodiment
Row, MR-J series, fast response time, control accuracy are high, stable.Certainly, can be with optional with technology development and progress
Servomotor that can be more excellent.
The other parts of the present embodiment are identical with any one of embodiment 1-3, therefore repeat no more.
Embodiment 5：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, and the power set 52 are with servo electricity
Machine is power source.The transmission device is Worm Wheel System component.The worm and gear includes intermeshing worm gear, worm screw
With the movable block being socketed on worm screw, output shaft and the worm gear key connection of servomotor, movable block is connected as one with lower feed box 6
Body.The worm gear, worm screw, the structure of movable block composition transport the straight line of servo motor output shaft convert rotational motion into movable block
It is dynamic, and drive lower feed box 6 to compensate movement by movable block.In order that lower feed box 6 moves more stable, movable block and small frame
51 are slidably connected.The mode that is slidably connected of the movable block and main backstop is pulley-type or ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 6：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, and the power set 52 are with servo electricity
Machine is power source.The transmission device is rack pinion component.The rack pinion component includes exporting with rotation
The power gear of axle key connection and the power rack engaged with power gear.The power rack connects as one with lower feed box 6,
And the both sides of power rack and the main backstop of small frame 51 are slidably connected.The power rack and main backstop are slidably connected
Mode is pulley-type or ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 7：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, as shown in figure 3, the power set
52 using servomotor as power source；The transmission device is link transmission component.The link transmission component includes defeated with rotation
The first pushing block 512 for going out the first push rod 511 of axis connection and being slidably connected with small frame 51；One end of first push rod 511
It is fixed on by key connection on rotating output shaft, the other end of the first push rod 511 and the narrow slot being arranged on the first pushing block 512
513 are slidably connected, and the first pushing block 512 connects as one with lower feed box 6.The connection side of first pushing block 512 and main backstop
Formula is pulley-type or ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 8：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, as shown in figure 4, the power set
52 using servomotor as power source；The transmission device is eccentric ratio transmission component.The eccentric ratio transmission component includes
Driving disk 521, the second push rod 522 being eccentrically mounted on driving disk 521, with the second push rod 522 it is connected and is slidably connected
The second pushing block 523 in small frame 51；The driving disk 521 and the coaxial key connection of rotating output shaft；Second push rod
522 one end is arranged on the surface of driving disk 521 and has a segment distance with the rotary shaft of driving disk 521, the second push rod 522
The other end and the second pushing block 523 are be hinged；Second pushing block 523 connects as one with lower feed box 6.Second pushing block 523 with
Main backstop is slidably connected and its mode that is slidably connected is pulley-type or ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 9：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, and the power set 52 are with servo electricity
Machine is power source.The transmission device is V belt translation component.The servo motor output shaft is vertical with the moving direction of lower feed box 6 to be set
Put, the V belt translation component includes being arranged on the small distal end of frame 51 with the driving wheel of servo motor output shaft key connection, rotary shaft
Driven pulley, vertical direction action transmission belt.The upper end of lower feed box 6 is fixed on a fixing point below transmission belt,
Lower feed box 6 stretches out or retracted with the action of transmission belt.Multiple raising transmission belt work are horizontally arranged with the transmission belt
The reinforcement of intensity.The main backstop of the reinforcement and small frame 51 be slidably connected and its mode that is slidably connected for pulley-type or
Ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 10：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, as shown in figure 5, the power set
52 be that gas pushes away cylinder or electrical pushing cylinder；The transmission device is scissor type telescopic component.The scissor type telescopic component include mainly by
The scissor structures of 531 be hinged compositions of multiple continuous staggered forms, it is slidably connected installed in scissor structure distal end and with small frame 51
The 3rd pushing block 532；The push rod is hinged with scissor structure to drive scissor structure expanding-contracting action；3rd pushing block 532 with
Lower feed box 6 connects as one.The main backstop of the scissor structure both sides and small frame 51 is slidably connected and its side of being slidably connected
Formula is pulley-type or ball-type.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
Embodiment 10：
The present embodiment does further optimization on the basis of embodiment any one of 1-3, as shown in fig. 6, the small frame 51
On also set up the line slideway auxiliary 504 of Auxiliary support lower feed box 6；The line slideway auxiliary 504 includes being fixedly mounted on small frame
Fixation guide rail and the buffer sliding block being slidably mounted on fixed guide rail on 51, buffer sliding block both sides setting limiting buffer block, Gu
The both ends for determining guide rail are respectively provided with postive stop baffle with limiting buffer block position correspondence.
The other parts of the present embodiment are identical with any one of above-described embodiment 1-3, therefore repeat no more.
It is described above, only it is preferred embodiment of the present utility model, any formal limit is not done to the utility model
System, every any simple modification made according to the technical essence of the utility model to above example, equivalent variations, each falls within
Within the scope of protection of the utility model.
Claims (10)
1. a kind of material loader tool hand for compensation adjustment, including mechanical arm（4）With installed in mechanical arm（4）Discharging end
Lower feed box（6）, it is characterised in that：The mechanical arm（4）On be installed with and lower feed box（6）The small machine of the rigid structure of connection
Frame（51）, small frame（51）Or mechanical arm（4）Upper fixed installation power set（52）, power set（52）Output end by setting
Put in small frame（51）Interior transmission device and lower feed box（6）Connection is adjusted with compensating.
A kind of 2. material loader tool hand for compensation adjustment according to claim 1, it is characterised in that：The power
Device（52）Clutch end be rotary motion rotating output shaft；The transmission device is lead screw transmission component, worm gear snail
It is any in bar transmission component, rack pinion component, link transmission component, eccentric ratio transmission component, V belt translation component.
A kind of 3. material loader tool hand for compensation adjustment according to claim 2, it is characterised in that：The leading screw
Transmission component includes the leading screw being connected by shaft coupling with rotating output shaft（501）, be socketed in leading screw（501）It is upper and along leading screw
（501）The sliding block of central shaft movement（502）, installed in small frame（51）The upper support base for support（503）；Sliding block（502）
Lower end and lower feed box（6）Connect as one.
A kind of 4. material loader tool hand for compensation adjustment according to claim 3, it is characterised in that：The support
Seat（503）One end be fixed on small frame（51）On, support base（503）The other end installation and leading screw（501）Supporting bearing.
A kind of 5. material loader tool hand for compensation adjustment according to claim 3, it is characterised in that：The sliding block
（502）Cross section be in " C " font, and support base（503）It is provided with and sliding block（502）The chute of exterior contour matching.
A kind of 6. material loader tool hand for compensation adjustment according to claim 2, it is characterised in that：The connecting rod
Transmission component includes the first push rod being connected with rotating output shaft（511）With with small frame（51）The first pushing block being slidably connected
（512）；First push rod（511）One end be fixed on by key connection on rotating output shaft, the first push rod（511）It is another
Hold and be arranged on the first pushing block（512）On narrow slot（513）It is slidably connected, the first pushing block（512）With lower feed box（6）It is connected as one
Body.
A kind of 7. material loader tool hand for compensation adjustment according to claim 2, it is characterised in that：The bias
Link transmission component includes driving disk（521）, be eccentrically mounted at driving disk（521）On the second push rod（522）And second
Push rod（522）Connect and be slidably connected at small frame（51）On the second pushing block（523）；The driving disk（521）With rotation
The coaxial key connection of output shaft；Second push rod（522）One end be arranged on driving disk（521）Surface and and driving disk
（521）Rotary shaft has a segment distance, the second push rod（522）The other end and the second pushing block（523）It is be hinged；Second pushing block
（523）With lower feed box（6）Connect as one.
A kind of 8. material loader tool hand for compensation adjustment according to claim 1, it is characterised in that：The power
Device（52）Output end for linear motion push rod；The transmission device is scissor type telescopic component or extends push-rod assembly.
A kind of 9. material loader tool hand for compensation adjustment according to claim 8, it is characterised in that：The scissor
Formula telescopic component is included mainly by the be hinged fork arm of multiple continuous staggered forms（531）The scissor structure of composition, installed in scissor knot
Structure distal end and with small frame（51）The 3rd pushing block being slidably connected（532）；The push rod is hinged with scissor structure to drive scissor
Structure expanding-contracting action；3rd pushing block（532）With lower feed box（6）Connect as one.
A kind of 10. material loader tool hand for compensation adjustment according to claim 1, it is characterised in that：It is described small
Frame（51）On also set up Auxiliary support lower feed box（6）Line slideway auxiliary（504）；The line slideway auxiliary（504）Including solid
Dingan County is mounted in small frame（51）On fixation guide rail and the buffer sliding block that is slidably mounted on fixed guide rail, buffer sliding block both sides are set
Limiting buffer block is put, the both ends of fixed guide rail are respectively provided with the postive stop baffle with limiting buffer block position correspondence；The buffer sliding block
The dovetail groove coordinated with fixed guide rail is set.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610914199.8A CN106429528A (en) | 2016-10-20 | 2016-10-20 | Automatic loading system capable of batch loading of packed materials |
| CN2016109141998 | 2016-10-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206654553U true CN206654553U (en) | 2017-11-21 |
Family
ID=58176018
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610914199.8A Withdrawn CN106429528A (en) | 2016-10-20 | 2016-10-20 | Automatic loading system capable of batch loading of packed materials |
| CN201720210346.3U Active CN206654553U (en) | 2016-10-20 | 2017-03-06 | A kind of material loader tool hand for compensation adjustment |
| CN201710129408.2A Active CN106865243B (en) | 2016-10-20 | 2017-03-06 | Automatic material loading mechanical arm control system and control method thereof |
| CN201720211106.5U Active CN206562179U (en) | 2016-10-20 | 2017-03-06 | A kind of automatic material loading machine arm control system |
| CN201720210638.7U Active CN206537968U (en) | 2016-10-20 | 2017-03-06 | A kind of rocker-arm automatic loading manipulator |
| CN201710128737.5A Active CN106809655B (en) | 2016-10-20 | 2017-03-06 | Rocker arm type automatic loading manipulator |
| CN201720210337.4U Active CN206562185U (en) | 2016-10-20 | 2017-03-06 | One kind is used for entrucking robot horizontal displacement regulation row frame |
| CN201720210339.3U Active CN206562186U (en) | 2016-10-20 | 2017-03-06 | A kind of feed device for loading manipulator |
| CN201720211083.8U Active CN206562178U (en) | 2016-10-20 | 2017-03-06 | A kind of universal adjustment automatic piling loading manipulator |
| CN201720210639.1U Active CN206537985U (en) | 2016-10-20 | 2017-03-06 | A kind of loading manipulator of the holding horizontal stacking of entrucking material |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610914199.8A Withdrawn CN106429528A (en) | 2016-10-20 | 2016-10-20 | Automatic loading system capable of batch loading of packed materials |
Family Applications After (8)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710129408.2A Active CN106865243B (en) | 2016-10-20 | 2017-03-06 | Automatic material loading mechanical arm control system and control method thereof |
| CN201720211106.5U Active CN206562179U (en) | 2016-10-20 | 2017-03-06 | A kind of automatic material loading machine arm control system |
| CN201720210638.7U Active CN206537968U (en) | 2016-10-20 | 2017-03-06 | A kind of rocker-arm automatic loading manipulator |
| CN201710128737.5A Active CN106809655B (en) | 2016-10-20 | 2017-03-06 | Rocker arm type automatic loading manipulator |
| CN201720210337.4U Active CN206562185U (en) | 2016-10-20 | 2017-03-06 | One kind is used for entrucking robot horizontal displacement regulation row frame |
| CN201720210339.3U Active CN206562186U (en) | 2016-10-20 | 2017-03-06 | A kind of feed device for loading manipulator |
| CN201720211083.8U Active CN206562178U (en) | 2016-10-20 | 2017-03-06 | A kind of universal adjustment automatic piling loading manipulator |
| CN201720210639.1U Active CN206537985U (en) | 2016-10-20 | 2017-03-06 | A kind of loading manipulator of the holding horizontal stacking of entrucking material |
Country Status (1)
| Country | Link |
|---|---|
| CN (10) | CN106429528A (en) |
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| CN106429528A (en) * | 2016-10-20 | 2017-02-22 | 绵阳蓝奥重型机械制造有限公司 | Automatic loading system capable of batch loading of packed materials |
| CN106882609A (en) * | 2017-02-27 | 2017-06-23 | 龚亚龙 | Goods loading apparatus |
| CN106882607B (en) * | 2017-03-06 | 2023-04-25 | 绵阳蓝奥重型机械制造有限公司 | Automatic loading system for stacking multiple material packages in same batch |
| CN107089525A (en) * | 2017-05-24 | 2017-08-25 | 武汉蓝海燕智能装车设备有限公司 | The distributor of stacking main frame is loaded for bagged articles carloader |
| CN109279371B (en) * | 2017-07-19 | 2021-01-15 | 苏州喜和喜精密机械有限公司 | Intelligent optical self-propelled stacker crane |
| CN107572264B (en) * | 2017-08-31 | 2019-12-20 | 绵阳汇久机器人有限公司 | Control system and control method of cantilever type full-automatic loading and unloading equipment |
| CN107601078A (en) * | 2017-09-09 | 2018-01-19 | 广东科捷龙机器人有限公司 | Bag of cement automated intelligent sub-material conveying device |
| CN108639792B (en) * | 2018-05-20 | 2023-11-24 | 成都鸿源锦程机器人有限公司 | Automatic arm branch material formula loading aircraft nose of loading robot dials |
| CN109319524A (en) * | 2018-07-10 | 2019-02-12 | 崔凤忠 | A kind of positioning automatic deviation correction carloader and its loading method |
| CN108922006A (en) * | 2018-07-27 | 2018-11-30 | 重庆欢腾科技有限公司 | A kind of automatic loading management system |
| CN109019076B (en) * | 2018-08-09 | 2023-03-28 | 芜湖达成储运有限公司 | Box stacking device, stacking system and stacking method |
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-
2016
- 2016-10-20 CN CN201610914199.8A patent/CN106429528A/en not_active Withdrawn
-
2017
- 2017-03-06 CN CN201720210346.3U patent/CN206654553U/en active Active
- 2017-03-06 CN CN201710129408.2A patent/CN106865243B/en active Active
- 2017-03-06 CN CN201720211106.5U patent/CN206562179U/en active Active
- 2017-03-06 CN CN201720210638.7U patent/CN206537968U/en active Active
- 2017-03-06 CN CN201710128737.5A patent/CN106809655B/en active Active
- 2017-03-06 CN CN201720210337.4U patent/CN206562185U/en active Active
- 2017-03-06 CN CN201720210339.3U patent/CN206562186U/en active Active
- 2017-03-06 CN CN201720211083.8U patent/CN206562178U/en active Active
- 2017-03-06 CN CN201720210639.1U patent/CN206537985U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN206562178U (en) | 2017-10-17 |
| CN206562179U (en) | 2017-10-17 |
| CN106865243A (en) | 2017-06-20 |
| CN106809655A (en) | 2017-06-09 |
| CN206537985U (en) | 2017-10-03 |
| CN206562185U (en) | 2017-10-17 |
| CN206537968U (en) | 2017-10-03 |
| CN106865243B (en) | 2023-04-14 |
| CN206562186U (en) | 2017-10-17 |
| CN106429528A (en) | 2017-02-22 |
| CN106809655B (en) | 2023-04-14 |
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