CN206899234U - A kind of Novel household garbage sorting machine tool hand - Google Patents
A kind of Novel household garbage sorting machine tool hand Download PDFInfo
- Publication number
- CN206899234U CN206899234U CN201720887225.2U CN201720887225U CN206899234U CN 206899234 U CN206899234 U CN 206899234U CN 201720887225 U CN201720887225 U CN 201720887225U CN 206899234 U CN206899234 U CN 206899234U
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- CN
- China
- Prior art keywords
- hydraulic cylinder
- hand
- machine tool
- bar mechanism
- sorting machine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Processing Of Solid Wastes (AREA)
Abstract
The utility model provides a kind of Novel household garbage sorting machine tool hand, including base, waist rotary fluid motor, workbench, traveling table, forearm pitching four-bar mechanism, forearm pitching hydraulic cylinder, wrist rotary oscillation oil cylinder, hand compression hydraulic cylinder and hand clamp wedge bar, waist rotary fluid motor bottom is arranged on base, top connecting working table, the flexible line slideway of a postbrachium is respectively arranged with left and right sides of workbench, traveling table bottom is arranged on two postbrachiums and stretched on line slideway, traveling table top connects forearm pitching four-bar mechanism, forearm pitching four-bar mechanism connects wrist rotary oscillation oil cylinder, the utility model is designed reasonably, it is easy to use, reliable operation, it is stable, reduce the workload of worker, operating efficiency is high, automaticity is high, there is good application prospect.
Description
Technical field
It the utility model is related to, and in particular to a kind of Novel household garbage sorting machine tool hand.
Background technology
At present, the classification of house refuse, recovery and disposal ability relatively lag behind with levels, that is, China's life rubbish
Rubbish treatment technology is very weak, therefore the applicability of the technology of domestic rubbish disposal turns into solve house refuse one and weighed very much
The problem of wanting.The processing of the house refuse choice of technology often turns into the problem of a urban garbage disposal, is first in classification
First individual larger rubbish is sorted, traditional manual sorting's effect is more slow, and very dirty, it is necessary to carry out
Improve.
Utility model content
The purpose of this utility model is to solve above-mentioned deficiency, there is provided a kind of Novel household garbage sorting machine tool hand.
The purpose of this utility model is achieved through the following technical solutions：
A kind of Novel household garbage sorting machine tool hand, including it is base, waist rotary fluid motor, workbench, traveling table, preceding
Arm pitching four-bar mechanism, forearm pitching hydraulic cylinder, wrist rotary oscillation oil cylinder, hand compression hydraulic cylinder and hand clamp wedge
Bar, waist rotary fluid motor bottom are arranged on base, top connecting working table, and one is respectively arranged with left and right sides of workbench
Bar postbrachium stretches line slideway, and traveling table bottom is arranged on two postbrachiums and stretched on line slideway, traveling table top connection forearm
Pitching four-bar mechanism, forearm pitching four-bar mechanism connection wrist rotary oscillation oil cylinder, wrist rotary oscillation oil cylinder connection hand folder
Tight hydraulic cylinder, hand compression hydraulic cylinder connection hand clamp wedge bar, forearm pitching liquid are provided with forearm pitching four-bar mechanism
Cylinder pressure.
Traveling table rear portion is provided with postbrachium telescopic hydraulic cylinder.
Quadruple board platform is provided between base and workbench, waist rotary fluid motor top connects work through quadruple board platform
Platform.
Connected between base and quadruple board platform by four pillars of corner.
The utility model has following beneficial effect：
The utility model is designed reasonably, easy to use, reliable operation is stable, reduces the workload of worker, work
Efficiency high, automaticity is high, there is good application prospect.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of Novel household garbage sorting machine tool hand, including base 1, waist rotary fluid motor 2, work
Platform 5, traveling table 8, forearm pitching four-bar mechanism 9, forearm pitching hydraulic cylinder 10, wrist rotary oscillation oil cylinder 11, hand clamp liquid
Cylinder pressure 13 and hand clamp wedge bar 12, and the bottom of waist rotary fluid motor 2 is arranged on base 1, top connecting working table 5,
The left and right sides of workbench 5 is respectively arranged with the flexible line slideway 6 of a postbrachium, and the bottom of traveling table 8 is stretched installed in two postbrachiums
On line slideway 6, the top of traveling table 8 connection forearm pitching four-bar mechanism 9, forearm pitching four-bar mechanism 9 connects wrist gyroscopic pendulum
Dynamic oil cylinder 11, wrist rotary oscillation oil cylinder 11 connect hand compression hydraulic cylinder 13, and hand compression hydraulic cylinder 13 connects hand and clamped
Wedge bar 12, forearm pitching hydraulic cylinder 10 is provided with forearm pitching four-bar mechanism 9.
The rear portion of traveling table 8 is provided with postbrachium telescopic hydraulic cylinder 7.
Quadruple board platform 4 is provided between base 1 and workbench 5, the top of waist rotary fluid motor 2 connects through quadruple board platform 4
Workbench 5.
Connected between base 1 and quadruple board platform 4 by four pillars 3 of corner.
Sorting manipulator is made up of 5 frees degree, and the rotation of wherein waist is that the waist being made up of hydraulic motor turns round fortune
Dynamic, postbrachium movement is the postbrachium stretching motion collectively formed by line slideway and hydraulic cylinder, forearm rotation be by four-bar mechanism and
The forearm elevating movement that hydraulic cylinder collectively forms, it is the wrist gyration that is made up of oscillating oil cylinder that wrist, which rotates, the shifting of hand
Dynamic is the hand clamping movement collectively formed by hydraulic cylinder and wedge lever.
Manipulator uses full hydraulic drive, drives hydraulic pump works with motor, is carried for system-wide hydraulic actuator
For pressure energy, wherein waist plunger hydraulic motor completes the gyration of mechanism, the hydraulic cylinder of postbrachium after hydraulic oil is passed through
It is responsible for linear arm stretching motion, the hydraulic cylinder of forearm is responsible for the elevating movement of forearm, and the spiral oscillating oil cylinder of wrist is responsible for wrist
Portion's gyration, the Driven by Hydraulic Cylinder wedge lever of last hand are realized clamping to goods and loosened.
Manipulator is controlled operation using PLC, and operating process is as follows：Refuse classification：By fixing biography on a moving belt
Sensor differentiates whether there is rubbish and differentiate the species of rubbish, determines after the species of rubbish by PLC system according to the information being pre-designed
To determine the waste deposit position；Waist rotates, and turns to rubbish, and postbrachium stretches, and close to rubbish, forearm pitching, adjusts high up and down
Degree, wrist rotate, and adjustment position, hand clamps, and capture rubbish, and wrist rotates again, return reset position, and postbrachium moves again,
Reset position is returned, waist rotates, and finds the position of waste deposit accurately：Postbrachium moves, and close to the position of waste deposit, wrist rotates,
The position of waste deposit is adjusted, hand exercise, decontrols rubbish, wrist rotates, and returns reset position, postbrachium movement, returns reset position,
Into next circulation, waist rotates, and finds the position of rubbish accurately.
Claims (4)
1. a kind of Novel household garbage sorting machine tool hand, including base, waist rotary fluid motor, workbench, traveling table, forearm
Pitching four-bar mechanism, forearm pitching hydraulic cylinder, wrist rotary oscillation oil cylinder, hand compression hydraulic cylinder and hand clamp wedge bar,
It is characterized in that：Waist rotary fluid motor bottom is arranged on base, top connecting working table, at left and right sides of workbench respectively
The flexible line slideway of a postbrachium is provided with, traveling table bottom is arranged on two postbrachiums and stretched on line slideway, traveling table top
Forearm pitching four-bar mechanism, forearm pitching four-bar mechanism connection wrist rotary oscillation oil cylinder are connected, wrist rotary oscillation oil cylinder connects
Catcher portion compression hydraulic cylinder, hand compression hydraulic cylinder connection hand clamps wedge bar, before being provided with forearm pitching four-bar mechanism
Arm pitching hydraulic cylinder.
A kind of 2. Novel household garbage sorting machine tool hand according to claim 1, it is characterised in that：After described traveling table
Portion is provided with postbrachium telescopic hydraulic cylinder.
A kind of 3. Novel household garbage sorting machine tool hand according to claim 1, it is characterised in that：Described base and work
Make to be provided with quadruple board platform between platform, waist rotary fluid motor top passes through quadruple board platform connecting working table.
A kind of 4. Novel household garbage sorting machine tool hand according to claim 3, it is characterised in that：Described base and two
Connected between layer platform by four pillars of corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720887225.2U CN206899234U (en) | 2017-07-10 | 2017-07-10 | A kind of Novel household garbage sorting machine tool hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720887225.2U CN206899234U (en) | 2017-07-10 | 2017-07-10 | A kind of Novel household garbage sorting machine tool hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206899234U true CN206899234U (en) | 2018-01-19 |
Family
ID=61311748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720887225.2U Expired - Fee Related CN206899234U (en) | 2017-07-10 | 2017-07-10 | A kind of Novel household garbage sorting machine tool hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206899234U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724153A (en) * | 2018-07-26 | 2018-11-02 | 芜湖市越泽机器人科技有限公司 | A kind of installation pedestal for mounting robot component |
-
2017
- 2017-07-10 CN CN201720887225.2U patent/CN206899234U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108724153A (en) * | 2018-07-26 | 2018-11-02 | 芜湖市越泽机器人科技有限公司 | A kind of installation pedestal for mounting robot component |
| CN108724153B (en) * | 2018-07-26 | 2020-10-27 | 江苏鑫世丰技术产权交易有限公司 | A mounting base for installing robot part |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181015 Address after: 311800 Yali 18, Huang Jia Bu Village, Dian Kou Town, Zhuji City, Shaoxing, Zhejiang Patentee after: Jiang Feifeng Address before: 325204 No. 207-209 Xin Chen Road, Ruian Town, Ruian City, Zhejiang Patentee before: Yu Xiaofei |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180119 Termination date: 20180710 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |