CN106044249B - A kind of energy-saving palletizing mechanical arm - Google Patents
A kind of energy-saving palletizing mechanical arm Download PDFInfo
- Publication number
- CN106044249B CN106044249B CN201610462666.8A CN201610462666A CN106044249B CN 106044249 B CN106044249 B CN 106044249B CN 201610462666 A CN201610462666 A CN 201610462666A CN 106044249 B CN106044249 B CN 106044249B
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- fixed
- arm
- lever arm
- pulley
- seat
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- 238000005096 rolling process Methods 0.000 claims abstract description 17
- 239000000758 substrate Substances 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000003292 diminished effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003467 diminishing effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to palletizing mechanical field, specifically a kind of energy-saving palletizing mechanical arm, including substrate, base, stent, support column, hydraulic arm, lever arm, pulley, balance weight, power shovel and brake control.Stent is fixed on base；Support column is fixed on rotating seat vertically；Hydraulic arm both ends are hinged with support column and lever arm respectively；Pulley includes active rolling wheel and the fixed pulley being arranged on stent；Draught line one end is fixed on the lever arm other end, is bypassed in the middle part of draught line from fixed pulley, and the other end of draught line winds some circles on active rolling wheel；The other end of balance weight and draught line is connected and vacantly set；Power shovel is arranged on lever arm end；Brake control is arranged on lever arm.The present invention carries out the transmission of power by rope and pulley, the gap of rope ends institute stress is diminished, therefore during manipulator motion, drive the output torque of motor can be with smaller so that mechanical arm is more energy efficient.
Description
Technical field
The present invention relates to palletizing mechanical field, specifically a kind of energy-saving palletizing mechanical arm.
Background technology
At present, industrial automation production field realizes carrying and the heap of material using various special purpose machinerys or mechanical arm more
Code, to improve operating efficiency and overall production.According to the difference of the volume weight of the species condition of production line and material etc., this
A little equipment come in every shape.For special purpose machinery, mechanical arm is simple in structure since floor space is small, and operation is flexible, can be real
The advantages such as existing flexible job, universal application is obtained in the carrying of material and pile field.Compare in the structure type of mechanical arm
More representational such as universal joint type industrial machinery arm, or SCARA shape plane coordinates mechanical arms etc..
Above mechanical arm has the problem of a public, when mechanical arm is unloaded, as long as mechanical arm moves, still needs to expend big
Energy is with mechanical arm movement in itself, and therefore, the cargo mass entrained by mechanical arm is smaller, profit of the mechanical arm to energy
It is lower with efficiency.
Industrially motor-driven palletizing mechanical arm is utilized when in use now, if necessary to which cargo is hovered in midair
In, substantial amounts of energy is inherently expended, and these energy are equivalent to waste, the use of mechanical arm is more next at present
More popularize, if do not improved, this useless energy consumption will be more and more.
The content of the invention
For the problems of the prior art, the present invention provides a kind of energy-saving palletizing mechanical arm, rope ends respectively with
Weight is connected with mechanical arm, and the transmission of power is carried out by rope and pulley, the gap of rope ends institute stress is diminished, therefore machine
When tool arm moves, drive the output torque of motor can be with smaller so that mechanical arm is more energy efficient, and to the utilization ratio of energy
Improve therewith.
The technical solution adopted by the present invention to solve the technical problems is：A kind of energy-saving palletizing mechanical arm, substrate, bottom
Seat, stent, support column, hydraulic arm, lever arm, pulley, balancing device, power shovel and brake control.
The base includes the fixed seat being disposed on the substrate and the rotation being arranged on above fixed seat in cylinder, base
Swivel base；The stent is fixed on rotating seat, and branch bar is provided with the middle part of stent, cross bar is provided with the top of stent；Institute
The support column stated is fixed on rotating seat vertically；With being fixedly connected at the top of support column, hydraulic arm is another for described hydraulic arm one end
End is hinged with lever arm one end；The lever arm other end top is provided with engaging lug；The pulley includes being separately positioned on
The active rolling wheel and fixed pulley at cross bar both ends, and active rolling wheel side couples with motor；The balancing device includes traction
Line and balance weight；Described draught line one end is fixed on engaging lug, is bypassed in the middle part of draught line from fixed pulley, and draught line
The other end winds some circles on active rolling wheel；The balance weight and the other end of draught line are connected and vacantly set, and are balanced
Block utilizes gravitational equilibrium of the gravity of itself by draught line and lever arm.
The power shovel is arranged on lever arm end, and power shovel includes contiguous block, hinged seat, side plate, telescopic rod and shovel
Plate；The contiguous block is fixed on lever arm, and connecting seat bottom is fixed with cross bar；The hinged seat is arranged on contiguous block two
Side；The side plate is fixed on cross bar both ends, and bar hole is provided with side plate；The shovel board is square, and is set at the top of shovel board
There is connecting seat；The both ends of the connecting seat are cylinder, and the both ends of connecting seat are located in bar hole；Described telescopic rod one end
It is hinged with hinged seat, the other end and the connecting seat of the telescopic rod are hinged, and telescopic rod shovel board bottom in elongation, which is leaned forward, to be forward extended out,
Shovel board graduates into horizontal by vertical.
The brake control is arranged on lever arm, and brake control includes brake(-holder) block, braking motor, speed change
Device, driving gear, shaft and roller；The brake(-holder) block is in sector, and the center of brake(-holder) block sector is fixed on hydraulic arm end,
Fan-shaped central axis surrounds the rotation overlapping of axles of hydraulic arm with lever arm where brake(-holder) block；The braking motor is fixed on work
On swing arm；Described speed changer one end couples with the output shaft of braking motor, which couples with driving gear；Institute
The shaft stated is arranged on lever arm and rotates connection, shaft in cylinder, set on the cylindrical surface of shaft it is with teeth and with
Driving gear engages, and turns the tip of the axis and be provided with holding frame；The roller is arranged in holding frame and rotates connection,
And the wheel face of roller is bonded with the side of brake(-holder) block；Rolling friction between roller and brake(-holder) block, braking motor driving roller rotation
Static friction is realized after 90 degree, between roller and brake(-holder) block and reaches braking effect.
Preferably, the active rolling wheel is located at the rear side of fixed pulley.
Preferably, the bar hole bottom, which turns forward, is arranged on side plate.
The beneficial effects of the invention are as follows：The present invention a kind of energy-saving palletizing mechanical arm, rope ends respectively with weight and
Mechanical arm connects, and the transmission of power is carried out by rope and pulley, the gap of rope ends institute stress is diminished, therefore mechanical arm is transported
When dynamic, drive the output torque of motor can be with smaller so that mechanical arm is more energy efficient, and is also carried therewith to the utilization ratio of energy
It is high；The present invention installs brake control between mechanical arm, carrys out control machinery by varying the friction mode between mechanical arm
The hovering of arm, and the mechanical joint noenergy is lost during floating state, can greatly save energy, reach energy-saving and environment-friendly purpose.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram at positive visual angle of the invention；
Fig. 2 is the dimensional structure diagram at back side visual angle of the present invention；
Fig. 3 is the dimensional structure diagram at power shovel back side visual angle；
Fig. 4 is the dimensional structure diagram at power shovel front visual angle；
Fig. 5 is the dimensional structure diagram of brake control；
In figure：It is substrate (1), base (2), stent (3), support column (4), hydraulic arm (5), lever arm (6), pulley (7), flat
Weigh device (8), power shovel (9), brake control (10), fixed seat (21), rotating seat (22), branch bar (31), cross bar
(32), engaging lug (61), active rolling wheel (71), fixed pulley (72), draught line (81), balance weight (82), contiguous block (91), hinged
Seat (92), side plate (93), telescopic rod (94), shovel board (95), bar hole (931), connecting seat (951), brake(-holder) block (101), braking
Motor (102), speed changer (103), driving gear (104), shaft (105), roller (106), holding frame (1051).
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Embodiment is closed, the present invention is further explained.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, a kind of energy-saving palletizing mechanical arm of the present embodiment, substrate 1, base 2, stent
3rd, support column 4, hydraulic arm 5, lever arm 6, pulley 7, balancing device 8, power shovel 9 and brake control 10.
In cylinder, base 2 includes the fixed seat 21 of setting on substrate 1 and is arranged on fixed seat 21 base 2
The rotating seat 22 of top；The stent 3 is fixed on rotating seat 22, and the middle part of stent 3 is provided with branch bar 31, stent 3
Top is provided with cross bar 32；The support column 4 is fixed on rotating seat 22 vertically；Described 5 one end of hydraulic arm and support column 4
Top is fixedly connected, and 5 other end of hydraulic arm is hinged with 6 one end of lever arm；6 other end top of lever arm is provided with engaging lug
61；The pulley 7 includes the active rolling wheel 71 and fixed pulley 72 for being separately positioned on 32 both ends of cross bar, and 71 side of active rolling wheel
Couple with motor, active rolling wheel 71 is located at the rear side of fixed pulley 72；The balancing device 8 includes draught line 81 and balance weight
82；Described 81 one end of draught line is fixed on engaging lug 61, and the middle part of draught line 81 is bypassed from fixed pulley 72, and draught line 81
The other end some circles are wound on active rolling wheel 71；The balance weight 82 is connected with the other end of draught line 81 and vacantly sets
Put, balance weight utilizes gravitational equilibrium of the gravity of itself by draught line and lever arm.
The power shovel 9 is arranged on 6 end of lever arm, and power shovel 9 includes contiguous block 91, hinged seat 92, side plate 93, stretches
Contracting bar 94 and shovel board 95；The contiguous block 91 is fixed on lever arm 6, and 91 bottom of connecting seat is fixed with cross bar 911；Described
Hinged seat 92 is arranged on 91 both sides of contiguous block；The side plate 93 is fixed on 911 both ends of cross bar, and bar hole is provided with side plate 93
931；The shovel board 95 is square, and the top of shovel board 95 is provided with connecting seat 951；The both ends of the connecting seat 951 are cylinder,
And the both ends of connecting seat 951 are located in bar hole 931；931 bottom of bar hole, which turns forward, to be arranged on side plate 93；Institute
94 one end of telescopic rod stated is hinged with hinged seat 92, and the other end of the telescopic rod 94 is hinged with connecting seat 951, and telescopic rod is extending
When shovel board bottom lean forward and forward extend out, shovel board graduates into horizontal by vertical.
The brake control 10 is arranged on lever arm 6, and brake control 10 includes brake(-holder) block 101, braking
Motor 102, speed changer 103, driving gear 104, shaft 105 and roller 106；The brake(-holder) block 101 is in sector, and brake(-holder) block
101 fan-shaped centers are fixed on 5 end of hydraulic arm, and the central axis of sector surrounds hydraulic arm with lever arm 6 where brake(-holder) block 101
5 rotation overlapping of axles；The braking motor 102 is fixed on lever arm 6；Described 103 one end of speed changer and braking motor
102 output shaft connection, 103 other end of speed changer couple with driving gear 104；The shaft 105 is arranged on lever arm 6
Go up and rotate connection, shaft 105 is in cylinder, sets with teeth on the cylindrical surface of shaft 105 and is nibbled with driving gear 104
Close, and the end of shaft 105 is provided with holding frame 1051；The roller 106 is arranged in holding frame 1051 and rotates
Connection, and the wheel face of roller 106 is bonded with the side of brake(-holder) block 101；Rolling friction between roller and brake(-holder) block, braking motor drive
After dynamic roller rotated ninety degrees, static friction is realized between roller and brake(-holder) block and reaches braking effect.
When in use, base 2 provides the rotary freedom of horizontal plane, liquid to a kind of energy-saving palletizing mechanical arm of the present embodiment
Pressure arm 5 provides horizontal direction translation freedoms, and pulley system provides the translation freedoms of above-below direction；81 both ends of draught line point
It is not connected with balance weight 8 and mechanical arm, the transmission of power is carried out by draught line 81 and pulley, makes the difference of draught line both ends institute stress
Away from diminishing, therefore during manipulator motion, drive the output torque of motor can be with smaller so that mechanical arm is more energy efficient, and to energy
The utilization ratio of amount also improves therewith.
The rotating direction of roller 106 and the rotation direction of brake(-holder) block 1011 are tangent, and lever arm 6 can be moved around hydraulic arm 5；
When needing hovering, braking motor 102 drives driving gear 104 to rotate by speed changer 103, due to 105 side of shaft and master
Moving gear 104 engages so that shaft 105 rotates, so that the rotation direction of the rotating direction of roller 106 and brake(-holder) block 101
Vertically so that it is opposing stationary due to friction between roller 106 and brake(-holder) block 101, finally it is presented as lever arm 6 and hydraulic arm 5
Between it is opposing stationary, and between two joint without energy maintain, achieve the purpose that energy saving.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in the above embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (3)
- A kind of 1. energy-saving palletizing mechanical arm, it is characterised in that：Including substrate (1), base (2), stent (3), support column (4), Hydraulic arm (5), lever arm (6), pulley (7), balancing device (8), power shovel (9) and brake control (10)；In cylinder, base (2) includes the fixed seat (21) being arranged on substrate (1) and is arranged on fixation the base (2) Rotating seat (22) above seat (21)；The stent (3) is fixed on rotating seat (22), is provided with the middle part of stent (3) point Strut (31), is provided with cross bar (32) at the top of stent (3)；The support column (4) is fixed on rotating seat (22) vertically；Institute With being fixedly connected at the top of support column (4), hydraulic arm (5) other end and lever arm (6) one end are hinged for hydraulic arm (5) one end stated； Lever arm (6) other end top is provided with engaging lug (61)；The pulley (7) includes being separately positioned on cross bar (32) two The active rolling wheel (71) and fixed pulley (72) at end, and active rolling wheel (71) side couples with motor；The balancing device (8) Including draught line (81) and balance weight (82)；Described draught line (81) one end is fixed on engaging lug (61), draught line (81) Middle part is bypassed from fixed pulley (72), and the other end of draught line (81) winds some circles on active rolling wheel (71)；Described Balance weight (82) is connected with the other end of draught line (81) and vacantly sets；The power shovel (9) is arranged on lever arm (6) end, and power shovel (9) includes contiguous block (91), hinged seat (92), side Plate (93), telescopic rod (94) and shovel board (95)；The contiguous block (91) is fixed on lever arm (6), connecting seat (95 1) bottom Portion is fixed with cross bar (911)；The hinged seat (92) is arranged on contiguous block (91) both sides；The side plate (93) is fixed on horizontal stroke Bar (911) both ends, are provided with bar hole (931) on side plate (93)；The shovel board (95) is square, and is set at the top of shovel board (95) There is connecting seat (951)；The both ends of the connecting seat (951) are cylinder, and the both ends of connecting seat (951) are located at bar hole (931) in；Described telescopic rod (94) one end is hinged with hinged seat (92), the other end and connecting seat of the telescopic rod (94) (951) it is hinged；The brake control (10) is arranged on lever arm (6), brake control (10) include brake(-holder) block (101), Braking motor (102), speed changer (103), driving gear (104), shaft (105) and roller (106)；The brake(-holder) block (101) in sector, and the center of brake(-holder) block (101) sector is fixed on hydraulic arm (5) end, sector where brake(-holder) block (101) Central axis surrounds the rotation overlapping of axles of hydraulic arm (5) with lever arm (6)；The braking motor (102) is fixed on lever arm (6) on；Described speed changer (103) one end couples with the output shaft of braking motor (102), speed changer (103) other end with Driving gear (104) couples；The shaft (105) is arranged on lever arm (6) and rotates connection, and shaft (105) is in Cylinder, sets with teeth on the cylindrical surface of shaft (105) and is engaged with driving gear (104), and the end of shaft (105) is set There is holding frame (1051)；The roller (106) is arranged in holding frame (1051) and rotates connection, and roller (106) Wheel face be bonded with the side of brake(-holder) block (101).
- A kind of 2. energy-saving palletizing mechanical arm according to claim 1, it is characterised in that：The active rolling wheel (71) Rear side positioned at fixed pulley (72).
- A kind of 3. energy-saving palletizing mechanical arm according to claim 1, it is characterised in that：Described bar hole (931) bottom Portion, which turns forward, to be arranged on side plate (93).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462666.8A CN106044249B (en) | 2016-06-23 | 2016-06-23 | A kind of energy-saving palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462666.8A CN106044249B (en) | 2016-06-23 | 2016-06-23 | A kind of energy-saving palletizing mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106044249A CN106044249A (en) | 2016-10-26 |
| CN106044249B true CN106044249B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610462666.8A Expired - Fee Related CN106044249B (en) | 2016-06-23 | 2016-06-23 | A kind of energy-saving palletizing mechanical arm |
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| Country | Link |
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| CN (1) | CN106044249B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927021A (en) * | 2017-12-19 | 2019-06-25 | 广州中国科学院先进技术研究所 | A kind of bionical humanoid mechanical arm of 7 freedom degrees |
| CN114227730B (en) * | 2021-12-31 | 2024-05-10 | 合肥赛摩雄鹰自动化工程科技有限公司 | Box tongs and pile up neatly machine people thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05253885A (en) * | 1992-03-05 | 1993-10-05 | Fanuc Ltd | Robot arm balancer device |
| EP0574834A1 (en) * | 1992-06-19 | 1993-12-22 | MSK-Verpackungs-Systeme Gesellschaft mit beschränkter Haftung | Palettiser |
| CN101870102A (en) * | 2009-04-25 | 2010-10-27 | 鸿富锦精密工业（深圳）有限公司 | Palletizing robot |
| CN203003869U (en) * | 2012-11-23 | 2013-06-19 | 周强 | Lifting-tool maintaining manipulator |
| CN203510208U (en) * | 2013-10-17 | 2014-04-02 | 上海海洋大学 | Multi-degree of freedom underwater operation mechanical arm |
| CN103722548A (en) * | 2013-12-20 | 2014-04-16 | 河北宏润重工股份有限公司 | Steel pipe hot extrusion glass pad placement manipulator |
| CN204893934U (en) * | 2015-07-21 | 2015-12-23 | 魏德让 | Hydraulic pressure pouring manipulator |
| CN204957833U (en) * | 2015-05-12 | 2016-01-13 | 无锡松邦科技有限公司 | Stocker cantilever balancing weight mechanism |
| CN205043769U (en) * | 2015-09-28 | 2016-02-24 | 浙江宁巍机械科技有限公司 | Automatic feeding mechanical arm that goes up of system shell machine |
| CN105643613A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Manipulator for electrolytic copper |
-
2016
- 2016-06-23 CN CN201610462666.8A patent/CN106044249B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05253885A (en) * | 1992-03-05 | 1993-10-05 | Fanuc Ltd | Robot arm balancer device |
| EP0574834A1 (en) * | 1992-06-19 | 1993-12-22 | MSK-Verpackungs-Systeme Gesellschaft mit beschränkter Haftung | Palettiser |
| CN101870102A (en) * | 2009-04-25 | 2010-10-27 | 鸿富锦精密工业（深圳）有限公司 | Palletizing robot |
| CN203003869U (en) * | 2012-11-23 | 2013-06-19 | 周强 | Lifting-tool maintaining manipulator |
| CN203510208U (en) * | 2013-10-17 | 2014-04-02 | 上海海洋大学 | Multi-degree of freedom underwater operation mechanical arm |
| CN103722548A (en) * | 2013-12-20 | 2014-04-16 | 河北宏润重工股份有限公司 | Steel pipe hot extrusion glass pad placement manipulator |
| CN105643613A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Manipulator for electrolytic copper |
| CN204957833U (en) * | 2015-05-12 | 2016-01-13 | 无锡松邦科技有限公司 | Stocker cantilever balancing weight mechanism |
| CN204893934U (en) * | 2015-07-21 | 2015-12-23 | 魏德让 | Hydraulic pressure pouring manipulator |
| CN205043769U (en) * | 2015-09-28 | 2016-02-24 | 浙江宁巍机械科技有限公司 | Automatic feeding mechanical arm that goes up of system shell machine |
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| Publication number | Publication date |
|---|---|
| CN106044249A (en) | 2016-10-26 |
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