CN207757640U - A kind of automation national treasury package unstacking and stacking machine device human hand grapple structure - Google Patents
A kind of automation national treasury package unstacking and stacking machine device human hand grapple structure Download PDFInfo
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- CN207757640U CN207757640U CN201721898127.5U CN201721898127U CN207757640U CN 207757640 U CN207757640 U CN 207757640U CN 201721898127 U CN201721898127 U CN 201721898127U CN 207757640 U CN207757640 U CN 207757640U
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- supporting plate
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Abstract
The utility model is related to finance device fields, specifically a kind of automation national treasury wraps up unstacking and stacking machine device human hand grapple structure, including fixed substrate, supporting plate, upper drive component, snap-gauge and lower drive component, the supporting plate is in concave, and it is equipped with the support plate of inside bending in supporting plate upper end opening both sides, described two support plates are slidably connected with fixed substrate upper surface both sides respectively, it is equipped with upper drive component in the fixed substrate upper surface, and the supporting plate passes through the upper drive component driving movement, the snap-gauge is in concave and opening down, and the snap-gauge upper surface is slidably connected with the fixed substrate lower surface, it is equipped with lower drive component in the fixed substrate lower surface, and the snap-gauge is mobile by the lower drive component driving and passes in and out the supporting plate.The utility model can realize the actions such as crawl, carrying, de-stacking, the stacking of material package, greatly improve work efficiency.
Description
Technical field
The utility model is related to finance device field, specifically a kind of automation national treasury wraps up unstacking and stacking machine device human hand
Grapple structure.
Background technology
Currently, in financial industry warehousing system, material package is still by manually carrying out tearing stacking open, time-consuming and laborious, nothing
By can not be full sufficient modernized societies from working efficiency or in national treasury safety growth requirement, and with science and technology
Fast development, the automation equipments such as robot have significant progress in all trades and professions, if it is possible to by robot application in
It automates in national treasury, can not only replace manual labor, additionally it is possible to reduce cost and improve working efficiency, but to make robot
It is applied in automation national treasury field, executing agency needs to be redesigned according to financial industry warehousing system feature.
Utility model content
The purpose of this utility model is to provide a kind of automation national treasuries to wrap up unstacking and stacking machine device human hand grapple structure, Neng Goushi
The actions such as crawl, carrying, de-stacking, the stacking of existing material package, greatly improve work efficiency.
The purpose of this utility model is achieved through the following technical solutions：
A kind of automation national treasury wraps up unstacking and stacking machine device human hand grapple structure, including fixed substrate, supporting plate, upper drive component,
Snap-gauge and lower drive component, the supporting plate is in concave, and is equipped with the support plate of inside bending in supporting plate upper end opening both sides,
Described two support plates are slidably connected with fixed substrate upper surface both sides respectively, and upper drive is equipped in the fixed substrate upper surface
Dynamic component, and the supporting plate is by the upper drive component driving movement, the snap-gauge is in concave and opening down and described
Snap-gauge upper surface is slidably connected with the fixed substrate lower surface, and lower drive component is equipped in the fixed substrate lower surface, and
The snap-gauge is mobile by the lower drive component driving and passes in and out the supporting plate.
The upper drive component includes upper driving motor, upper ball-screw and upper screw, and the upper ball-screw passes through institute
Driving motor driving rotation is stated, the upper screw is mounted on the upper ball-screw, two support plates of the supporting plate upper end
It is connected by a linking arm, and the linking arm is connected with the upper screw.
The fixed substrate upper surface is equipped on first alignment sensor on alignment sensor and second, under the linking arm
Side is equipped with and the matched upper sensor catch of alignment sensor on alignment sensor and second on described first.
The lower drive component includes lower driving motor, lower ball-screw and lower screw, and the lower ball-screw passes through institute
Lower driving motor driving rotation is stated, the lower screw is mounted on the lower ball-screw, and the snap-gauge is solid with the lower screw
Even.
The fixed substrate lower surface is equipped with first time alignment sensor and second time alignment sensor, on the lower screw
Equipped with first time alignment sensor and the matched lower sensor catch of second time alignment sensor.
The side wall of the snap-gauge both sides is vertical with the side wall of supporting plate both sides.
The upper drive component is set between described two support plates.
The supporting plate and snap-gauge are moved each along the length direction of the fixed substrate.
When stacking, supporting plate first moves forward to above pile heap, and then snap-gauge drives material package to move forward and enters in supporting plate, then
Supporting plate is retracted and snap-gauge remains stationary as.
When de-stacking, supporting plate is in returns state, and snap-gauge is in Forward stretching state, and pallet fastener is in material packet to be handled
It wraps, then supporting plate Forward offsets with pile heap, and snap-gauge is retracted and material package is driven to enter in supporting plate.
The advantages of the utility model is with good effect：
1, the utility model can realize the actions such as crawl, carrying, de-stacking, the stacking of material package, substantially increase work
Make efficiency, and is conducive to popularization and application of the robot in automation national treasury field.
2, the utility model is equipped with multiple alignment sensors and realizes that robot executes corresponding actions, the degree of automation automatically
It is high.
3, the utility model structure type is simple, cheap and assembling is easy to maintenance.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model,
Fig. 2 is the left view of the utility model in Fig. 1,
Fig. 3 is the vertical view of the utility model in Fig. 1,
Fig. 4 is the A-A sectional views in Fig. 3,
Fig. 5 is enlarged drawing at the B in Fig. 4,
Fig. 6 is enlarged drawing at the C in Fig. 4,
Fig. 7 is the schematic diagram that the utility model is mounted on robot end,
Fig. 8 is the utility model stacking action schematic diagram one,
Fig. 9 is the utility model stacking action schematic diagram two,
Figure 10 is the utility model de-stacking action schematic diagram one,
Figure 11 is the utility model de-stacking action schematic diagram two.
Wherein, 1 is fixed substrate, and 2 be supporting plate, and 201 be support plate, and 3 be linking arm, and 4 be snap-gauge, and 5 be sliding block, under 6 are
Sliding rail, 7 be top shoe, and 8 be upper sliding rail, and 9 be upper driving motor, and 10 be upper coupling, and 11 be upper ball-screw, and 12 be upper silk
Mother, 13 be upper sensor catch, and 14 be alignment sensor on first, and 15 be alignment sensor on second, and 16 be lower screw, and 17 are
Lower sensor catch, 18 be second time alignment sensor, and 19 be first time alignment sensor, and 20 be lower ball-screw, under 21 are
Shaft coupling, 22 be lower driving motor, and 23 wrap up for material.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1~11, the utility model includes fixed substrate 1, supporting plate 2, upper drive component, snap-gauge 4 and lower driving
Component, wherein as shown in Figure 1, the supporting plate 2 is equipped with inside vertical bending in concave and in 2 upper end opening both sides of the supporting plate
Support plate 201, described two support plates 201 are slidably connected with 1 upper surface both sides of the fixed substrate respectively, in the fixed substrate
1 upper surface is equipped with upper drive component, and the upper drive component is set between described two support plates 201, and the supporting plate 2 is i.e. logical
It crosses the upper drive component driving to move along the length direction of fixed substrate 1, the snap-gauge 4 and 1 following table of the fixed substrate
Face is slidably connected, and the snap-gauge 4 is also in concave, and the side wall of 4 both sides of the snap-gauge and the side wall of 2 both sides of the supporting plate hang down
Directly, be equipped with lower drive component in 1 lower surface of the fixed substrate, and the snap-gauge 4 by the lower drive component driving along
1 length direction of the fixed substrate is mobile and passes in and out the supporting plate 2.
As shown in figures 1-4,1 upper surface of the fixed substrate is set there are two parallel upper sliding rail 8, described two support plates 201
Top shoe 7 is equipped on the downside of end, and the top shoe 7 on described two support plates 201 coordinates from different upper sliding rails 8 respectively, from
And realize being slidably connected for supporting plate 2 and fixed substrate 1.
As shown in figures 1-4, the upper drive component includes upper driving motor 9, upper ball-screw 11 and upper screw 12, institute
The upper surface that 11 both ends of ball-screw are installed on the fixed substrate 1 by bearing support is stated, the upper driving motor 9 passes through
One upper coupling 10 is connected with described 11 one end of upper ball-screw, and the upper ball-screw 11 passes through the upper driving motor
9 drivings rotate, and are connected by a linking arm 3 between two support plates 201 of 2 upper end of the supporting plate, and the linking arm 3 and institute
It states screw 12 to be connected, the upper screw 12 is mounted on the upper ball-screw 11, the upper ball of the driving of upper driving motor 9
Leading screw 11 rotates, and then drives upper screw 12 to move and the supporting plate 2 is driven to move.
As shown in figures 1-4,1 lower surface of the fixed substrate is set there are two parallel glidepath 6, in 4 upper table of the snap-gauge
Face both ends are equipped with sliding block 5, and the distribution of sliding block 5 at 4 upper surface both ends of the snap-gauge coordinates from different glidepaths 6, from
And realize being slidably connected for snap-gauge 4 and fixed substrate 1.
As shown in figures 1-4, the lower drive component includes lower driving motor 22, lower ball-screw 20 and lower screw 16, institute
The lower surface that 20 both ends of lower ball-screw are installed on the fixed substrate 1 by bearing support is stated, the lower driving motor 22 is logical
It crosses a lower coupler 21 to be connected with described 20 one end of lower ball-screw, the lower screw 16 is mounted on the lower ball-screw 20
On, the snap-gauge 4 is connected with the lower screw 16, and the lower ball-screw 20 of the driving of lower driving motor 22 rotates, and then drives
Lower screw 16 moves and snap-gauge 4 is driven to move.
As shown in Fig. 1 and Fig. 3~6,1 upper surface length direction both ends of the fixed substrate are respectively equipped with to position on first and pass
Alignment sensor 15 on sensor 14 and second is equipped with upper sensor catch 13, when the upper sensor in 3 downside of the linking arm
Catch 13 moves into the induction section of alignment sensor 15 on alignment sensor 14 or the second on first with the linking arm 3
When, i.e., trigger sensor sends out signal.
As shown in figures 4-6,1 lower surface length direction both ends of the fixed substrate are respectively equipped with first time alignment sensor
19 and second time alignment sensor 18, as shown in fig. 6, lower sensor catch 17 is equipped on the lower screw 16, under described
Sensor catch 17 moves into first time alignment sensor 19 and second time alignment sensor 18 with the lower screw 16
When incuding section, i.e., trigger sensor sends out signal.
The operation principle of the utility model is：
As shown in fig. 7, the fixed substrate 1 in the utility model is installed on robot end.
As shown in Fig. 8~9, when robot executes stacking action, material package 23 is set in the supporting plate 2, described
Snap-gauge 4 is buckled in 23 top of material package, and upper drive component starts driving supporting plate 2 and moves forward at this time, when the upper sensing on the supporting plate 2
Device catch 13 is moved on second at alignment sensor 15, and the supporting plate 2 is in above pile heap at this time, and the lower sensor
Alignment sensor 15 sends out signal in the triggering of catch 17 second, so that system is started lower drive component, while controlling upper drive component
It is stopped, snap-gauge 4 is just reentered in 23 Forward of lower drive component effect lower band animal material package in supporting plate 2, at this time such as Fig. 8
Shown, supporting plate 2, snap-gauge 4 and material package 23 are respectively positioned on above pile heap, when the lower sensor catch 17 on snap-gauge 4 enters second
When lower alignment sensor 18 incudes section, second time alignment sensor 18 sends out signal, and system is made to start upper drive component driving
The reverse movement of supporting plate 2 exits, and is stopped with drive component at present and keeps snap-gauge 4 motionless, as shown in figure 9, when supporting plate 2 moves back completely
Hui Hou, 23 downside of material package are fallen in pile heap, and when supporting plate 2 retracts and makes orientation sensing in the triggering of sensor catch 13 first
When device 14 sends out signal, robot end moves up, and snap-gauge 4 is made to completely disengage material package 23.
When robot executes de-stacking action, as shown in Figure 10~11, supporting plate 2 is in returns state first, and snap-gauge 4 is in
Move forward stretching state, and robot end's movement makes snap-gauge 4 23 clasp material package, and then supporting plate 2 is close to stacking, and with wait for
The pile heap contact for carrying 23 lower section of material package offsets, it is ensured that and lower section package keeps as you were, and drive component is then descended to start,
So that snap-gauge 4 is retracted and material package 23 is driven to enter in supporting plate 2, determines when the lower sensor catch 17 on snap-gauge 4 triggers first time
When level sensor 19, material package 23 is moved to middle position in supporting plate 2 at this time, and robot starts supporting plate 2, snap-gauge 4
It is removed together with material package 23, completes de-stacking action.
Claims (10)
1. a kind of automation national treasury wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：Including fixed substrate (1), supporting plate
(2), upper drive component, snap-gauge (4) and lower drive component, the supporting plate (2) are in concave, and in the supporting plate (2) upper end opening
Both sides are equipped with the support plate (201) of inside bending, described two support plates (201) respectively with the fixed substrate (1) upper surface two
Slideslip connects, and is equipped with upper drive component in the fixed substrate (1) upper surface, and the supporting plate (2) passes through the upper driving
Component driver moves, and the snap-gauge (4) is in concave and opening down, and the snap-gauge (4) upper surface and the fixed substrate
(1) lower surface is slidably connected, and is equipped with lower drive component in the fixed substrate (1) lower surface, and the snap-gauge (4) is described in
Lower drive component driving is mobile and passes in and out the supporting plate (2).
2. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：On described
Drive component includes upper driving motor (9), upper ball-screw (11) and upper screw (12), and the upper ball-screw (11) passes through institute
Driving motor (9) driving rotation is stated, the upper screw (12) is mounted on the upper ball-screw (11), the supporting plate (2)
Two support plates (201) of upper end are connected by a linking arm (3), and the linking arm (3) is connected with the upper screw (12).
3. automation national treasury according to claim 2 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：It is described solid
Substrate (1) upper surface is determined equipped with alignment sensor (15) on alignment sensor (14) and second on first, under the linking arm (3)
Side is equipped with and the matched upper sensor catch of alignment sensor (15) on alignment sensor (14) and second on described first
(13)。
4. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：Under described
Drive component includes lower driving motor (22), lower ball-screw (20) and lower screw (16), and the lower ball-screw (20) passes through
Lower driving motor (22) the driving rotation, the lower screw (16) are mounted on the lower ball-screw (20), the snap-gauge
(4) it is connected with the lower screw (16).
5. automation national treasury according to claim 4 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：It is described solid
Determine substrate (1) lower surface and is equipped with first time alignment sensor (19) and second time alignment sensor (18), the lower screw (16)
It is equipped with and first time alignment sensor (19) and the matched lower sensor catch (17) of second time alignment sensor (18).
6. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：The card
The side wall of plate (4) both sides is vertical with the side wall of the supporting plate (2) both sides.
7. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：On described
Drive component is set between described two support plates (201).
8. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：The support
Plate (2) and snap-gauge (4) are moved each along the length direction of the fixed substrate (1).
9. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：Stacking
When, supporting plate (2) first moves forward to above pile heap, and then snap-gauge (4) drives material package (23) to move forward and enter in supporting plate (2), so
Rear supporting plate (2) is retracted and snap-gauge (4) remains stationary as.
10. automation national treasury according to claim 1 wraps up unstacking and stacking machine device human hand grapple structure, it is characterised in that：De-stacking
When, supporting plate (2) is in returns state, and snap-gauge (4) is in Forward stretching state, and snap-gauge (4) is buckled in material package to be handled
(23) on, then supporting plate (2) Forward offsets with pile heap, and snap-gauge (4) is retracted and material package (23) is driven to enter supporting plate (2)
In.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898127.5U CN207757640U (en) | 2017-12-29 | 2017-12-29 | A kind of automation national treasury package unstacking and stacking machine device human hand grapple structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721898127.5U CN207757640U (en) | 2017-12-29 | 2017-12-29 | A kind of automation national treasury package unstacking and stacking machine device human hand grapple structure |
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| Publication Number | Publication Date |
|---|---|
| CN207757640U true CN207757640U (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721898127.5U Active CN207757640U (en) | 2017-12-29 | 2017-12-29 | A kind of automation national treasury package unstacking and stacking machine device human hand grapple structure |
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| Country | Link |
|---|---|
| CN (1) | CN207757640U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986588A (en) * | 2017-12-29 | 2019-07-09 | 聚龙股份有限公司 | It automates national treasury and wraps up unstacking and stacking machine device manpower grapple structure |
-
2017
- 2017-12-29 CN CN201721898127.5U patent/CN207757640U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986588A (en) * | 2017-12-29 | 2019-07-09 | 聚龙股份有限公司 | It automates national treasury and wraps up unstacking and stacking machine device manpower grapple structure |
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