CN110421550A - A kind of movable type mechanical hand - Google Patents
A kind of movable type mechanical hand Download PDFInfo
- Publication number
- CN110421550A CN110421550A CN201910720708.7A CN201910720708A CN110421550A CN 110421550 A CN110421550 A CN 110421550A CN 201910720708 A CN201910720708 A CN 201910720708A CN 110421550 A CN110421550 A CN 110421550A
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- China
- Prior art keywords
- tourelle
- pulley
- manipulator
- crossbeam
- long axis
- Prior art date
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- 238000005245 sintering Methods 0.000 claims abstract description 54
- 239000003381 stabilizer Substances 0.000 claims abstract description 6
- 239000000725 suspension Substances 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 16
- 238000005859 coupling reaction Methods 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000010304 firing Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009472 formulation Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Powder Metallurgy (AREA)
Abstract
The present invention provides a kind of movable type mechanical hand, including more root posts, crossbeam, tourelle, driving device and manipulator, crossbeam is by the horizontal connection of suspension type stabilizer blade on column, tourelle is set to the upper end of crossbeam, driving device with tourelle by connecting, so that tourelle can roll on crossbeam, manipulator is rotatably set on tourelle, and manipulator is equipped with the handgrip for grabbing sintering pot；By using above-mentioned technical proposal, by the way that rotatable manipulator combination tourelle is arranged, it can be achieved that sintering pot is rotated during linear motion, to improve the transport performance of sintering pot, stability is strong, it can be applicable in the sintering pot of different weight, and pass through rotatable manipulator, it can be achieved that material in Automatic-dumping sintering pot, manual operation transport vehicle is reduced to be sintered the transport of pot and topple over, reduce hand labor cost, Lifting Convey efficiency, to improve production efficiency.
Description
Technical field
The invention belongs to sintering pot conveying technology fields, and in particular to a kind of movable type mechanical hand.
Background technique
Sintering pot is a kind of equipment of updraught sintering, and sintering pot is mostly circular；Pot is provided with boiler grate, has below boiler grate
Air intake passage, pot body bracket on the basis of, and handwheel and rotating mechanism can be borrowed to tumble；When sintering, one layer is first sprinkled on fire grate
Then the fuel of igniting spreads sintering feed, updraught sintering of lighting a fire；After firing, pot body is rotated, firing product is overturned out,
Next pot of sintering is carried out again；The prior art is by manually manipulating crane to the transport after sintering pot firing and by finished product overturning
It carries out, stability is low, slow-action easily occurs, and mobile transport needs manual operation control, and conevying efficiency is low, and turns in operation sintering pot
The angle and speed of overturning, low efficiency are difficult to control during turning.
Summary of the invention
The purpose of the present invention is shortcomings present in view of the above technology, propose a kind of movable type mechanical hand, it is intended to
Solve the problems, such as the mobile transport and overturning low efficiency of above-mentioned sintering pot.
The present invention provides a kind of movable type mechanical hand, including more root posts, crossbeam, tourelle, driving device and machine
Tool hand, for crossbeam by the horizontal connection of suspension type stabilizer blade on column, tourelle is set to the upper end of crossbeam, driving device by with
Tourelle connection, so that tourelle can roll on crossbeam, manipulator is rotatably set on tourelle, on manipulator
Equipped with the handgrip for grabbing sintering pot.
Further, tourelle includes the first tourelle and the second tourelle, and crossbeam includes upper beam and underbeam, the
One tourelle can roll on upper beam, and the second tourelle can roll on underbeam, and driving device is set to first and rolls
On device, driving device is sequentially connected with the first tourelle and the second tourelle respectively by long axis.
Further, the first tourelle and the second tourelle include connection frame, pulley and supporting plate, connection frame L
Shape structure, pulley include first pulley, second pulley and third pulley, and first pulley and second pulley are set on connection frame,
Supporting plate is connected to the end of connection frame, and third pulley is set on supporting plate, the first tourelle by first pulley, second pulley with
And third pulley can be rolled and be connect with upper beam, the second tourelle can be rolled by first pulley, second pulley and third pulley
It is dynamic to be connect with underbeam.
Further, crossbeam is square structure, and the side of crossbeam is equipped with heavy channel steel, and the other side of crossbeam is equipped with steel plate,
The upside of crossbeam is equipped with track, and first pulley can roll on track, and second pulley, which can roll, to be set in heavy channel steel, third
Pulley can roll on steel plate.
Further, driving device include the first speed reducer, deceleration rack, flange-face coupling, top chock, shaft coupling with
And step, the first speed reducer are connected on upper beam by deceleration rack, top chock is set on upper beam, and step is set to
On underbeam, the output shaft of the first speed reducer passes through flange-face coupling and long axis connection；Long axis includes the first long axis and the second long axis,
First long axis is sequentially connected by the output shaft of flange-face coupling and speed reducer, and the second long axis is passed by shaft coupling and the first long axis
Dynamic connection, the first long axis can be rotated and top chock is interference fitted, and the second long axis can be rotated and step is interference fitted.
Further, upper beam is equipped with the first rack gear, and underbeam is equipped with the second rack gear, and the first rack gear is parallel with the second rack gear
It is arranged, first gear is rotatably equipped on the first long axis, is rotatably equipped with second gear, first gear and first on the second long axis
Rack gear engaged transmission, second gear and the second rack gear engaged transmission.
It further, further include stiffening plate, stiffening plate is connected on the first tourelle and the second tourelle, stiffening plate
One side be equipped with the second speed reducer, manipulator be set to stiffening plate another side, manipulator be equipped with fluted disc, the output of the second speed reducer
End is connected with third gear, and third gear with fluted disc by engaging, so that manipulator is rotatably set in stiffening plate, thus to burning
Knot pot is overturn.
Further, manipulator includes pedestal, turntable, arch sheet, gripping arm and hydraulic cylinder, and pedestal is connected to stiffening plate
On, turntable can be rotated and connect with pedestal, and one end of arch sheet is connected on turntable, the other end of arch sheet and the movable company of gripping arm
It connects, the end of gripping arm is connect with handgrip, and hydraulic cylinder is connected on turntable, and the output end of hydraulic cylinder with gripping arm by connecting, to push away
Handgrip in dynamic gripping arm firmly grasps sintering pot.
Further, turntable is equipped with connecting shaft, and connecting shaft passes through pedestal and connect with fluted disc, is equipped between fluted disc and pedestal
Idler wheel, connecting shaft are rotatably connected by bearing and pedestal, so that fluted disc drives turntable to rotate by engaging with third gear, from
And overturn manipulator to sintering pot.
It further, further include support device, support device includes support plate, the 4th pulley and supporting guide, support
Guide rail is set to the lower section of underbeam, and support plate is connected in stiffening plate, and the 4th pulley is rotatably set in support plate, and the 4th pulley can
It rolls and is located on supporting guide.
Using above-mentioned technical method, have the advantages that
By the way that rotatable manipulator combination tourelle is arranged, it can be achieved that sintering pot is revolved during linear motion
Turn, to improve the transport performance of sintering pot, stability is strong, can be applicable in the sintering pot of different weight, and pass through rotatable machine
Tool hand reduces manual operation transport vehicle and is sintered the transport of pot and topples over, drop, it can be achieved that material in Automatic-dumping sintering pot
Low hand labor cost, Lifting Convey efficiency, to improve production efficiency.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Below with reference to attached drawing, the invention will be further described:
Fig. 1 is a kind of movable type mechanical hand schematic diagram of the present invention；
Fig. 2 is a kind of first tourelle schematic diagram of movable type mechanical hand of the present invention；
Fig. 3 is a kind of second tourelle schematic diagram of movable type mechanical hand of the present invention；
Fig. 4 is a kind of long axis schematic diagram of movable type mechanical hand of the present invention；
Fig. 5 is a kind of manipulator schematic diagram of movable type mechanical hand of the present invention；
Fig. 6 is a kind of manipulator sectional view of movable type mechanical hand of the present invention；
Fig. 7 is the present invention a kind of fluted disc and third gear schematic diagram of movable type mechanical hand.
In figure: 1- column；2- crossbeam；3- tourelle；4- driving device；5- suspension type stabilizer blade；6- manipulator；7- support
Device；8- sintering pot；9- effluent cycle system；10- stiffening plate；11- idler wheel；The second speed reducer of 12-；21- upper beam；22- underbeam；
The first tourelle of 31-；The second tourelle of 32-；33- connection frame；34- supporting plate；35- first pulley；36- second pulley；37-
Third pulley；The first rack gear of 38-；The second rack gear of 39-；The first speed reducer of 41-；42- deceleration rack；43- flange-face coupling；44-
Top chock；45- shaft coupling；46- step；47- long axis；48- first gear；49- second gear；61- pedestal；62- turns
Disk；63- arch sheet；64- gripping arm；65- hydraulic cylinder；66- handgrip；67- fluted disc；68- connecting shaft；71- support plate；72- the 4th is sliding
Wheel；73- supporting guide；121- third gear；351- track；361- heavy type channel steel；371- steel plate；The first long axis of 471-；472-
Second long axis.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 to Fig. 7 shows a kind of movable type mechanical hand 6, including more root posts 1, crossbeam 2, tourelle 3, driving dress
Set 4 and manipulator 6, wherein more root posts 1 are uniformly arranged by crossbeam 9, and two crossbeams 2 are horizontal even by suspension type stabilizer blade 5
It is connected on a heel post 1, tourelle 3 is set to the upper end of two crossbeams 2, and driving device 4 is set on tourelle 3, driving dress
4 are set by connecting with tourelle 3, so that tourelle 3 can roll on crossbeam 2, to make tourelle 3 along crossbeam 2
Straight ahead or setback are done, to realize straight reciprocating motion；Manipulator 6 is rotatably set on tourelle 3, manipulator 6
It is equipped with the handgrip 66 for grabbing sintering pot 8；Specifically, manipulator 6 is by being connected on tourelle 3, it can be achieved that big
Straight reciprocating motion on beam 2, and sintering pot 8 is grabbed by the handgrip 66 on manipulator 6, to realize to sintering pot
8 carry out linear transport；Meanwhile the rotatable manipulator 6 by being set on tourelle 3, sintering pot 8 is carried out with realizing
Material is toppled over；By adopting the above technical scheme, combine tourelle 3, it can be achieved that sintering pot 8 by the way that rotatable manipulator 6 is arranged
It is rotated during linear motion, to improve the transport performance of sintering pot 8, stability is strong, can be applicable in different weight
Sintering pot 8, and pass through rotatable manipulator 6, it can be achieved that material in Automatic-dumping sintering pot 8, reduces manual operation fortune
Defeated vehicle is sintered the transport of pot 8 and topples over, and reduces hand labor cost, Lifting Convey efficiency, to improve production efficiency.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, in the present embodiment, tourelle 3 includes the first rolling dress
31 and second tourelle 32 are set, crossbeam 2 includes upper beam 21 and underbeam 22, and upper beam 21 and underbeam 22 are arranged in parallel, and first rolls
Device 31 can roll on upper beam 21, and the second tourelle 32 can roll on underbeam 22, and driving device 4 is set to the first rolling
On dynamic device 31, driving device 4 is sequentially connected with the first tourelle 31 and the second tourelle 32 respectively by long axis 47, is led to
The first tourelle 31 and the second tourelle 32 are crossed, to realize the straight reciprocating motion to manipulator 6, to improve sintering pot
8 conevying efficiency, stability is strong, convenient and efficient.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, in the present embodiment, the first tourelle 31 and the second rolling
Dynamic device 32 includes connection frame 33, pulley and supporting plate 34, wherein connection frame 33 is L-shaped structure, and pulley includes first pulley
35, second pulley 36 and third pulley 37, first pulley 35 and second pulley 36 can roll on connection frame 33, supporting plate 34
It is connected to the end of connection frame 33, third pulley 37 can roll on supporting plate 34 by pulley bracket, the first tourelle 31
It can be rolled by first pulley 35, second pulley 36 and third pulley 37 and be connect with upper beam 21, the second tourelle 32 passes through
First pulley 35, second pulley 36 and third pulley 37 can be rolled to be connect with underbeam 22, and three pulleys, which are arranged, can be improved rolling
The stability of device 3, so that tourelle 3 can guarantee that it the problem of jolting and shaking does not occur in movement on crossbeam 2, from
And the transport of the sintering pot 8 on manipulator 6 is influenced, and be capable of providing the support of movable type mechanical hand 6 and limit by multiple pulleys
Effect, enable tourelle 3 sintering pot 8 is carried out in the region of formulation by manipulator 6 stablize transport do not burn
Tie the material spluttering in pot 8.
Preferably, in conjunction with above scheme, as shown in Figure 1 to Figure 3, in the present embodiment, crossbeam 2 is square structure, crossbeam 2
Side is equipped with heavy channel steel 361, and the other side of crossbeam 2 is equipped with steel plate 371, and the upside of crossbeam 2 is equipped with track 351, first pulley
35 can roll on track 351, be supported with the vertical direction to tourelle 3；Specifically, first pulley 35 is equipped with ring
Connected in star, track 351 is located in annular groove, with the effect limited to tourelle 3；Second pulley 36 can be rolled and is set to
In heavy channel steel 361, it is supported with the left direction to tourelle 3, third pulley 37 can roll on steel plate 371,
It is supported with the right direction to tourelle 3, three directions is carried out to tourelle 3 by the pulley in three directions and are determined
Position and support, so that tourelle 3 be enable to carry out stablizing transport on crossbeam 2.
Preferably, in conjunction with above scheme, as shown in Figures 1 to 4, in the present embodiment, driving device 4 includes the first speed reducer
41, deceleration rack 42, flange-face coupling 43, top chock 44, shaft coupling 45 and step 46, wherein the first speed reducer
41 are connected on upper beam 21 by deceleration rack 42, and top chock 44 is set on upper beam 21, and step 46 is set on underbeam 22,
The output shaft of first speed reducer 41 is connect by flange-face coupling 43 with long axis 47；Long axis 47 includes the first long axis 471 and second
Long axis 472, the first long axis 471 are sequentially connected by the output shaft of flange-face coupling 43 and speed reducer, and the second long axis 472 passes through connection
Axis device 45 and the first long axis 471 are sequentially connected, and the first long axis 471 and the second long axis 472 are each passed through the through-hole on pulley bracket
To connect the first tourelle 31 and the second tourelle 32, the through-hole diameter on pulley bracket is greater than the first long axis 471 and the
The diameter of two long axis 472；First long axis 471 can be rotated and top chock 44 is interference fitted, and the second long axis 472 can be rotated and lower axle
The interference fit of seat 46 is held, so that the first long axis 471 and the second long axis 472 can rotate synchronously；Specifically, the first speed reducer 41 can
By connecting driving motor, so that the slow-speed of revolution is converted by the high revolving speed of driving motor, to reduce tourelle 3 on crossbeam 2
Point-to-point speed, to increase the stability of movable type mechanical hand 6.
Preferably, in conjunction with above scheme, as shown in Figures 1 to 4, in the present embodiment, upper beam 21 is equipped with the first rack gear 38,
Underbeam 22 is equipped with the second rack gear 39, and the first rack gear 38 is arranged in parallel with the second rack gear 39, is rotatably equipped on the first long axis 471
First gear 48, is rotatably equipped with second gear 49 on the second long axis 472, first gear 48 and the first rack gear 38 engaged transmission,
39 engaged transmission of second gear 49 and the second rack gear, driving device 4 drives long axis 47 to rotate, so that first gear 48 and the second tooth
Wheel 49 rotates together, and is engaged by gear, so that tourelle 3 carries out straight reciprocating motion on crossbeam 2, is driven by gear
It is dynamic, the precision of movable type mechanical hand 6 can be increased, and respond fast.
Preferably, in conjunction with above scheme, as shown in Figures 5 to 7, in the present embodiment, movable type mechanical hand 6 further includes reinforcing
Plate 10, stiffening plate 10 are connected on the first tourelle 31 and the second tourelle 32, and the one side of stiffening plate 10 is equipped with second and subtracts
Fast machine 12, manipulator 6 are set to the another side of stiffening plate 10, and manipulator 6 is equipped with fluted disc 67, and the output end of the second speed reducer 12 connects
There is third gear 121, third gear 121 with fluted disc 67 by engaging, so that manipulator 6 is rotatably set in stiffening plate 10, from
And sintering pot 8 is overturn；Specifically, the second speed reducer 12 can be by connecting driving motor, thus by the height of driving motor
Revolving speed is converted into the slow-speed of revolution, and the third gear 121 of 12 output end of the second speed reducer is combined by fluted disc 67, to facilitate to machinery
The rotary motion of hand 6 is controlled, to increase the stability and precision of manipulator 6, avoids manipulator 6 in crawl sintering pot 8
When being toppled over, it is too fast to there is reversal rate, thus appearance the problem of materials from spattering when sintering pot 8 being caused to topple over.
Preferably, in conjunction with above scheme, as shown in Figure 5 to Figure 6, in the present embodiment, manipulator 6 includes pedestal 61, turntable
62, arch sheet 63, gripping arm 64 and hydraulic cylinder 65, pedestal 61 are connected in stiffening plate 10, and turntable 62 can be rotated and pedestal 61 connects
It connects, one end of arch sheet 63 is connected on turntable 62, the other end of arch sheet 63 and the movable connection of gripping arm 64, movable connection
For common articulated manner, so that gripping arm 64 can be moved around arch sheet 63；Gripping arm 64 be two, the end of gripping arm 64 with
Handgrip 66 connects, and hydraulic cylinder 65 is connected on turntable 62, and the output end of hydraulic cylinder 65 with gripping arm 64 by connecting, by hydraulic
The stretching motion control gripping arm 64 of cylinder 65 drives handgrip 66 to grab and unclasp sintering pot 8, and flexibility is high, highly reliable.
Preferably, in conjunction with above scheme, as shown in fig. 6, turntable 62 is equipped with connecting shaft 68, connecting shaft in the present embodiment
68 pass through pedestal 61 connect with fluted disc 67, and idler wheel 11 is equipped between fluted disc 67 and pedestal 61, to increase the support work to turntable 62
With connecting shaft 68 is rotatably connected by bearing with pedestal 61, so that fluted disc 67 drives turntable by engaging with third gear 121
62 rotations, so that manipulator 6 be made to overturn sintering pot 8.
Preferably, in conjunction with above scheme, as shown in figures 1 and 3, in the present embodiment, movable type mechanical hand 6 further includes support
Device 7, support device 7 include that support plate 71, the 4th pulley 72 and supporting guide 73 are taken turns, and supporting guide 73 is set to underbeam 22
Lower section, support plate 71 are connected in stiffening plate 10, and the 4th pulley 72 is rotatably set in support plate 71, and the 4th pulley 72 can roll
On supporting guide 73；The 4th pulley 72 and supporting guide 73 are set in the vertical direction of manipulator 6, to improve mobile machine
Tool hand 6, to the enabling capabilities of sintering pot 8, is reinforced the structural strength of movable type mechanical hand 6, can be matched not in vertical direction
With the transport of the sintering pot 8 of weight；Simultaneously, additionally it is possible to avoid movable type mechanical hand 6 when transporting sintering pot 8, because of sintering pot 8
Weight is excessive and the problem of tourelle 3 tilts occurs, to avoid first pulley 35 de-orbit 351 the problem of appearance,
The stability and bearing capacity for improving movable type mechanical hand 6, to extend the service life of movable type mechanical hand 6.
The working principle of the invention: crossbeam 2 is connected in parallel on multiple columns 1 by suspension type stabilizer blade 5, every crossbeam 2
Side be equipped with heavy channel steel 361, the other side of crossbeam 2 is equipped with steel plate 371, and the upside of crossbeam 2 is equipped with track 351, rolls dress
It sets 3 to be respectively arranged on crossbeam 2, tourelle 3 is connected by the long axis 47 of driving device 4, and driving device 4 is by being set to
After first speed reducer 41 of 3 one end of tourelle is slowed down the high revolving speed of motor, power is transferred to the by long axis 47
One gear 48 and second gear 49, so that first gear 48 and second gear 49 can be by being nibbled with the rack gear on crossbeam 2
Transmission is closed, so that tourelle 3 be made to be moved on crossbeam 2；Since tourelle 3 is equipped with multiple pulleys, pulley is big
It is rolled on three directions of beam 2, tourelle 3 is supported and be limited, straight line can be carried out on crossbeam 2
It moves back and forth；Manipulator 6 is connected in the stiffening plate 10 on tourelle 3, and manipulator 6 is equipped with handgrip 66 and gripping arm 64, handgrip
66 are connected in gripping arm 64, by connection liquid cylinder pressure 65 in gripping arm 64, to push handgrip 66 to grab sintering pot 8；Gripping arm
64 are connected on turntable 62 by arch sheet 63, and turntable 62 has a fluted disc 67 by axis connection, fluted disc 67 by be set to reinforcement
The third gear 121 of 12 output end of the second speed reducer on plate 10 engages, and is rotated with driving manipulator 6, thus to sintering
Pot 8 carries out flip-flop movement.
Using above-mentioned technical method, have the advantages that
Combine tourelle 3, it can be achieved that sintering pot 8 carries out during linear motion by the way that rotatable manipulator 6 is arranged
Rotation, to improve the transport performance of sintering pot 8, stability is strong, can be applicable in the sintering pot 8 of different weight, and by rotatable
Manipulator 6, it can be achieved that material in Automatic-dumping sintering pot 8, reduce manual operation transport vehicle be sintered pot 8 transport and
Topple over, reduces hand labor cost, Lifting Convey efficiency, to improve production efficiency.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention.It is any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, all using technology contents described above
Many possible changes and modifications or equivalent example modified to equivalent change are made to technical solution of the present invention.Therefore, all
It is the content without departing from technical solution of the present invention, any change modification made to the above embodiment of technology according to the present invention,
Equivalent variations and modification belong to the protection scope of the technical program.
Claims (10)
1. a kind of movable type mechanical hand, which is characterized in that including more root posts (1), crossbeam (2), tourelle (3), driving dress
Set (4) and manipulator (6), the crossbeam (2) by (5) horizontal connection of suspension type stabilizer blade on the column (1), the rolling
Dynamic device (3) are set to the upper end of the crossbeam (2), the driving device (4) by being connect with the tourelle (3) so that
The tourelle (3) can roll on the crossbeam (2), and the manipulator (6) is rotatably set to the tourelle (3)
On, the manipulator (6) is equipped with the handgrip (66) for grabbing sintering pot (8).
2. movable type mechanical hand according to claim 1, which is characterized in that the tourelle (3) includes the first rolling
Device (31) and the second tourelle (32), the crossbeam (2) include upper beam (21) and underbeam (22), first tourelle
(31) it can roll on the upper beam (21), second tourelle (32) can roll on the underbeam (22), institute
Driving device (4) are stated on first tourelle (31), the driving device (4) by long axis (47) respectively with it is described
First tourelle (31) and second tourelle (32) transmission connection.
3. movable type mechanical hand according to claim 2, which is characterized in that first tourelle (31) and described
Two tourelles (32) include connection frame (33), pulley and supporting plate (34), and the connection frame (33) is L-shaped structure, the cunning
Wheel includes first pulley (35), second pulley (36) and third pulley (37), and the first pulley (35) and described second are slided
It takes turns (36) to be set on the connection frame (33), the supporting plate (34) is connected to the end of the connection frame (33), and the third is sliding
It takes turns (37) to be set on the supporting plate (34), first tourelle (31) is slided by the first pulley (35), described second
Wheel (36) and the third pulley (37) can be rolled and be connect with the upper beam (21), and second tourelle (32) passes through institute
It states first pulley (35), the second pulley (36) and the third pulley (37) and can roll and connect with the underbeam (22).
4. movable type mechanical hand according to claim 3, which is characterized in that the crossbeam (2) is square structure, described big
The side of beam (2) is equipped with heavy channel steel (361), and the other side of the crossbeam (2) is equipped with steel plate (371), the crossbeam (2) it is upper
Side is equipped with track (351), and the first pulley (35) can roll on the track (351), and the second pulley (36) can
It rolls and is set in the heavy channel steel (361), the third pulley (37) can roll on the steel plate (371).
5. movable type mechanical hand according to claim 4, which is characterized in that the driving device (4) includes the first deceleration
Machine (41), deceleration rack (42), flange-face coupling (43), top chock (44), shaft coupling (45) and step (46), institute
It states the first speed reducer (41) to be connected on the upper beam (21) by the deceleration rack (42), the top chock (44) is set to
On the upper beam (21), the step (46) is set on the underbeam (22), the output shaft of first speed reducer (41)
It is connect by the flange-face coupling (43) with the long axis (47)；The long axis (47) includes the first long axis (471) and second
Long axis (472), first long axis (471) is driven by the output shaft of the flange-face coupling (43) and the speed reducer to be connected
It connects, second long axis (472) is sequentially connected by the shaft coupling (45) and first long axis (471), and described first is long
Axis (471) can be rotated to be interference fitted with the top chock (44), and second long axis (472) can be rotated and the step
(46) it is interference fitted.
6. movable type mechanical hand according to claim 5, which is characterized in that the upper beam (21) is equipped with the first rack gear
(38), the underbeam (22) is equipped with the second rack gear (39), and first rack gear (38) is parallel with the second rack gear (39) to be set
It sets, is rotatably equipped with first gear (48) on first long axis (471), the is rotatably equipped on second long axis (472)
Two gears (49), the first gear (48) and first rack gear (38) engaged transmission, the second gear (49) with it is described
Second rack gear (39) engaged transmission.
7. movable type mechanical hand according to claim 3, which is characterized in that further include stiffening plate (10), the stiffening plate
(10) it is connected on first tourelle (31) and second tourelle (32), stiffening plate (10) are set on one side
Have the second speed reducer (12), the manipulator (6) is set to the another side of the stiffening plate (10), and the manipulator (6) is equipped with tooth
The output end of disk (67), second speed reducer (12) is connected with third gear (121), the third gear (121) by with
Fluted disc (67) engagement, so that the manipulator (6) is rotatably set on the stiffening plate (10), thus to sintering pot (8)
It is overturn.
8. movable type mechanical hand according to claim 7, which is characterized in that the manipulator (6) includes pedestal (61), turns
Disk (62), arch sheet (63), gripping arm (64) and hydraulic cylinder (65), the pedestal (61) are connected on the stiffening plate (10),
The turntable (62) can be rotated and connect with the pedestal (61), and one end of the arch sheet (63) is connected to the turntable (62)
On, the other end of the arch sheet (63) and the gripping arm (64) movable connection, the end of the gripping arm (64) is grabbed with described
Hand (66) connection, the hydraulic cylinder (65) is connected on the turntable (62), the output end of the hydraulic cylinder (65) by with institute
Gripping arm (64) connection is stated, to push the handgrip (66) on the gripping arm (64) to firmly grasp sintering pot (8).
9. movable type mechanical hand according to claim 8, which is characterized in that the turntable (62) is equipped with connecting shaft
(68), the connecting shaft (68) passes through the pedestal (61) and connect with the fluted disc (67), the fluted disc (67) and the pedestal
(61) idler wheel (11) are equipped between, the connecting shaft (68) is rotatably connected by bearing with the pedestal (61), so that described
Fluted disc (67) drives the turntable (62) to rotate by engaging with the third gear (121), to keep the manipulator (6) right
Sintering pot (8) is overturn.
10. movable type mechanical hand according to claim 9, which is characterized in that further include support device (7), the support
Device (7) includes support plate (71), the 4th pulley (72) and supporting guide (73), the supporting guide (73) be set to it is described under
The lower section of beam (22), the support plate (71) are connected on the stiffening plate (10), and the 4th pulley (72) is rotatably set to
On the support plate (71), the 4th pulley (72) can be rolled on the supporting guide (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910720708.7A CN110421550A (en) | 2019-08-06 | 2019-08-06 | A kind of movable type mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910720708.7A CN110421550A (en) | 2019-08-06 | 2019-08-06 | A kind of movable type mechanical hand |
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| Publication Number | Publication Date |
|---|---|
| CN110421550A true CN110421550A (en) | 2019-11-08 |
Family
ID=68414294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910720708.7A Pending CN110421550A (en) | 2019-08-06 | 2019-08-06 | A kind of movable type mechanical hand |
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| Country | Link |
|---|---|
| CN (1) | CN110421550A (en) |
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|---|---|---|---|---|
| US4573727A (en) * | 1984-03-31 | 1986-03-04 | Kabushiki Kaisha Toshiba | Robot hand |
| EP1495844A1 (en) * | 2003-07-07 | 2005-01-12 | Multi Industries | Mechanical manipulator actuated by cams for translation and rotation and assembly machine with such manipulators |
| US20130183129A1 (en) * | 2012-01-17 | 2013-07-18 | Seiko Epson Corporation | Robot hand and robot apparatus |
| CN206367989U (en) * | 2016-12-28 | 2017-08-01 | 山东天岳先进材料科技有限公司 | Long crystal furnace crucible hanging apparatus |
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| CN108098752A (en) * | 2017-12-14 | 2018-06-01 | 哈尔滨博实自动化股份有限公司 | Polycrystalline silicon rod automatic disassembling device |
| CN208744825U (en) * | 2018-09-29 | 2019-04-16 | 洛阳清展智能科技有限公司 | A kind of flexible cable parallel drive robot for boiler exam maintenance |
| CN209190772U (en) * | 2018-10-31 | 2019-08-02 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN210650667U (en) * | 2019-08-06 | 2020-06-02 | 浙江长兴初日环保机械设备有限公司 | Movable mechanical arm |
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- 2019-08-06 CN CN201910720708.7A patent/CN110421550A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4573727A (en) * | 1984-03-31 | 1986-03-04 | Kabushiki Kaisha Toshiba | Robot hand |
| EP1495844A1 (en) * | 2003-07-07 | 2005-01-12 | Multi Industries | Mechanical manipulator actuated by cams for translation and rotation and assembly machine with such manipulators |
| US20130183129A1 (en) * | 2012-01-17 | 2013-07-18 | Seiko Epson Corporation | Robot hand and robot apparatus |
| CN206367989U (en) * | 2016-12-28 | 2017-08-01 | 山东天岳先进材料科技有限公司 | Long crystal furnace crucible hanging apparatus |
| CN206598298U (en) * | 2017-01-23 | 2017-10-31 | 扬州伟烨轮毂有限公司 | A kind of autohub grabbing device |
| CN108098752A (en) * | 2017-12-14 | 2018-06-01 | 哈尔滨博实自动化股份有限公司 | Polycrystalline silicon rod automatic disassembling device |
| CN208744825U (en) * | 2018-09-29 | 2019-04-16 | 洛阳清展智能科技有限公司 | A kind of flexible cable parallel drive robot for boiler exam maintenance |
| CN209190772U (en) * | 2018-10-31 | 2019-08-02 | 共享智能铸造产业创新中心有限公司 | Vertical shaft type cantilever robot |
| CN210650667U (en) * | 2019-08-06 | 2020-06-02 | 浙江长兴初日环保机械设备有限公司 | Movable mechanical arm |
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