CN208468387U - Handling device - Google Patents

Handling device Download PDF

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Publication number
CN208468387U
CN208468387U CN201820954561.9U CN201820954561U CN208468387U CN 208468387 U CN208468387 U CN 208468387U CN 201820954561 U CN201820954561 U CN 201820954561U CN 208468387 U CN208468387 U CN 208468387U
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China
Prior art keywords
connect
handling device
handgrip
rack
driving element
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CN201820954561.9U
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Chinese (zh)
Inventor
杜斌
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Guangdong Shun Intelligent Logistics Equipment Ltd By Share Ltd
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Guangdong Shun Intelligent Logistics Equipment Ltd By Share Ltd
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Abstract

The utility model relates to a kind of handling devices, comprising: rack;Walking mechanism, walking mechanism are connect with rack, and walking mechanism can move on the rack;Elevating mechanism, elevating mechanism are connect with walking mechanism;Grasping mechanism, grasping mechanism are connect with elevating mechanism;Grasping mechanism includes the crawl frame connecting with elevating mechanism, the driving element connecting with crawl frame and the handgrip connecting with driving element;Handgrip includes the link block connecting with driving element and at least one briquetting connecting with link block;Link block is set on crawl frame;Briquetting extends downwardly setting from link block.Above-mentioned handling device drives handgrip movement by setting driving element, makes handgrip generation relative movement and then realizes grasping manipulation to workpiece, since the mobile versatility for improving handling device in turn of range may be implemented in handgrip.

Description

Handling device
Technical field
The utility model relates to technical field of mechanical automation, more particularly to a kind of handling device.
Background technique
With the development of modern society, requirement of the people for the processing efficiency and processing quality of workpiece is higher and higher, So the manpower production method that the substitution of the processing mode of automation gradually is traditional, can not only greatly improve in this way Production efficiency, and processing cost can be reduced and improve the quality of production.
During realizing the processing of mechanical automation, it is often necessary to be moved to a workpiece separately from a station One station, and then carry out subsequent manufacturing procedure;In the prior art, it is generally required that being carried out for different workpiece different Fixture design and different grasp modes can be significantly by the fixture for being arranged different to complete the crawl to different workpieces Increase production and processing cost, and limits the versatility of handling device.
Utility model content
Based on this, it is necessary to aiming at the problem that handling device poor universality, provide a kind of handling device.
A kind of handling device, comprising:
Rack;
Walking mechanism, the walking mechanism are connect with the rack;
Elevating mechanism, the elevating mechanism are connect with the walking mechanism;And
Grasping mechanism, the grasping mechanism are connect with the elevating mechanism;The grasping mechanism includes and the elevator The crawl frame of structure connection, the driving element being connect with the crawl frame and the handgrip being connect with the driving element;The handgrip Including the link block being connect with the driving element and at least one briquetting being connect with the link block;The link block set It is located on the crawl frame;The briquetting extends downwardly setting from the link block.
Above-mentioned handling device drives handgrip movement by setting driving element, handgrip is made relative movement to occur and then to work Part realizes grasping manipulation, since the mobile versatility for improving handling device in turn of range may be implemented in handgrip;It is anti-by being arranged The reliability of handgrip grabbing workpiece can be improved in sliding coating;Handgrip can be further improved to crawl work by the way that non-slip groove is arranged The reliability of part, and then so that the mass range that can be crawled workpiece is become larger to improve the versatility of handling device.
Guide rail is provided on the crawl frame in one of the embodiments,;The link block is slidably installed on the guide rail.
Nonskid coating is provided on the briquetting in one of the embodiments,;The nonskid coating is polyvinyl chloride, rubber One of glue and polyurethane.
At least one non-slip groove is provided on the briquetting in one of the embodiments,;The non-slip groove is set in institute State the outside of briquetting.
The setting quantity of the driving element is two in one of the embodiments,;The setting quantity of the handgrip with The setting quantity of the driving element corresponds to two;Each driving element is connected respectively each handgrip.
Two handgrips are set side by side in one of the embodiments,;The setting direction phase of two driving elements Instead, for driving two handgrips close to each other or separate.
The walking mechanism includes the walker abutted with the rack and the walking in one of the embodiments, The horizontal drive part of frame connection and the horizontal drive gear being connect with the horizontal drive part;The rack corresponds to the level The position of driving gear is provided with horizontal drive rack gear;The horizontal drive gear is engaged with the horizontal drive rack gear.
In one of the embodiments, the elevating mechanism include lifting column, the vertical driving that is connect with the lifting column Rack gear, the first guide holder abutted respectively with the lifting column and the second guide holder, the vertical drive being connect with the walking mechanism Moving part and the vertical driving gear being arranged on the vertical actuator;The vertical driving gear and the vertical sliding tooth Item engagement.It is play the guiding role with the second guide holder to lifting column by the first guide holder of setting, while improving lifting column and rising With reliability in the moving process of decline.
The top of the lifting column is provided with limited block in one of the embodiments,.By setting limited block to lifting It is limited at the top of column, prevents lifting column after elevating mechanism over burdening from falling off and workpiece is made to drop damage.
First guide holder and the second guide holder, which respectively correspond, in one of the embodiments, is arranged in the vehicle with walking machine The two sides up and down of structure, and be connected and fixed with the walking mechanism;The setting quantity of first guide holder is two;Described second The setting quantity of guide holder is two;Two first guide holders are folded in the two sides of the lifting column;Two described second Guide holder is folded in the two sides of the lifting column.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the handling device of one embodiment of the utility model;
Fig. 2 is the structural schematic diagram of walking mechanism described in Fig. 1;
Fig. 3 is the structural schematic diagram of elevating mechanism described in Fig. 1;
Fig. 4 is the structural schematic diagram of grasping mechanism described in Fig. 1.
The meaning of numbering in the drawing are as follows:
100- handling device;
10- rack, 15- conduit, 16- horizontal drive rack gear, 17- horizontal slide, 18- block;
20- walking mechanism, 21- walker, 22- horizontal drive part, 23- horizontal drive gear;
30- elevating mechanism, 31- lifting column, the vertical slideway of 40-, 45- limited block, the vertical drive rack of 32-, 33- first are led Gear is driven vertically to seat, the second guide holder of 34-, the vertical actuator of 35-, 36-;
50- grasping mechanism, 51- crawl frame, 60- guide rail, 52- driving element, 53- handgrip, 70- link block, 75- briquetting, 76- nonskid coating, 77- non-slip groove;
90- workpiece.
Specific embodiment
The utility model will be described more fully below for the ease of understanding the utility model,.But this is practical It is novel to realize in many different forms, however it is not limited to embodiment described herein.On the contrary, providing these implementations The purpose of example is to make the understanding of the disclosure of the utility model more thorough and comprehensive.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be The purpose of description specific embodiment, it is not intended that in limitation the utility model.
It is referring to FIG. 1 to FIG. 4, the handling device 100 of one embodiment of the utility model, including rack 10 and rack Walking mechanism 20, the elevating mechanism 30 being connect with walking mechanism 20 and the grasping mechanism being connect with elevating mechanism 30 of 10 connections 50;The handling device 100 be used for travelling workpiece 90 position, and then make workpiece 90 from a station be moved to another station with Complete the processing to workpiece 90.
Rack 10 is extended along the vertical direction, which is used to support handling device 100;The top of the rack 10 is set It is equipped with conduit 15;The conduit 15 is in the horizontally extending setting of rectangular slat shape.In the present embodiment, which is in rectangle Shape structure setting;Horizontal drive rack gear 16 is provided in rack 10;The horizontal drive rack gear 16 is arranged in a long strip shape in rack 10 Top, the horizontal drive rack gear 16 is identical as the setting direction of conduit 15.Further, the two sides of the conduit 15 are provided with Horizontal slide 17;Horizontal slide 17 is in long strip to be extended along 15 direction of conduit, and the horizontal slide 17 is for connecting vehicle with walking machine Structure 20.The both ends of the horizontal slide 17 are respectively arranged with block 18;The block 18 extends along the direction of vertical-horizontal slideway 17 to be set It sets, for limiting to walking mechanism 20, prevents walking mechanism 20 and 10 damaged in collision equipment of rack.
Fig. 1 and Fig. 2 is please referred to, which is slidably installed in rack 10, and walking mechanism 20 can move in rack 10; The walking mechanism 20 include with the walker 21 abutted of rack 10, the horizontal drive part 22 that is connect with walker 21 and with level The horizontal drive gear 23 that actuator 22 connects;The rectangular straight horizontally extending setting of plate structure of the walker 21, The walker 21 is arranged in the top of conduit 15 and abuts with the horizontal slide of two sides 17, makes the walker 21 can be in horizontal slide It is slided on 17;The horizontally extending setting of horizontal drive part 22, the horizontal drive part 22 is for driving horizontal drive gear 23;The horizontal drive gear 23 is extended along the vertical direction, the setting position of the horizontal drive rack gear 16 in the rack 10 with The setting position of the horizontal drive gear 23 is corresponding, which is meshed with horizontal drive rack gear 16.At this In embodiment, which is arranged in the bottom of walker 21, which is arranged in conduit 15 Side, the horizontal drive rack gear 16 are correspondingly arranged at the lower section of the horizontal drive gear 23.Further, the horizontal drive part 22 For motor.
Fig. 1 and Fig. 3 is please referred to, which is correspondingly arranged in the walking mechanism 20, and walking mechanism 20 is for controlling Elevating mechanism 30 processed position in the horizontal direction;The vertical drive that the elevating mechanism 30 includes lifting column 31, connect with lifting column 31 Carry-over bar 32, the first guide holder 33 abutted respectively with lifting column 31 and the second guide holder 34, erecting of connecting with walking mechanism 20 Straight actuator 35 and the vertical driving gear 36 being arranged on vertical actuator 35;The lifting column 31 structure in long strip is along perpendicular Histogram to be extended;The vertical drive rack 32 is arranged in a long strip shape in the side of lifting column 31, the vertical drive rack 32 It is identical as the setting direction of lifting column 31;First guide holder 33 is correspondingly arranged at the top of walker 21 and connects with walker 21 Fixation is connect, which is extended along the vertical direction upwards from the top of walker 21, and the one of the first guide holder 33 Side is abutted against with the lifting column 31 for playing the guiding role to the movement of lifting column 31 along the vertical direction;Second guide holder 34 is right The bottom of walker 21 should be set and be connected and fixed with walker 21, the setting position of second guide holder 34 and the first guiding The setting position of seat 33 is corresponding, and the second guide holder 34 is extended downwards along the vertical direction from the bottom of walker 21, this The side of two guide holders 34 is abutted with lifting column 31, is carried out by second guide holder 34 and the first guide holder 33 to lifting column 31 Limit makes lifting column 31 and walker 21 that can only generate relative displacement along the vertical direction.In the present embodiment, which wears If the walker 21;The setting quantity of first guide holder 33 is two;The setting quantity of second guide holder 34 is two;Two A first guide holder 33 is folded in the two sides of lifting column 31, the corresponding two sides for being folded in lifting column 31 of two the second guide holders 34.
The lifting column 31 is respectively arranged with vertical slideway 40 close to the two sides of the first guide holder 33 and the second guide holder 34;It should It is vertical that slideway 40 is in long strip is extended along the vertical direction, the lifting column 31 by vertical slideway 40 respectively with the first guide holder 33 and second guide holder 34 abut;Further, limited block 45 is provided on the lifting column 31;The limited block 45 is in straight panel shape It is arranged horizontally at the top of the lifting column 31, the setting direction and the setting direction phase of walker 21 of the limited block 45 Together, it falls off for placing lifting column 31 after 30 over burdening of elevating mechanism and workpiece 90 is made to drop damage.The vertical actuator 35 Horizontally extending setting;The vertical driving gear 36 is arranged vertically at one end of vertical actuator 35, this is vertical Drive gear 36 corresponding with the setting position of vertical drive rack 32, this drives gear 36 and vertical 32 phase of drive rack vertically Engagement.In the present embodiment, which is arranged in the top of walker 21;The vertical actuator 35 is motor.
Fig. 1 and Fig. 4 is please referred to, which is arranged in the bottom of elevating mechanism 30, the grasping mechanism 50 and lifting The end of column 31 is connected and fixed, and is used for grabbing workpiece 90;The grasping mechanism 50 includes the drive for grabbing frame 51, connecting with crawl frame 51 Dynamic element 52 and the handgrip 53 being connect with driving element 52;The 51 horizontally extending setting of rectangular structure of crawl frame, The top of the crawl frame 51 and the bottom end of lifting column 31 are connected and fixed, which connect with the center of crawl frame 51. Further, guide rail 60 is provided on the crawl frame 51;The 60 horizontally extending setting of structure in long strip of guide rail, leads The top of crawl frame 51 is arranged in rail 60;In the present embodiment, the setting quantity of the guide rail 60 is two;Two guide rails 60 are distinguished The two sides of crawl frame 51 are set.
The horizontally extending setting of driving element 52, side and the crawl frame 51 of the driving element 52 are connected and fixed, One end of the driving element 52 is connected and fixed with handgrip 53;The handgrip 53 is extended along the vertical direction, the top of the handgrip 53 It is abutted with crawl frame 51.In the present embodiment, the setting quantity of the driving element 52 is two;The setting quantity of the handgrip 53 is Two;Each driving element 52 is connected respectively each handgrip 53, and the both ends of crawl frame 51 are arranged in simultaneously column-shaped for two handgrips 53, Two driving elements 52 are arranged between two handgrips 53, and the setting direction of two driving elements 52 is on the contrary, for driving two Handgrip 53 is close to each other or separate, and then realizes the crawl to workpiece 90;It is to be appreciated that the working forms of the grasping mechanism 50 There are two types of;One is driving handgrip 53 close to each other by driving element 52, it is folded in workpiece 90 between each handgrip 53 real Now grab;Another kind is to drive handgrip 53 to be located remotely from each other by driving element 52, is arranged in workpiece 90 by each handgrip 53 Portion workpiece 90 is propped up into realization crawl.It is to be appreciated that the setting quantity of the handgrip 53 is at least two;The driving element 52 with The setting quantity of handgrip 53 is corresponding;Each handgrip 53 is around the interval setting of crawl frame 51.
The handgrip 53 includes link block 70 and at least one briquetting 75 connecting with link block 70;The link block 70 and drive Dynamic element 52 is connected and fixed, which is set on crawl frame 51, and the link block 70 correspondence is slidably installed on guide rail 60;The pressure The cylindrical structure of block 75 is extended along the vertical direction, and the bottom of briquetting 75 from the link block 70 extends downwardly setting, is used for Grabbing workpiece 90.In the present embodiment, the link block 70 be in the horizontally extending setting of B shape structure, the two of the crawl frame 51 Side is corresponding across the both ends of the link block 70;The setting quantity of the briquetting 75 is two, and two briquettings 75 are arranged at intervals on connection The bottom of block 70.Nonskid coating 76 is provided on the briquetting 75;The cylindrical outside that briquetting 75 is set of the nonskid coating 76; Further, at least one non-slip groove 77 is additionally provided on the briquetting 75;The non-slip groove 77 is annular in shape to be set in briquetting 75 Outside, each non-slip groove 77 along briquetting 75 setting direction interval be arranged.It is to be appreciated that the nonskid coating 76 is polychlorostyrene second One of alkene, rubber and polyurethane;The non-slip groove 77 extends internally setting from 76 lateral surface of nonskid coating.
The working principle of handling device 100 in the present embodiment are as follows: when work, which drives horizontal drive Gear 23 rotates, and then moves walker 21 along 16 direction of horizontal drive rack gear, and walking mechanism 20 is made to drive elevating mechanism 30 It is moved to the top of workpiece 90;Again by driving vertical actuator 35 that vertical driving gear 36 is driven to rotate, lifting column 31 is made to exist It is moved in the vertical direction under the drive of vertical drive rack 32, and then leans on the grasping mechanism 50 that 31 bottom end of lifting column is set Nearly workpiece 90;After grasping mechanism 50 is moved to crawl position, each handgrip 53 is driven to relatively move by driving element 52, It is connected on the surface of workpiece 90 by the briquetting 75 of each handgrip 53 and realizes grasping manipulation;When driving element 52 can not drive handgrip It indicates that crawl is completed after 53 movements, controls vertical actuator 35 and work, increase along the vertical direction lifting column 31, and then pass through and grab Take mechanism 50 that workpiece 90 is driven to move upwards;It drives walker 21 mobile by driving horizontal drive part 22 again, makes walking mechanism 20 drive elevating mechanisms 30 and grasping mechanism 50 are moved to the position that workpiece 90 needs to reach;Again by driving vertical actuator 35 Control lifting column 31 moves downward and puts down workpiece 90, puts down that workpiece is after 90s to drive handgrip 53 mobile by driving element 52, into And grasping mechanism 50 is made to unclamp the workpiece 90, so that workpiece 90 is completed work from a station and then another station, repeats above-mentioned Automated handling is realized in work.
Above-mentioned handling device drives handgrip movement by setting driving element, handgrip is made relative movement to occur and then to work Part realizes grasping manipulation, since the mobile versatility for improving handling device in turn of range may be implemented in handgrip;It is anti-by being arranged The reliability of handgrip grabbing workpiece can be improved in sliding coating;Handgrip can be further improved to crawl work by the way that non-slip groove is arranged The reliability of part, and then so that the mass range that can be crawled workpiece is become larger to improve the versatility of handling device;Pass through setting the One guide holder play the guiding role to lifting column with the second guide holder, while improving lifting column in the moving process of raising and lowering Reliability;By setting limited block to being limited at the top of lifting column, prevent after elevating mechanism over burdening lifting column fall off and Workpiece is set to drop damage.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (10)

1. a kind of handling device characterized by comprising
Rack;
Walking mechanism, the walking mechanism are connect with the rack;
Elevating mechanism, the elevating mechanism are connect with the walking mechanism;And
Grasping mechanism, the grasping mechanism are connect with the elevating mechanism;The grasping mechanism includes connecting with the elevating mechanism The crawl frame connect, the driving element being connect with the crawl frame and the handgrip being connect with the driving element;The handgrip includes The link block being connect with the driving element and at least one briquetting being connect with the link block;The link block is set in On the crawl frame;The briquetting extends downwardly setting from the link block.
2. handling device according to claim 1, which is characterized in that be provided with guide rail on the crawl frame;The connection Block is slidably installed on the guide rail.
3. handling device according to claim 1, which is characterized in that be provided with nonskid coating on the briquetting;It is described anti- Sliding coating is one of polyvinyl chloride, rubber and polyurethane.
4. handling device according to claim 1, which is characterized in that be provided at least one non-slip groove on the briquetting; The non-slip groove is set in the outside of the briquetting.
5. handling device according to claim 1, which is characterized in that the setting quantity of the driving element is two;Institute The setting quantity of the setting quantity and the driving element of stating handgrip corresponds to two;Each driving element is connected respectively Each handgrip.
6. handling device according to claim 5, which is characterized in that two handgrips are set side by side;Two drives The setting direction of dynamic element is on the contrary, for driving two handgrips close to each other or separate.
7. handling device according to claim 1, which is characterized in that the walking mechanism includes abutting with the rack Walker, the horizontal drive part being connect with the walker and the horizontal drive gear being connect with the horizontal drive part;It is described The position that rack corresponds to the horizontal drive gear is provided with horizontal drive rack gear;The horizontal drive gear and the horizontal drive Carry-over bar engagement.
8. handling device according to claim 1, which is characterized in that the elevating mechanism includes lifting column and the liter The vertical drive rack of drop column connection, the first guide holder abutted respectively with the lifting column and the second guide holder and the row The vertical driving gear walking the vertical actuator of mechanism connection and being arranged on the vertical actuator;The vertical sliding tooth Wheel is engaged with the vertical drive rack.
9. handling device according to claim 8, which is characterized in that the top of the lifting column is provided with limited block.
10. handling device according to claim 8, which is characterized in that first guide holder and the second guide holder are distinguished The two sides up and down of the walking mechanism are correspondingly arranged at, and are connected and fixed with the walking mechanism;First guide holder is set Setting quantity is two;The setting quantity of second guide holder is two;Two first guide holders are folded in the lifting The two sides of column;Two second guide holders are folded in the two sides of the lifting column.
CN201820954561.9U 2018-06-20 2018-06-20 Handling device Active CN208468387U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820954561.9U CN208468387U (en) 2018-06-20 2018-06-20 Handling device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820954561.9U CN208468387U (en) 2018-06-20 2018-06-20 Handling device

Publications (1)

Publication Number Publication Date
CN208468387U true CN208468387U (en) 2019-02-05

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Application Number Title Priority Date Filing Date
CN201820954561.9U Active CN208468387U (en) 2018-06-20 2018-06-20 Handling device

Country Status (1)

Country Link
CN (1) CN208468387U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112223617A (en) * 2020-08-10 2021-01-15 李全 Impregnation zone carrying type manipulator
CN112223618A (en) * 2020-08-10 2021-01-15 李全 Carrying manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112223617A (en) * 2020-08-10 2021-01-15 李全 Impregnation zone carrying type manipulator
CN112223618A (en) * 2020-08-10 2021-01-15 李全 Carrying manipulator

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