CN201089160Y - Mechanical arm device for multi-layer stock bin - Google Patents
Mechanical arm device for multi-layer stock bin Download PDFInfo
- Publication number
- CN201089160Y CN201089160Y CNU200720028913XU CN200720028913U CN201089160Y CN 201089160 Y CN201089160 Y CN 201089160Y CN U200720028913X U CNU200720028913X U CN U200720028913XU CN 200720028913 U CN200720028913 U CN 200720028913U CN 201089160 Y CN201089160 Y CN 201089160Y
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- Prior art keywords
- vertical
- elevating mechanism
- sidepiece
- frame
- vertical elevating
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- Expired - Fee Related
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Abstract
The utility model provides a composite bin manipulator device used for operating a composite material three-dimensional bin, belonging to the mechanical manufacturing field. The utility model realizes three-dimensional displacement and bin retaining, realizes three-dimensional smooth displacement by adopting a servo motor and a lead rail and can enlarge the operation distance and range of the prior manipulator. The manipulator device mainly comprises a vertically fixed rack, the side of the rack is connected with a vertical hoisting mechanism and at least one set of longitudinal lead rails, the side of the vertical hoisting mechanism is provided with a holding device; the vertical hoisting mechanism is provided with a vertical frame the side of which is connected with a fixed plate, a lateral roller of the fixed plate is meshed with the lead rails of the rack; the holding device is provided with a set of holding seats and a fork-taking plate, the rear part of the holding seats is connected with driving chains of the vertical hoisting mechanism via a bearing, the driving chains are in vertical distribution and are driven by the servo motor arranged at the end of the vertical lifting mechanism end.
Description
Technical field
The utility model relates to a kind of robot device that is used for multiple layer material feed bin, belongs to mechanical manufacturing field.
Background technology
At present in industries such as rubber manufacturing machinery, chemical industry metallurgicals, for improving the feed proportioning system that prescription production efficiency adopts system's centralization usually.As adopt many rows or multiple layered material storehouse in feed proportioning system, the feed bin of storage material has between the Storage of a plurality of layerings, needs to use special manipulator to each feed bin corresponding material that goes to take.
The existing mechanical hand only can be at the enterprising line displacement of two-dimensional plane with the material of taking, and the actuator of robot device is shorter, and the distance of Robot actions and being limited in scope can not satisfy the instructions for use of material tiered warehouse facility.
The utility model content
The robot device in multiple layered material storehouse described in the utility model, its purpose of design is to address the above problem and a kind of clamping device that all can realize displacement on three-dimensional is provided, executing agency adopts servomotor and guide rail, displacement on all directions is level and smooth, thereby be implemented in the use in the material tiered warehouse facility, and can enlarge manual distance of existing machinery and scope.
For realizing above-mentioned purpose of design, the robot device in described multiple layered material storehouse mainly includes:
The frame of a vertical fixing is connected with a vertical elevating mechanism at the frame sidepiece,
Sidepiece at vertical elevating mechanism is provided with a clamping device, and the difference with the prior art feature is,
The sidepiece of described frame is provided with at least one group of guide rail, and described guide rail is along the longitudinal extension of robot device integral body;
Described vertical elevating mechanism has a vertical support, and the sidepiece of support connects a fixed head, and the side direction roller of fixed head is connected with a joggle on the guide rail of frame;
Described clamping device has one group of grip slipper and get the fork plate, and the rear portion of grip slipper is connected by bearing on the driving chain of vertical elevating mechanism, and driving chain is along vertical distribution and by the driven by servomotor of vertical elevating mechanism end.
As above-mentioned scheme feature, at the vertical elevating mechanism of vertical frames sidepiece, can provide in vertical direction stroke to clamping device, promptly clamping device can be along vertical slip with the take upright position of material of adjusting.
The guide rail of frame sidepiece can be to vertical elevating mechanism, also by the vertical stroke of vertical elevating mechanism realization driving clamping device along robot device, with control clamping device position adjustments in a longitudinal direction.
In order to increase the flexibility of control clamping device, and the take stroke of material of realization in a lateral direction, further improvement project is,
Described clamping device is provided with one group of chain that is driven by reducing motor on its grip slipper, be connected with a horizontal linear guide rail on the chain, and line slideway upwards is fixedly connected on the bottom of getting the fork plate.
The chain that is driven by reducing motor drives line slideway, and when taking material, the feed bin that the fork plate stretches out and fix material is forward got in line slideway control, and line slideway control is got the fork plate and bounced back to original state backward so that feed bin is taken out then; When putting back to feed bin, the aforesaid operations flow process is opposite.
Be to increase clamping device stroke stability in vertical direction, the refinement feature that can take is,
The sidepiece of described frame is provided with double driving chain, and 2 servomotors by the frame end drive respectively respectively; The grip slipper of described clamping device is connected on the double driving chain of vertical elevating mechanism simultaneously.
For increasing vertical elevating mechanism stroke stability in a longitudinal direction, can also take following refinement feature,
The sidepiece of described frame is provided with 2 groups of guide rails, and all along the longitudinal extension of robot device integral body; Two groups of side direction rollers of the fixed head of described vertical elevating mechanism are connected with a joggle respectively on 2 groups of guide rails.
As mentioned above, the advantage that the robot device in multiple layered material storehouse has is, is implemented in the travel displacement on the three-dimensional, and the slip of clamping device on all directions is level and smooth, can be specifically applied in the material tiered warehouse facility.
Description of drawings
Fig. 1 is the robot device structural representation in described multiple layered material storehouse;
Fig. 2 and Fig. 3 are the elevational schematic view of cut-away section;
As shown in Figure 1 to Figure 3, frame 1, vertical elevating mechanism 2, clamping device 3,
Main guide rail 21, main roller 22, secondary guide rail 23, secondary roller 24, vertical support 25, fixed head 26, double driving chain 27, servomotor 28, motor cabinet 29, dee 20;
Grip slipper 31 is got fork plate 32, reducing motor 33, chain 34, line slideway 35.
The specific embodiment
Be provided with at least 2 group guide rails at frame 1 sidepiece, main guide rail 21 and secondary guide rail 23 are all along the longitudinal extension of robot device integral body.The fixed head 26 of vertical elevating mechanism 2 is connected with main roller 22 and secondary roller 24 respectively, and main roller 22 is connected with a joggle on main guide rail 21, and secondary roller 24 is connected with a joggle on secondary guide rail 23.By said structure, the guide rail of frame 1 sidepiece can be to vertical elevating mechanism 2, the clamping device 3 vertical stroke along robot device, with control clamping device 3 position adjustments in a longitudinal direction.
Vertical elevating mechanism 2 has a vertical support 25, and the sidepiece of support 25 is provided with double driving chain 27, and 2 servomotors 28 by frame 1 end drive respectively respectively, and double driving chain 27 is nested in the dee 20 and along vertical distribution.By said structure, vertical elevating mechanism 2 can offer clamping device 3 stroke in vertical direction.
Clamping device 3 has one group of grip slipper 31 and gets fork plate 32, and the rear portion of grip slipper 31 is connected on the double driving chain 27 simultaneously by bearing.
One group of chain 34 that is driven by reducing motor 33 is set on the grip slipper 31 of clamping device 3, is connected with a horizontal linear guide rail 35 on the chain 34, line slideway 35 upwards is fixedly connected on the bottom of getting fork plate 32.
When taking material, the chain 34 that is driven by reducing motor 33 drives line slideway 35, and the feed bin that fork plate 32 stretches out and fix material is forward got in line slideway 35 controls, and line slideway 35 controls are got fork plate 32 and bounced back to original state backward so that feed bin is taken out then; When putting back to feed bin, the aforesaid operations flow process is opposite.
Claims (4)
1. the robot device in a multiple layered material storehouse, the frame that comprises a vertical fixing, be connected with a vertical elevating mechanism at the frame sidepiece, sidepiece at vertical elevating mechanism is provided with a clamping device, it is characterized in that: the sidepiece of described frame is provided with at least one group of guide rail, and described guide rail is along the longitudinal extension of robot device integral body;
Described vertical elevating mechanism has a vertical support, and the sidepiece of support connects a fixed head, and the side direction roller of fixed head is connected with a joggle on the guide rail of frame;
Described clamping device has one group of grip slipper and get the fork plate, and the rear portion of grip slipper is connected by bearing on the driving chain of vertical elevating mechanism, and driving chain is along vertical distribution and by the driven by servomotor of vertical elevating mechanism end.
2. the robot device in multiple layered material storehouse according to claim 1, it is characterized in that: described clamping device, one group of chain that is driven by reducing motor is set on its grip slipper, is connected with a horizontal linear guide rail on the chain, line slideway upwards is fixedly connected on the bottom of getting the fork plate.
3. the robot device in multiple layered material storehouse according to claim 1 and 2, it is characterized in that: the sidepiece of described frame is provided with double driving chain, and 2 servomotors by the frame end drive respectively respectively;
The grip slipper of described clamping device is connected on the double driving chain of vertical elevating mechanism simultaneously.
4. the robot device in multiple layered material storehouse according to claim 3, it is characterized in that: the sidepiece of described frame is provided with 2 groups of guide rails, and all along the longitudinal extension of robot device integral body;
Two groups of side direction rollers of the fixed head of described vertical elevating mechanism are connected with a joggle respectively on 2 groups of guide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720028913XU CN201089160Y (en) | 2007-09-26 | 2007-09-26 | Mechanical arm device for multi-layer stock bin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720028913XU CN201089160Y (en) | 2007-09-26 | 2007-09-26 | Mechanical arm device for multi-layer stock bin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201089160Y true CN201089160Y (en) | 2008-07-23 |
Family
ID=39860919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200720028913XU Expired - Fee Related CN201089160Y (en) | 2007-09-26 | 2007-09-26 | Mechanical arm device for multi-layer stock bin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201089160Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance |
-
2007
- 2007-09-26 CN CNU200720028913XU patent/CN201089160Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: MESNAC CO., LTD. Free format text: FORMER NAME: QINGDAO UNIVERSITY SOFT CONTROL CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 266045 No. 1, Zhengzhou Road, Sifang District, Shandong, Qingdao Patentee after: Mesnac Co., Ltd. Address before: 266045 No. 1, Zhengzhou Road, Sifang District, Shandong, Qingdao Patentee before: Qingdao Colleges and Universities Soft Control Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080723 Termination date: 20150926 |
|
| EXPY | Termination of patent right or utility model |