CN209276105U - A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator - Google Patents
A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator Download PDFInfo
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- CN209276105U CN209276105U CN201821682132.7U CN201821682132U CN209276105U CN 209276105 U CN209276105 U CN 209276105U CN 201821682132 U CN201821682132 U CN 201821682132U CN 209276105 U CN209276105 U CN 209276105U
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- claw
- pallet fork
- rack
- square tube
- lever arm
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- 210000000078 claw Anatomy 0.000 title claims abstract description 163
- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 10
- 239000011521 glass Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model relates to a kind of claw pallet fork integral mechanisms, including rack, pallet fork component, clamp assemblies；Rack includes square tube, gusset；Square tube builds into U-frame frame, and the left and right ends of U-frame frame front square tube are respectively fixed with two vertical square tubes；The square tube of the right and left and vertical square tube are connected by gusset；Pallet fork component includes the pallet fork for being lifted cargo, and pallet fork connect with two vertical square tubes respectively, is mounted between two vertical square tubes；Clamp assemblies include the claw of goods clamping, and clamp assemblies are mounted in the rack at vertical square tube rear across the right and left of U-frame frame.Further relate to a kind of robot with claw pallet fork one manipulator.Belong to handling machinery technical field.The utility model has both claw clamping and pallet fork is lifted two functions, economical and practical.
Description
Technical field
The utility model relates to handling machinery technical fields, more particularly to as a kind of claw for carrying instrument fore device
Pallet fork integral mechanism and robot with claw pallet fork one manipulator.
Background technique
Nowadays, industrial production is quickly grown, and so fast development speed be unable to do without miscellaneous mechanical device.It is just so-called
" a workman wants to do his work well must first sharp weapon ".And the transmitting of material, part is an industrial essential process, they are passed
It is delivered to each station to be processed, eventually becomes finished product.The transmitting of material, part just needs to pick up them, however picks up
Mode there are many kinds of, clamping, carrying from the bottom up, absorption etc..Different pickup modes is suitable for unused object.It is existing
, most carrying instrument is all only to carry different cargos equipped with a kind of pickup mode and just need different machines, this
Sample considerably increases equipment cost, also occupies space.To solve these problems, need to design a kind of economical and practical, a variety of pick up
Take mode in the cargo pick device of one.
Utility model content
For the technical problems in the prior art, the purpose of this utility model is: provide can either goods clamping again
A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator for having pallet fork function.
In order to achieve the above object, the utility model adopts the following technical solution:
A kind of claw pallet fork integral mechanism, including rack, pallet fork component, clamp assemblies；Rack includes square tube, gusset；Side
Pipe builds into U-frame frame, and the left and right ends of U-frame frame front square tube are respectively fixed with two vertical square tubes, and are added using gusset
Gu the connection of the square tube of the right and left and vertical square tube；Pallet fork component includes the pallet fork for being lifted cargo, and pallet fork is perpendicular with two respectively
It connects, is mounted between two vertical square tubes to square tube；Clamp assemblies include the claw of goods clamping, and clamp assemblies are across U-shaped
The right and left of frame is mounted in the rack at vertical square tube rear.After this structure, which can either goods clamping
Adaptable but also with pallet fork function, claw has been effectively ensured for the relative position that claw, pallet fork are installed and pallet fork is respectively normal
Work.
Pallet fork component includes pallet fork, pallet fork limit plate, pallet fork foldable cylinder；The rotation of the vertical square tube of pallet fork and front end of rack
Connection；Pallet fork foldable cylinder one end is rotatablely installed on the rack, and the other end and pallet fork are rotatablely connected；Pallet fork foldable cylinder is flexible to drive
Dynamic pallet fork rotation expansion is packed up；The lower end of vertical square tube is fixed with pallet fork limit plate, and pallet fork limit plate includes mounting portion, stretches out
Portion, mounting portion are fixed in vertical square tube, and extension withstands pallet fork below pallet fork.After this structure, goods is not being used
It can be folded when fork, in addition pallet fork limit plate makes pallet fork in the state of stretching, extension when bearing goods, the pressure of cargo
It is born by rack, avoids going to withstand forces by pallet fork foldable cylinder, extend the service life of pallet fork foldable cylinder.
Pallet fork includes active section, supporting section, control section, and the part that pallet fork forward extends out is active section, and active section is L shape,
To bearing goods to be transmitted to cargo；Supporting section connects active section, and the middle section of supporting section is tortuous raised upwards；
Control section is stretched out backward from the both ends of supporting section, and control section connect to form revolute pair with the vertical square tube hinge of rack or so.It adopts
After this structure, pallet fork transports goods, active section bearing goods, and the part of supporting section protrusion, which is more advantageous to, to prevent on pallet fork
Cargo is rearward fallen；Between two vertical square tubes of the front end that control section makes pallet fork be installed in rotation on rack, with further
It realizes and folds.
Pallet fork component further includes flap；Flap is symmetrically mounted in the rack of the right and left, folds gas as pallet fork
The support of cylinder；Pallet fork foldable cylinder is installed on the left and right sides of the rack, the control section of pallet fork foldable cylinder push rod end and pallet fork
Tail portion rotation connection, the other end and flap are rotatablely connected；The expansion of the extension and contraction control pallet fork of pallet fork foldable cylinder folds, goods
It pitches foldable cylinder to shrink, drives the control section of pallet fork to rotate, make position defined by pallet fork unitary rotation to pallet fork limit plate, from
And pallet fork is unfolded；The elongation of pallet fork foldable cylinder, drives the control section of pallet fork to rotate, and packs up pallet fork to fold.Using this knot
It after structure, can be folded when not using pallet fork, the volume for occupying overall mechanism becomes smaller；In addition pallet fork foldable cylinder
Mounting means also make its space occupied smaller.
Clamp assemblies include claw beam, claw, claw supporting；Claw is fixed on claw beam by claw supporting；
Claw beam passes through claw, and the weight of claw is loaded by claw supporting, is mounted on the rack across the right and left.Using this
After kind of structure, be compactly installed on the rack, be in addition unable to hold out cargo in claw supporting branch, and with claw beam be detached from when
It waits, the design that claw beam passes through claw can prevent it from falling and play the role of insurance.
Claw includes claw lever arm, claw fixed arm, claw actuating cylinder；Each two of the every side of claw lever arm is symmetrically
It is mounted on the left and right sides；It is rotatablely connected in the middle part of claw lever arm with claw fixed arm, the corresponding symmetrical two claw activities in left and right
The top of arm is connect with the head and the tail both ends hinge of the same claw actuating cylinder respectively；Claw fixed arm be located at claw beam just under
Claw fixed arm, claw beam are fixedly connected by side, claw supporting.It is simple and compact for structure after this structure, and can be effective
Ground clamps cargo or release.
Claw further includes having firmware, and the lower part of the claw lever arm of the same side is connected with firmware；Firmware includes side
Aluminum pipe, glass clamp, square aluminum pipe traverse and the installation that is parallel to each other, glass clamp connect square aluminum pipe with claw lever arm.Using this
After structure, guarantee that the movement of the claw lever arm of the same side is synchronous, and increase the contact surface of claw Yu clamped cargo
Product, makes to clamp more stable.
The position of claw lever arm and the rotation connection of claw fixed arm is the fulcrum of claw lever arm rotation；Claw power gas
When cylinder extends, the distance on the right and left symmetrical claw lever arm top becomes larger, and the distance of lower part becomes smaller to clamp cargo；Pawl
Sub- actuating cylinder is shunk, and the distance on the right and left symmetrical claw lever arm top becomes smaller, and the distance of lower part becomes larger to unclamp
Cargo.After this structure, structure is simple and can effectively realize claw opening or clamp.
A kind of robot with claw pallet fork one manipulator, claw pallet fork integral mechanism are expert at as manipulator installation
It walks and obtains robot in mechanism.After this structure, obtain can either goods clamping but also with the adaptable of pallet fork function
Robot.
A kind of method that claw pallet fork integral mechanism transports goods, when being transported goods using claw pallet fork integral mechanism；It presses
The characteristic selection pallet fork of cargo is carried or claw clamping is carried；When using pallet fork, control system controls pallet fork foldable cylinder and shrinks,
Pallet fork is unfolded, is transported goods using pallet fork lifting；When without using pallet fork, control system controls the elongation of pallet fork foldable cylinder, packs up
Pallet fork；When being transported goods using claw clamping, control system controls the elongation of claw actuating cylinder or shrinks, and drives claw lever arm
Rotation, thus claw clamping or release cargo.After in this way, it can be adapted for a variety of cargos, reduce equipment cost
The space and.
Generally speaking, the utility model has the advantages that having both claw clamping and pallet fork is lifted two functions, economical real
Keep take up space small, light weight, manufacturing cost of claw pallet fork integral mechanism low with, foldover design.
Detailed description of the invention
Fig. 1 is a kind of integrally-built perspective view of claw pallet fork integral mechanism
Fig. 2 is a kind of perspective view of the rack construction of claw pallet fork integral mechanism
Fig. 3 is a kind of perspective view of the clamp assemblies structure of claw pallet fork integral mechanism
Fig. 4 is a kind of perspective view of the pallet fork expansion of claw pallet fork integral mechanism
Fig. 5 is the perspective view that a kind of pallet fork of claw pallet fork integral mechanism folds
The label declaration of components in schematic diagram:
As shown in the figure: 1- flap, 2- square tube, 3- pallet fork limit plate, 4- gusset, 5- claw actuating cylinder, 6- claw are living
Swing arm, 7- pallet fork, 8- pallet fork foldable cylinder, 9- claw beam, 10- claw supporting, 11- claw fixed arm, the side's 12- aluminum pipe, 13-
Glass clamp.
Specific embodiment
Below in conjunction with specific embodiment, the utility model is described in more detail.
A kind of claw pallet fork integral mechanism, including rack, clamp assemblies, pallet fork component.
Rack includes square tube, gusset, screw；Square tube is built into U-frame frame, the left and right ends point of front square tube with screw
It is not fixed with two vertical square tubes, is connected the square tube of the right and left with vertical square tube with gusset, keeps structure more firm.
Pallet fork component includes: pallet fork, flap, pallet fork limit plate, pallet fork foldable cylinder.
Pallet fork includes active section, supporting section, control section, and for the active section of pallet fork shaped like L shape, supporting section connects active section, branch
Support the middle section of section tortuous protrusion upwards, when bearing goods, raised part be more advantageous to prevent cargo on pallet fork to
Rear is fallen；Control section is stretched out backward from the both ends of supporting section, and control section connect to be formed with the vertical square tube hinge of rack or so
Revolute pair, and then between two vertical square tubes of the front end for making pallet fork be installed in rotation on rack.
Flap bilateral symmetry is fixed on the right and left of rack, the support as pallet fork foldable cylinder.
Pallet fork foldable cylinder is symmetrically mounted on the right and left of rack, and the tail portion of push rod end and pallet fork control section is hingedly constituted
Revolute pair, the other end and flap hingedly constitute revolute pair.Pallet fork foldable cylinder provides power for the folding of pallet fork, and pallet fork folds
When cylinder extends, pallet fork is packed up；When foldable cylinder is shunk, pallet fork is put down.In this way, can be incited somebody to action when not needing using pallet fork
Pallet fork, which is folded up, to be packed up, and overall mechanism the space occupied is saved.
Pallet fork limit plate is fixed on the lower end of two vertical square tubes of the front end of rack, and the installation site of pallet fork limit plate is in goods
The control section collective effect of the lower section of fork control section, pallet fork limit plate and pallet fork limits pallet fork and rotates down, carries in pallet fork
When cargo, the pressure of cargo is born.This avoid going to withstand forces by pallet fork foldable cylinder, pallet fork can be extended and fold gas
The service life of cylinder.
Clamp assemblies include: claw beam, claw, claw supporting.
Claw beam passes through claw, and the weight of claw is loaded by claw supporting, is mounted on rack across the right and left
On.
Claw includes: claw lever arm, claw fixed arm, claw actuating cylinder, firmware.
Claw lever arm is symmetrically mounted on each side two, and the lower part of the claw lever arm of the same side is connected with firmware
Connect simultaneously fixed range.Wherein firmware includes square aluminum pipe, glass clamp, square aluminum pipe traverse and the installation that is parallel to each other, glass clamp difference
It connect with square aluminum pipe, claw lever arm screw, square aluminum pipe and claw lever arm is connected with this.
Claw fixed arm is located at the underface of claw beam, and claw supporting is fixedly connected with claw fixed arm, claw beam, fixed
Position of the claw with respect to claw beam, slide claw will not on claw beam arbitrarily, the operation is stable.
It is the position of the fulcrum of claw lever arm rotation in the middle part of claw lever arm, at position of the fulcrum, claw lever arm and pawl
Sub- fixed arm hinge connection；The top of claw lever arm is connect with the end hinge of claw actuating cylinder, wherein is mutually coped with left and right
The top of the two claw lever arms claimed is connect with the head and the tail both ends hinge of the same claw actuating cylinder respectively.
Under control of the control system, claw actuating cylinder stretches out, and the distance on the two claw lever arm tops in left and right becomes larger,
It will be moved towards below claw lever arm, to clamp object；On the contrary, claw actuating cylinder is shunk, then claw unclamps object.
When using claw clamping object, control pallet fork foldable cylinder is stretched out, and packs up pallet fork；When needing using pallet fork
When, pallet fork is put down.
It is mounted in walking mechanism using claw pallet fork integral mechanism as manipulator, available one kind can carry a variety of goods
The adaptable robot of object.Such as: circular cargo is easy to roll, and is not easy to transport circular cargo using pallet fork, then makes
It is clamped and is carried with claw；The biggish rectangular cargo of volume is difficult to clamp using claw, then is carried using pallet fork lifting.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (9)
1. a kind of claw pallet fork integral mechanism, including rack, pallet fork component, clamp assemblies；Rack includes square tube；Square tube is built into
The left and right ends of U-frame frame, U-frame frame front square tube are respectively fixed with two vertical square tubes；Pallet fork component includes bearing goods
With the pallet fork transmitted, pallet fork is connect with two vertical square tubes respectively, is mounted between two vertical square tubes；Clamp assemblies packet
The claw of goods clamping is included, clamp assemblies are mounted in the rack at vertical square tube rear across the right and left of U-frame frame.
2. a kind of claw pallet fork integral mechanism described in accordance with the claim 1, it is characterised in that: pallet fork component includes pallet fork, goods
Pitch limit plate, pallet fork foldable cylinder；The rotation connection of the vertical square tube of pallet fork and front end of rack；Pallet fork foldable cylinder one end rotation peace
On the rack, the other end and pallet fork are rotatablely connected dress；The flexible driving pallet fork rotation expansion of pallet fork foldable cylinder is packed up；Pallet fork limit
Position plate is fixed on the lower end of vertical square tube, and pallet fork limit plate includes mounting portion, extension, and mounting portion is fixed in vertical square tube,
Extension withstands pallet fork below pallet fork.
3. a kind of claw pallet fork integral mechanism according to claim 2, it is characterised in that: pallet fork includes active section, support
Section, control section, the active section of pallet fork are L shape, and supporting section connects active section, and the middle section of supporting section is tortuous raised upwards；
Control section is stretched out backward from the both ends of supporting section, and control section connect to form revolute pair with the vertical square tube hinge of rack or so, into
And between two vertical square tubes of the front end for making pallet fork be installed in rotation on rack.
4. a kind of claw pallet fork integral mechanism described in accordance with the claim 3, it is characterised in that: pallet fork component further includes hinge
Plate；Flap is symmetrically mounted in the rack of the right and left, the support as pallet fork foldable cylinder；Pallet fork foldable cylinder is mounted on
The tail portion of the left and right sides of rack, pallet fork foldable cylinder push rod end and pallet fork control section is rotatablely connected, and the other end and flap turn
Dynamic connection；The expansion of the extension and contraction control pallet fork of pallet fork foldable cylinder folds, and pallet fork foldable cylinder is shunk, and drives the control of pallet fork
Section rotation, makes position defined by pallet fork unitary rotation to pallet fork limit plate, so that pallet fork is unfolded；The elongation of pallet fork foldable cylinder,
The control section rotation for driving pallet fork, packs up pallet fork to fold.
5. a kind of claw pallet fork integral mechanism described in accordance with the claim 1, it is characterised in that: clamp assemblies include claw beam,
Claw, claw supporting；Claw is fixed on claw beam by claw supporting；Claw beam passes through claw, is accepted by claw
Part loads the weight of claw, is mounted on the rack across the right and left.
6. a kind of claw pallet fork integral mechanism according to claim 5, it is characterised in that: claw include claw lever arm,
Claw fixed arm, claw actuating cylinder；Each two of the every side of claw lever arm is symmetrically mounted at the left and right sides；In claw lever arm
Portion and claw fixed arm are rotatablely connected, the top of the corresponding symmetrical two claw lever arms in left and right respectively with the same claw power
The head and the tail both ends hinge of cylinder connects；Claw fixed arm is located at the underface of claw beam, and claw supporting is by claw fixed arm, pawl
Sub- beam is fixedly connected.
7. a kind of claw pallet fork integral mechanism according to claim 6, it is characterised in that: claw further includes firmware, together
The lower part of the claw lever arm of side is connected with firmware；Firmware includes square aluminum pipe, glass clamp, square aluminum pipe traverse and mutually flat
Row installation, glass clamp connect square aluminum pipe with claw lever arm.
8. a kind of claw pallet fork integral mechanism according to claim 6, it is characterised in that: claw lever arm is fixed with claw
The position of arm rotation connection is the fulcrum of claw lever arm rotation；When claw actuating cylinder extends, the symmetrical claw of the right and left
The distance on lever arm top becomes larger, and the distance of lower part becomes smaller to clamp cargo；Claw actuating cylinder is shunk, and the right and left is symmetrical
The distance on claw lever arm top become smaller, the distance of lower part becomes larger to unclamp cargo.
9. a kind of robot with claw pallet fork one manipulator, it is characterised in that: including walking mechanism, claim 1-8
Any one of described in a kind of claw pallet fork integral mechanism；Claw pallet fork integral mechanism is mounted on walking mechanism as manipulator
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821682132.7U CN209276105U (en) | 2018-10-17 | 2018-10-17 | A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821682132.7U CN209276105U (en) | 2018-10-17 | 2018-10-17 | A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209276105U true CN209276105U (en) | 2019-08-20 |
Family
ID=67604626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821682132.7U Expired - Fee Related CN209276105U (en) | 2018-10-17 | 2018-10-17 | A kind of claw pallet fork integral mechanism and the robot with claw pallet fork one manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209276105U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292690A (en) * | 2018-10-17 | 2019-02-01 | 华南理工大学 | Claw pallet fork integral mechanism and its method transported goods, the robot with claw pallet fork one manipulator |
| CN112441358A (en) * | 2019-09-03 | 2021-03-05 | 北京京东乾石科技有限公司 | Shuttle vehicle control method and device |
-
2018
- 2018-10-17 CN CN201821682132.7U patent/CN209276105U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292690A (en) * | 2018-10-17 | 2019-02-01 | 华南理工大学 | Claw pallet fork integral mechanism and its method transported goods, the robot with claw pallet fork one manipulator |
| CN109292690B (en) * | 2018-10-17 | 2023-08-22 | 华南理工大学 | Claw fork integrated mechanism, method for carrying goods by utilizing same and robot with claw fork integrated manipulator |
| CN112441358A (en) * | 2019-09-03 | 2021-03-05 | 北京京东乾石科技有限公司 | Shuttle vehicle control method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190820 |