CN204673614U - A kind of palletizing mechanical arm - Google Patents
A kind of palletizing mechanical arm Download PDFInfo
- Publication number
- CN204673614U CN204673614U CN201520391692.7U CN201520391692U CN204673614U CN 204673614 U CN204673614 U CN 204673614U CN 201520391692 U CN201520391692 U CN 201520391692U CN 204673614 U CN204673614 U CN 204673614U
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- China
- Prior art keywords
- forearm
- postbrachium
- handgrip
- mechanical arm
- linear actuator
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Abstract
The utility model discloses a kind of palletizing mechanical arm, comprise the guiding mechanism of base, frame, postbrachium, forearm, handgrip and the action of control handgrip, guiding mechanism comprises rotating disk, front tension bar and back stay, rotating disk and forearm and postbrachium three hinged, stock and the forearm of front tension bar be arranged in parallel, back stay and postbrachium be arranged in parallel, and this guiding mechanism has two groups, are symmetricly set on the both sides of postbrachium and forearm.The utility model also comprises the hydraulic cylinder controlling postbrachium and forearm and the hydraulic cylinder and the handgrip revolving part that control handgrip.The utility model adopts design and the hydraulic-driven pattern of four-degree-of-freedom, the object being placed on diverse location accurately can be captured, improve the accuracy captured, adopt guiding mechanism, make handgrip remain fixing towards, the crawl of instant packed thing and piling, adopting with PLC is the automatic control mode of master controller, the coordinate detection mode of camera binocular parallax location and the recognition methods of template matches, realizes the Full automatic stacking of manipulator.
Description
Technical field
The utility model relates to industry mechanical arm technical field, particularly relates to a kind of palletizing mechanical arm.
Background technology
Along with China's expanding economy, manipulator becomes more and more important in production application, and it can replace manual labor at many industrial circles, realizes the production automation.Use manipulator, not only can reduce the manual labor of people, reduce the waste of human resources, and can effectively increase work efficiency.Patent specification ZL201320128326.3 discloses a kind of palletizing mechanical arm, this palletizing mechanical arm comprises the guiding mechanism of base, frame, arm mechanism, handgrip and the action of control handgrip, although handgrip state can be adjusted constantly, conveniently capture packing material, but working range is less, there is working angle, and adopt air pressure drive pattern, snatch ability is lower.Patent specification ZL201420327512.4 discloses a kind of Three-freedom-degree hybrid palletizing mechanical arm, this palletizing mechanical arm comprises frame, large arm, forearm and linear actuator, it has three degree of freedom, successfully solve the problem that working range is little, but it does not arrange the guiding mechanism controlling handgrip action, and inconvenience completes crawl and the piling of packing material.
Utility model content
The purpose of this utility model is to provide a kind of palletizing mechanical arm, and this palletizing mechanical arm accurately can capture and piling the object that diverse location, different angles are placed.
For solving the problems of the technologies described above, the utility model adopt the basic conception of technical scheme to be: a kind of palletizing mechanical arm, comprise base and rotate the frame be arranged on base, frame is provided with postbrachium, forearm, handgrip and the guiding mechanism for controlling handgrip action, described guiding mechanism comprises leg-of-mutton rotating disk, the front tension bar of L shape and back stay, stock and the forearm of front tension bar be arranged in parallel, back stay and postbrachium be arranged in parallel, rotating disk angle and postbrachium upper end and forearm tail end three hinged, back stay lower end and compartment of terrain, postbrachium lower end are hinged in frame, back stay upper end and front tension bar stock end distinguish other two jiaos of hinged rotating disk, quarter butt and the forearm front end of front tension bar are hinged, handgrip is connected on the forearm of front tension bar quarter butt end, this palletizing mechanical arm is also provided with the first linear actuator controlling postbrachium pitching motion and the second linear actuator controlling forearm pitching motion, the two ends of the first linear actuator are hinged on frame and postbrachium respectively, the two ends of the second linear actuator are hinged on postbrachium and forearm respectively.
Further improvement, described first linear actuator and the second linear actuator are hydraulic cylinder.
Further improvement, described guiding mechanism has two groups, is symmetricly set on the both sides of forearm and postbrachium.
Further improvement, described handgrip is connected on forearm by handgrip revolving part.
Further improvement, the both sides of described handgrip are also symmetrically arranged with the linear actuator that two control handgrips open or close up.
Further improvement, described control handgrip opens or the linear actuator that closes up is hydraulic cylinder.
Further improvement, described frame is rotated by turntable and is arranged on base.
Beneficial effect:
The utility model adopts the design of four-degree-of-freedom, accurately can capture, the operating efficiency of crawl and accuracy are improved greatly to the object being placed on diverse location; Adopt hydraulic-driven pattern, greatly strengthen freedom and the flexibility of manipulator; Adopt the maintenance mechanism of parallelogram sturcutre, make handgrip remain in the course of the work fixing towards, conveniently capture the object needing piling.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of handgrip of the present utility model;
Mark in figure: 1, base, 2, turntable, 3, frame, 4, handgrip, 5, handgrip revolving part, 6, forearm, 7, front tension bar, the 8, second linear actuator, 9, rotating disk, 10, back stay, 11, postbrachium, the 12, first linear actuator, 13, linear actuator.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail.
As shown in the figure, a kind of palletizing mechanical arm, comprise base 1 and rotate the frame 3 be arranged on base 1, frame 3 is provided with postbrachium 11, forearm 6, handgrip 4 and the guiding mechanism for controlling handgrip 4 action, described guiding mechanism comprises leg-of-mutton rotating disk 9, the front tension bar 7 of L shape and back stay 10, stock and the forearm 6 of front tension bar 7 be arranged in parallel, back stay 10 and postbrachium 11 be arranged in parallel, rotating disk 9 one angles and postbrachium 11 upper end and forearm 6 tail end three hinged, back stay 10 lower end and compartment of terrain, postbrachium 11 lower end are hinged in frame 3, back stay 10 upper end and front tension bar 7 stock end distinguish other two jiaos of hinged rotating disk 9, quarter butt and forearm 6 front end of front tension bar 7 are hinged, handgrip 4 is connected on the forearm 6 of front tension bar 7 quarter butt end, this palletizing mechanical arm is also provided with the first linear actuator 12 controlling postbrachium 11 pitching motion and the second linear actuator 8 controlling forearm 6 pitching motion, the two ends of the first linear actuator 12 are hinged on frame 3 and postbrachium 11 respectively, the two ends of the second linear actuator 8 are hinged on postbrachium 11 and forearm 6 respectively, described first linear actuator 12 and the second linear actuator 8 are hydraulic cylinder, described guiding mechanism has two groups, be symmetricly set on the both sides of forearm 6 and postbrachium 11, described handgrip 4 is connected on forearm 6 by handgrip revolving part 5, the both sides of described handgrip 4 are also symmetrically arranged with the linear actuator 13 that two control handgrips 4 open or close up, described control handgrip opens or the linear actuator 13 that closes up is hydraulic cylinder.Described frame 3 is rotated by turntable 2 and is arranged on base 1.
It take PLC as the automatic control mode of master controller, the coordinate detection mode of camera binocular parallax location and the recognition methods of template matches that the utility model adopts, and realizes the Full automatic stacking of manipulator.During the work of the utility model palletizing mechanical arm, by camera collection object image information, and by electric signal transmission to control system, control system controls the first linear actuator 12 and the second linear actuator 8 works, postbrachium 11 and forearm 6 pitching, handgrip revolving part 5 rotates, and coordinates frame 3 to rotate, make forearm 6 and handgrip 4 operate above working position, handgrip 4 falls and completes crawl process.After crawl, control system controls frame 3, first linear actuator 12 and the second linear actuator work, and handgrip is operated to piling district, regulates handgrip 4 height, unclamp handgrip 4, complete piling according to current piling height.
Claims (7)
1. a palletizing mechanical arm, comprise base (1) and rotation and be arranged on frame (3) on base (1), frame (3) is provided with postbrachium (11), forearm (6), handgrip (4) and the guiding mechanism for controlling handgrip (4) action, it is characterized in that: described guiding mechanism comprises leg-of-mutton rotating disk (9), the front tension bar (7) of L shape and back stay (10), stock and the forearm (6) of front tension bar (7) be arranged in parallel, back stay (10) and postbrachium (11) be arranged in parallel, rotating disk (9) angles and postbrachium (11) upper end and forearm (6) tail end three hinged, back stay (10) lower end and postbrachium (11) compartment of terrain, lower end are hinged in frame (3), back stay (10) upper end and front tension bar (7) stock end distinguish other two jiaos of hinged rotating disk (9), quarter butt and forearm (6) front end of front tension bar (7) are hinged, handgrip (4) is connected on the forearm (6) of front tension bar (7) quarter butt end, this palletizing mechanical arm is also provided with the first linear actuator (12) controlling postbrachium (11) pitching motion and the second linear actuator (8) controlling forearm (6) pitching motion, the two ends of the first linear actuator (12) are hinged on frame (3) and postbrachium (11) respectively, the two ends of the second linear actuator (8) are hinged on postbrachium (11) and forearm (6) respectively.
2. a kind of palletizing mechanical arm according to claim 1, is characterized in that: described first linear actuator (12) and the second linear actuator (8) are hydraulic cylinder.
3. a kind of palletizing mechanical arm according to claim 1, is characterized in that: described guiding mechanism has two groups, is symmetricly set on the both sides of forearm (6) and postbrachium (11).
4. a kind of palletizing mechanical arm according to claim 1, is characterized in that: described handgrip (4) is connected on forearm (6) by handgrip revolving part (5).
5. a kind of palletizing mechanical arm according to claim 1, is characterized in that: the both sides of described handgrip (4) are also symmetrically arranged with the linear actuator (13) that two control handgrips (4) are opened or closed up.
6. a kind of palletizing mechanical arm according to claim 5, is characterized in that: described control handgrip opens or the linear actuator (13) that closes up is hydraulic cylinder.
7. a kind of palletizing mechanical arm according to claim 1, is characterized in that: described frame (3) is rotated by turntable (2) and is arranged on base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520391692.7U CN204673614U (en) | 2015-06-09 | 2015-06-09 | A kind of palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520391692.7U CN204673614U (en) | 2015-06-09 | 2015-06-09 | A kind of palletizing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204673614U true CN204673614U (en) | 2015-09-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520391692.7U Expired - Fee Related CN204673614U (en) | 2015-06-09 | 2015-06-09 | A kind of palletizing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204673614U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
| CN105369843A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Connection rod type stacking arm capable of working at multiple angles |
| CN106586837A (en) * | 2016-12-19 | 2017-04-26 | 四川宏华电气有限责任公司 | Automatic drill rod catching and releasing system and method for joint crane |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110405724A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110405723A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110497374A (en) * | 2019-08-13 | 2019-11-26 | 杭州天铭科技股份有限公司 | A kind of mobile robot |
| WO2021027296A1 (en) * | 2019-08-13 | 2021-02-18 | 杭州天铭科技股份有限公司 | Mobile-type robot and working method therefor |
-
2015
- 2015-06-09 CN CN201520391692.7U patent/CN204673614U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
| CN105369843A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Connection rod type stacking arm capable of working at multiple angles |
| CN105369843B (en) * | 2015-11-20 | 2018-08-21 | 南宁邃丛赋语科技开发有限责任公司 | The link-type stacking arm of Multi-angle working |
| CN106586837A (en) * | 2016-12-19 | 2017-04-26 | 四川宏华电气有限责任公司 | Automatic drill rod catching and releasing system and method for joint crane |
| CN109794949A (en) * | 2019-03-11 | 2019-05-24 | 桂林理工大学 | A kind of grasping mechanism and shooting robot |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110405724A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110405723A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
| CN110497374A (en) * | 2019-08-13 | 2019-11-26 | 杭州天铭科技股份有限公司 | A kind of mobile robot |
| WO2021027296A1 (en) * | 2019-08-13 | 2021-02-18 | 杭州天铭科技股份有限公司 | Mobile-type robot and working method therefor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20160609 |