CN108501030A - Manipulator for copying bagged articles or barreled object mechanically - Google Patents
Manipulator for copying bagged articles or barreled object mechanically Download PDFInfo
- Publication number
- CN108501030A CN108501030A CN201810552789.XA CN201810552789A CN108501030A CN 108501030 A CN108501030 A CN 108501030A CN 201810552789 A CN201810552789 A CN 201810552789A CN 108501030 A CN108501030 A CN 108501030A
- Authority
- CN
- China
- Prior art keywords
- gripper jaw
- frame
- manipulator
- bagged articles
- lead screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000006978 adaptation Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000032258 transport Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator for copying bagged articles or barreled object mechanically is provided, with frame, described frame one end is equipped with mounting bracket and mounting bracket is equipped with power drive unit, be equipped with clamping manipulator below the frame and the both ends of clamping manipulator be installed on frame, the power drive unit and clamping manipulator connect and by power drive unit drive left gripper jaw in clamping manipulator and right gripper jaw it is opposite or it is opposite it is mobile after realize left gripper jaw and right gripper jaw by bagged articles or barreled object firmly grasp or release.The present invention by driven set on the power drive unit of frame one end left gripper jaw in clamping manipulator and right gripper jaw it is opposite or it is opposite it is mobile after, complete left gripper jaw and right gripper jaw by bagged articles or barreled object promptly or unclamp, realize the mechanical clamping before bagged articles or barreled object are carried, artificial carrying is liberated, landed cost is reduced, simple in structure, convenient operating maintenance, handling efficiency is high, carries intensity and is effectively converted.
Description
Technical field
The invention belongs to manipulator technical fields, and in particular to a kind of manipulator for copying bagged articles or barreled object mechanically.
Background technology
It is various increasingly to increase by flow line production labor-intensive enterprises pressure with the continuous improvement of cost of labor,
Have become trend instead of manpower with automation equipment, wherein favor is received with the automation equipment in relation to robot, wherein wrapping
Include the application of stacking, vanning, unpacking, welding etc..
Currently, the handling of the woven bag sack filling machine material or tubbiness material of warehouse and means of transport are substantially people's half the circumference of the sleeve where it joins the shoulder
It shoulders, loader's labor intensity is big, and the efficiency of loading and unloading is low, and handling environment is seriously polluted, and the physical and mental health of loader is severely impacted,
Manual handling costs are high, in view of the above-mentioned problems, it is necessary to be improved.
Invention content
Present invention solves the technical problem that：A kind of manipulator for copying bagged articles or barreled object mechanically is provided, by being set to
Left gripper jaw and right gripper jaw in the power drive unit driving clamping manipulator of frame one end is real in opposite directions or after opposite movement
Existing left gripper jaw and right gripper jaw by bagged articles or barreled object promptly or unclamp, complete bagged articles or barreled object carry before machine
Tool formula is clamped, and has liberated artificial carrying, has reduced landed cost, simple in structure, convenient operating maintenance, and handling efficiency is high, carries
Intensity is effectively converted.
The technical solution adopted by the present invention：Manipulator for copying bagged articles or barreled object mechanically has frame, the frame
One end is equipped with mounting bracket and mounting bracket is equipped with power drive unit, and clamping manipulator and clamping machine are equipped with below the frame
The both ends of hand are installed on frame, and the power drive unit connect with clamping manipulator and driven by power drive unit and pressed from both sides
Hold left gripper jaw and right gripper jaw in manipulator realizes left gripper jaw and right gripper jaw by bagged articles in opposite directions or after opposite movement
Barreled object promptly or unclamp.
Wherein, the power drive unit includes motor, driving gear, driven gear and gear band, and the motor passes through
Mounting bracket is fixed on framework one end and the output shaft of motor is fixedly connected with the driving gear on the outside of mounting bracket, described driven
Gear is fixedly connected with clamping manipulator and driving gear and driven gear are connected as one by gear band.
Further, the clamping manipulator includes left gripper jaw, right gripper jaw, lead screw shaft and nut set, the leading screw
Axis both ends are installed on by bearing block on frame and lead screw shaft left end is fixedly connected with driven gear, described lead screw shaft or so two
Be divided to be formed with oppositely oriented external screw thread and be adapted to the two-part external screw thread of lead screw shaft or so two nuts set respectively adaptation peace
Loaded in lead screw shaft, fixed respectively with corresponding nut set upper side in the middle part of the connecting plate of the left gripper jaw and right gripper jaw upper end
It connects and the left gripper jaw of L-shaped structure and the clamp port of right gripper jaw is arranged inwardly, the frame bottom surface both side is fixed with guide rail
And the sliding block below guide rail is adapted to connection, the connecting plate both ends difference of the left gripper jaw and right gripper jaw upper end with guide rail
It is fixedly connected with the sliding block of frame bottom surface both side, and realizes that two nut sets drive respectively after driving lead screw shaft rotation by motor
Corresponding left gripper jaw and right gripper jaw it is opposite or it is opposite it is mobile after by bagged articles or barreled object promptly or unclamp.
Further, the frame is aluminum section bar frame and frame connect with Lifting Convey mechanism and passes through elevating conveyor
Structure transports after promoting the bagged articles that frame and clamping manipulator clamp or barreled object to storing place.
The present invention compared with prior art the advantages of：
1, the technical program is by driving the left gripper jaw in clamping manipulator set on the power drive unit of frame one end
With right gripper jaw it is opposite or it is opposite it is mobile after, realize left gripper jaw and right gripper jaw by bagged articles or barreled object promptly or pine
It opens, instead of the working strength manually carried；
2, the technical program completes the mechanical clamping before bagged articles or the carrying of barreled object, has liberated the labour of artificial carrying
Power reduces landed cost；
3, the technical program is simple in structure, convenient operating maintenance, and handling efficiency is high, carries intensity and is effectively converted.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Specific implementation mode
A kind of embodiment of the 1 description present invention below in conjunction with the accompanying drawings.
There is manipulator for copying bagged articles or barreled object mechanically frame 1,1 one end of the frame to be equipped with mounting bracket 2 and pacify
It shelves 2 and is equipped with power drive unit 3,1 lower section of the frame is equipped with the both ends installation of clamping manipulator 4 and clamping manipulator 4
In on frame 1, the power drive unit 3 connect with clamping manipulator 4 and drives clamping manipulator by power drive unit 3
Left gripper jaw 5 and right gripper jaw 6 in 4 realize left gripper jaw 5 and right gripper jaw 6 by bagged articles or bucket in opposite directions or after opposite movement
Fill object promptly or unclamp；Specifically, the power drive unit 3 includes motor 7, driving gear 8, driven gear 9 and gear
Band 10, the motor 7 are fixed on the output shaft of 1 one end of framework and motor 7 by mounting bracket 2 and are located at the master in 2 outside of mounting bracket
Moving gear 8 is fixedly connected, and the driven gear 9 is fixedly connected with clamping manipulator 4 and driving gear 8 and driven gear 9 pass through
Gear band 10 is connected as one；Specifically, the clamping manipulator 4 includes left gripper jaw 5, right gripper jaw 6, lead screw shaft 11 and spiral shell
Mother set 12,11 both ends of the lead screw shaft are installed on by bearing block on frame 1 and 11 left end of lead screw shaft is fixed with driven gear 9 and connected
It connects, 11 or so two parts of the lead screw shaft are formed with oppositely oriented external screw thread and are fitted with 11 or so two-part external screw thread of lead screw shaft
Adaptation is installed in lead screw shaft 11 the two nuts set 12 matched respectively, the connecting plate of 6 upper end of the left gripper jaw 5 and right gripper jaw
15 middle parts are fixedly connected respectively with 12 upper ends of corresponding nut set and the clamp port of the left gripper jaw 5 and right gripper jaw 6 of L-shaped structure
It is arranged inwardly, 1 bottom surface both side of the frame is fixed with guide rail 13 and is located at sliding block 14 and 13 company of adaptation of guide rail of 13 lower section of guide rail
It connects, 15 both ends of connecting plate of 6 upper end of the left gripper jaw 5 and right gripper jaw are fixed with the sliding block 14 of 1 bottom surface both side of frame respectively
Connection, and realize that two nut sets 12 drive corresponding left gripper jaw 5 and the right side respectively after driving lead screw shaft 11 to rotate by motor 7
Gripper jaw 6 it is opposite or it is opposite it is mobile after by bagged articles or barreled object promptly or unclamp；Specifically, the frame 1 is aluminium section bar
Frame and frame 1 connect with Lifting Convey mechanism and are clamped frame 1 and clamping manipulator 4 by Lifting Convey mechanism packed
Object or barreled object transport after being promoted to storing place.
When work, after motor 7 starts, driven gear 9 is driven to rotate by being adapted to meshed gears band 10 with driving gear 8
Afterwards, lead screw shaft 11 and driven gear 9 is made to rotate synchronously, adaptation connection in lead screw shaft 11 two nuts set 12 and respectively with two
The left gripper jaw 5 and right gripper jaw 6 that a nut set 12 is fixedly connected will be located at left gripper jaw 5 and the right side in opposite directions or after opposite movement
Bagged articles between gripper jaw 6 or barreled object clamp or release, later by the Lifting Convey mechanism that is connect with frame 1 by frame
1 and the bagged articles that clamp of clamping manipulator 4 or barreled object promoted after transport to storing place.The technical program is by being set to frame 1
Left clamping 5 and right gripper jaw 6 in the driving clamping manipulator 4 of power drive unit 3 of one end are realized in opposite directions or after opposite movement
Left gripper jaw 5 and right gripper jaw 6 by bagged articles or barreled object promptly or unclamp, it is complete instead of the working strength manually carried
Mechanical clamping before being carried at bagged articles or barreled object, has liberated the labour of artificial carrying, has reduced landed cost, structure
Simply, convenient operating maintenance, handling efficiency is high, carries intensity and is effectively converted.
Above-described embodiment, only presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this
The equivalence changes that content is done described in invention claim should all be included within scope of the invention as claimed.
Claims (4)
1. the manipulator for copying bagged articles or barreled object mechanically has frame (1), it is characterised in that：Described frame (1) one end is set
There are mounting bracket (2) and mounting bracket (2) to be equipped with power drive unit (3), clamping manipulator (4) is equipped with below the frame (1)
And the both ends of clamping manipulator (4) are installed on frame (1), the power drive unit (3) connect simultaneously with clamping manipulator (4)
Drive left gripper jaw (5) in clamping manipulator (4) and right gripper jaw (6) in opposite directions or phase backward shift by power drive unit (3)
Realized after dynamic left gripper jaw (5) and right gripper jaw (6) by bagged articles or barreled object promptly or release.
2. the manipulator according to claim 1 for copying bagged articles or barreled object mechanically, it is characterised in that：The power drives
Dynamic device (3) includes motor (7), driving gear (8), driven gear (9) and gear band (10), and the motor (7) passes through installation
Frame (2) is fixed on framework (1) one end and the output shaft of motor (7) is fixed with the driving gear (8) on the outside of mounting bracket (2) and connected
It connects, the driven gear (9) is fixedly connected with clamping manipulator (4) and driving gear (8) and driven gear (9) pass through gear band
(10) it is connected as one.
3. the manipulator according to claim 2 for copying bagged articles or barreled object mechanically, it is characterised in that：The clamping machine
Tool hand (4) includes left gripper jaw (5), right gripper jaw (6), lead screw shaft (11) and nut set (12), lead screw shaft (11) both ends
It is installed on frame (1) by bearing block and lead screw shaft (11) left end is fixedly connected with driven gear (9), the lead screw shaft (11)
Two nuts that left and right two parts are formed with oppositely oriented external screw thread and are adapted to the two-part external screw thread in lead screw shaft (11) left and right
Adaptation is installed in lead screw shaft (11) set (12) respectively, the connecting plate (15) of the left gripper jaw (5) and right gripper jaw (6) upper end
Middle part is fixedly connected respectively with corresponding nut set (12) upper end and the folder of the left gripper jaw of L-shaped structure (5) and right gripper jaw (6)
Mouth is held inwardly to be arranged, frame (1) bottom surface both side be fixed with guide rail (13) and sliding block (14) below the guide rail (13) with
Guide rail (13) adaptation connection, connecting plate (15) both ends of the left gripper jaw (5) and right gripper jaw (6) upper end respectively with frame
(1) sliding block (14) of bottom surface both side is fixedly connected, and realizes two nut sets after driving lead screw shaft (11) to rotate by motor (7)
(12) drive corresponding left gripper jaw (5) and right gripper jaw (6) opposite respectively or it is opposite it is mobile after by bagged articles or barreled object
Promptly or unclamp.
4. the manipulator according to claim 1 for copying bagged articles or barreled object mechanically, it is characterised in that：The frame
(1) it is that aluminum section bar frame and frame (1) are connect with Lifting Convey mechanism and by Lifting Convey mechanism by frame (1) and clamping machine
The bagged articles or barreled object that tool hand (4) clamps transport after being promoted to storing place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552789.XA CN108501030A (en) | 2018-05-31 | 2018-05-31 | Manipulator for copying bagged articles or barreled object mechanically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552789.XA CN108501030A (en) | 2018-05-31 | 2018-05-31 | Manipulator for copying bagged articles or barreled object mechanically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108501030A true CN108501030A (en) | 2018-09-07 |
Family
ID=63402463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552789.XA Withdrawn CN108501030A (en) | 2018-05-31 | 2018-05-31 | Manipulator for copying bagged articles or barreled object mechanically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108501030A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201064904Y (en) * | 2007-08-15 | 2008-05-28 | 沈阳清林机械厂 | Bogie examining and repairing manipulator clamping mechanism |
| CN101992343A (en) * | 2010-09-20 | 2011-03-30 | 北京宏浩晶电科技发展有限公司 | Rectilinear manipulator for seal welding |
| CN102490180A (en) * | 2011-12-19 | 2012-06-13 | 山东大陆科技有限公司 | Grabbing mechanical hand, machining system constituted by same and machining method |
| CN203185354U (en) * | 2013-04-27 | 2013-09-11 | 青岛智能机器人工程技术中心有限公司 | Robot tong |
| CN104924292A (en) * | 2015-06-09 | 2015-09-23 | 青岛润泽工业装备有限公司 | Clamping-holding manipulator, clamping-holding device provided with clamping-holding manipulator and method |
| US20150336280A1 (en) * | 2014-05-22 | 2015-11-26 | Daifuku Co., Ltd. | Transport device |
| CN105773649A (en) * | 2016-04-05 | 2016-07-20 | 中国农业大学 | Mechanical paw for loading, unloading and stacking bagged materials |
| CN207172074U (en) * | 2017-08-30 | 2018-04-03 | 芜湖舜富精密压铸科技有限公司 | A kind of robot device for Die-Casting Industry |
| CN208323429U (en) * | 2018-05-31 | 2019-01-04 | 徐宝恒 | For copying the manipulator of bagged articles or barreled object mechanically |
-
2018
- 2018-05-31 CN CN201810552789.XA patent/CN108501030A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201064904Y (en) * | 2007-08-15 | 2008-05-28 | 沈阳清林机械厂 | Bogie examining and repairing manipulator clamping mechanism |
| CN101992343A (en) * | 2010-09-20 | 2011-03-30 | 北京宏浩晶电科技发展有限公司 | Rectilinear manipulator for seal welding |
| CN102490180A (en) * | 2011-12-19 | 2012-06-13 | 山东大陆科技有限公司 | Grabbing mechanical hand, machining system constituted by same and machining method |
| CN203185354U (en) * | 2013-04-27 | 2013-09-11 | 青岛智能机器人工程技术中心有限公司 | Robot tong |
| US20150336280A1 (en) * | 2014-05-22 | 2015-11-26 | Daifuku Co., Ltd. | Transport device |
| CN104924292A (en) * | 2015-06-09 | 2015-09-23 | 青岛润泽工业装备有限公司 | Clamping-holding manipulator, clamping-holding device provided with clamping-holding manipulator and method |
| CN105773649A (en) * | 2016-04-05 | 2016-07-20 | 中国农业大学 | Mechanical paw for loading, unloading and stacking bagged materials |
| CN207172074U (en) * | 2017-08-30 | 2018-04-03 | 芜湖舜富精密压铸科技有限公司 | A kind of robot device for Die-Casting Industry |
| CN208323429U (en) * | 2018-05-31 | 2019-01-04 | 徐宝恒 | For copying the manipulator of bagged articles or barreled object mechanically |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111421570A (en) * | 2020-05-11 | 2020-07-17 | 北京中车重工机械有限公司 | Gripping apparatus device, robot and dangerous waste material dumping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180907 |