CN203473969U - Block material stacking robot - Google Patents
Block material stacking robot Download PDFInfo
- Publication number
- CN203473969U CN203473969U CN201320453915.9U CN201320453915U CN203473969U CN 203473969 U CN203473969 U CN 203473969U CN 201320453915 U CN201320453915 U CN 201320453915U CN 203473969 U CN203473969 U CN 203473969U
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- forearm
- arm
- lifting
- pull rod
- link span
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- 239000000463 material Substances 0.000 title claims abstract description 17
- 239000011449 brick Substances 0.000 claims abstract description 24
- 210000000245 forearm Anatomy 0.000 claims description 63
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 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 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
A block material stacking robot comprises a fixed table, a rotary base, a large boom, a small boom, a lifting rotary table, a manipulator holding frame and brick clamps, wherein the fixed table is fixed on the ground; the rotary base is rotationally arranged on the fixed table; the large boom is arranged on the rotary base through a rotary shaft, and the large boom can rotate around the rotary shaft by the aid of a large boom hydraulic cylinder arranged on the rotary base; the small boom is arranged at the end part of the large boom through a rotary shaft; the small boom can rotate around the rotary shaft by the aid of a small boom hydraulic cylinder arranged on the large boom; and the lifting rotary table is arranged on the small boom; the manipulator holding frame is arranged at the bottom of the lifting rotary table; and the brick clamps are arranged on the manipulator holding frame. According to the block material stacking robot, a manipulator is rotationally mounted on the rotary base through the large boom and the small boom and can be mounted beside brick manufacturing equipment according to the site requirement during mounting, so that the mounting manner is flexible, the mounting is not limited by the place, at the same time, the action is more flexible due to a joint type design of the large boom and the small boom, and the positioning is more accurate through the combination of the lifting rotary table.
Description
Technical field
The utility model belongs to palletizing mechanical equipment technical field, relates in particular to a kind of folded code robot for folded code block shape material.
Background technology
In prior art, the production process of adobe is generally: by mud extruder, wet pug is extruded into continuous mud bar, the mud bar of extruding is delivered on bar cutter, by bar cutter, continuous mud bar is cut in course of conveying to the bar base of certain length, and bar base is sent on blank cutter, by blank cutter, be cut into independently adobe.Past these independently adobe to be stacked on maintenance dolly by manually piling up, labour intensity is large, efficiency is low.
In order to overcome the above problems, publication number is CN 1847118 A, denomination of invention is that the Chinese invention patent application of stacker discloses a kind of stacker, comprise frame, control setup, power, in frame, be fixed with line slideway, on line slideway, be fixed with lifting pedestal, lifting pedestal has two sense of motions to be driven by two electrical generators, horizontal motor is fixed on to be controlled lifting pedestal in frame and moves along line slideway, a motor vertical is fixed on the top of lifting pedestal, control lifting pedestal up-and-down movement, lifting pedestal below is provided with a plural number manipulator, every two one-tenth are a pair of, between every pair of manipulator, there is clamping mechanism, once can pick up polylith adobe and carry out piling, realized the mechanization of adobe piling, reduced labour intensity, improved efficiency.But aforementioned stacker is mounted on imperial portal frame, thereby moved back and forth along the guide rail on imperial portal frame by manipulator, to carry out the code of adobe folded, and the moving region of manipulator is within the scope of imperial portal frame.And the installation of imperial portal frame has higher requirements to site area, when place is limited, be difficult for installing.
Summary of the invention
The purpose of this utility model is to provide a kind of convenient and flexible installation, be not subject to place restriction, the constitutionally stable folded code of a shape material robot.
To achieve these goals, the present invention takes following technical solution:
The folded code of piece shape material robot, comprising: be fixed on ground fixed way; Rotatably be arranged at the rotating basis on described fixed way; By rotating shaft, be arranged at the great arm that rises on described rotating basis, described great arm can rotate around the axis by the large arm hydraulic cylinder being arranged on rotating basis; By rotating shaft, be arranged at the described lifting forearm that plays great arm end, described lifting forearm can rotate around the axis by the little arm hydraulic cylinder being arranged on great arm; Be arranged at the lifting turntable on described lifting forearm; The machinery that is arranged at described lifting turntable bottom is held frame; Be arranged at described machinery and hold the brick clamp on frame.
Lifting turntable of the present utility model comprises: the stationary housing fixing with described lifting forearm; Be arranged at the link span in described stationary housing, described link span bottom is exposed to described stationary housing and holds frame with machinery and is connected; The rotary drive dish being connected with described link span; On described stationary housing, be provided with rotary tray motor, the output shaft of described rotary tray motor is connected with described rotary drive dish by Transmission.
Rotary drive dish of the present utility model is transmission fluted disc, and described Transmission is chain.
Link span of the present utility model comprises link span and lower link span, rotary drive dish is arranged on link span, lower link span is held frame with machinery and is connected, and is inside and outside sleeve type structure between upper and lower link span, between upper link span and lower link span, by hoist cylinder, is connected.
The hinge of lifting forearm of the present utility model is arranged at the middle part of lifting forearm or near medium position, the piston rod of described little arm hydraulic cylinder and lifting forearm upper end are hinged.
The utility model also comprises balancing pull rod system, described balancing pull rod system comprises large arm balancing pull rod, large arm balance adjustment bar, forearm balancing pull rod and forearm balance adjustment bar, one end of large arm balancing pull rod is hingedly mounted on rotating basis, the other end is hinged with large arm balance adjustment bar, large arm balance adjustment bar has been arranged on great arm, and large arm balancing pull rod is positioned at hinge on rotating basis and a great arm and is positioned at hinge on rotating basis on same plumb bob vertical; Forearm balancing pull rod one end is hingedly mounted on large arm balance adjustment bar, the other end and forearm balance adjustment bar are hinged; forearm balance adjustment bar is arranged on lifting forearm bottom; forearm balancing pull rod, forearm balance adjustment bar, lifting forearm and large arm balance adjustment bar, and arm balancing pull rod, large arm balance adjustment bar, a great arm and large arm balancing pull rod are positioned at the hinge on rotating basis and play great arm and be positioned at two parallelogram of line formation between the hinge on rotating basis greatly.
Machinery of the present utility model is held frame below and is provided with pressure brick frame, and described pressure brick frame is held frame by cylinder with described machinery and is connected.
Cylinder of the present utility model is positioned at the position, four angles that described machinery is held frame.
As shown from the above technical solution, manipulator of the present utility model is arranged on rotatable rotating basis by playing great arm and lifting forearm, during installation, can need to be arranged on the side of brick equipment according to place, mounting means is flexible, not limited by place, the articulated type design action of simultaneously having passed through great arm, lifting forearm is more flexible, coordinates lifting turntable location more accurate.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the utility model.
Fig. 2 is the front view of the folded code of the utility model piece shape material robot.
Fig. 3 is the lateral plan of Fig. 2.
Fig. 4 is the birds-eye view of Fig. 2.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in more detail.
The specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 4, the folded code of the piece shape material robot that the utility model embodiment provides comprises rotating basis 1, fixed way 2, plays great arm 3, large arm hydraulic cylinder 4, lifting forearm 5, forearm hydraulic actuating cylinder 6, balancing pull rod system 7, lifting turntable 8, rotary tray motor 9, machinery are held frame 10, brick clamp 11.
Fixed way 2 fixedly mounts on the ground by bolt of rear end plate, rotating basis 1 is arranged on fixed way 2, as specific embodiment, rotating basis 1 bottom of the present embodiment is columniform bottom, on the outer circumference surface of bottom, be provided with some roller 1a, at fixed way 2 upper surfaces, be provided with circular orbit 2a, roller 1a can roll along circular orbit 2a, thereby rotating basis 1 is rotated on fixed way 2.
Playing great arm 3 is arranged on rotating basis 1 by rotating shaft, large arm hydraulic cylinder 4 is also arranged on rotating basis 1, be positioned at great arm 3 belows, the piston rod of large arm hydraulic cylinder 4 is hinged with a great arm 3, when large arm hydraulic cylinder 4 action, can drive great arm 3 to rotate around the axis, thereby lifted or fallen great arm 3.Lifting forearm 5 has been arranged on great arm 3 by rotating shaft equally, and the present embodiment is arranged at the hinge of lifting forearm 5 middle part or the close medium position of lifting forearm 5.Forearm hydraulic actuating cylinder 6 has been arranged on great arm 3, the piston rod of forearm hydraulic actuating cylinder 6 and lifting forearm 5(upper end) hinged, during 6 action of forearm hydraulic actuating cylinder, can drive lifting forearm 5 to rotate around hinge.
At great arm 3 upper surface, be provided with two-way pipeline, one road pipeline is hydraulic tubing (not label), hydraulic tubing is for being communicated with Hydraulic Station and the hoist cylinder that is positioned at lifting turntable 8, Hydraulic Station is arranged in rotating basis 1, another road pipeline is raceway for wiring (not label), for connecting power supply and control element.
Balancing pull rod system 7 comprises large arm balancing pull rod 70, large arm balance adjustment bar 71, forearm balancing pull rod 72 and forearm balance adjustment bar 73.One end of large arm balancing pull rod 70 is hingedly mounted on rotating basis 1, the other end is hinged with large arm balance adjustment bar 71, large arm balance adjustment bar 71 has been arranged on great arm 3 the other end (with playing great arm and being articulated with relative one end, end on rotating basis), and large arm balancing pull rod 70 is positioned at hinge on rotating basis 1 and a great arm 3 and is positioned at hinge on rotating basis 1 on same plumb bob vertical.Forearm balancing pull rod 72 one end are hingedly mounted on large arm balance adjustment bar 71, the other end and forearm balance adjustment bar 73 are hinged; forearm balance adjustment bar 73 is arranged on lifting forearm 5 bottoms, and large arm balance adjustment bar 71 and forearm balance adjustment bar 73 play interlock and regulate.Forearm balancing pull rod 72, forearm balance adjustment bar 73, lifting forearm 5 and large arm balance adjustment bar 71, arm balancing pull rod 70, large arm balance adjustment bar 71, a great arm 3 and large arm balancing pull rod 70 are positioned at the hinge on rotating basis 1 and play great arm 3 and be positioned at two parallelogram of line formation between the hinge on rotating basis 1 greatly.By balancing pull rod system 7, guarantee that lifting sabot 8 keeps vertical state, thereby the brick clamp 11 that machinery is held on frame 10 also keeps vertically, guarantee the folded code of adobe quality.
Machinery is held frame 10 and is positioned at lifting forearm 5 belows, is connected with lifting turntable 8 bottoms, and machinery is held and on frame 10, is provided with some rows and can holds the brick clamp 11 that frame upper rail moves along machinery, and each row's brick clamp 11 once can pick up the adobe being arranged in a row simultaneously.As preferred technical scheme, the utility model, on the brick-clamping mechanical hand basis of prior art, is provided with and presses brick frame 12 below machinery is held frame 10.At machinery, hold position, 10 4 angles of frame cylinder 13 is installed, press brick frame 12 to be arranged on cylinder 13 bottoms, during cylinder 13 action, can make to press brick frame 12 to press down.
Below working process of the present utility model is described further.
When mud bar is extruded from mud extruder, and be cut into after independently adobe by bar cutter and blank cutter, by belt feeder, be transported to and treat in folded code region, rotating basis 1 rotation, by playing great arm 3 and 5 drives of lifting forearm, making machinery hold frame 10 moves to and treats folded Green brick stacking top, large arm hydraulic cylinder 4 has been controlled great arm 3 and has been dropped to proper height, forearm hydraulic actuating cylinder 6 is also controlled lifting forearm 5 and is adjusted to correct position simultaneously, lifting sabot 8 is controlled machinery and is held frame 10 declines, brick clamp 11 clamps adobe, machinery is held frame 10 and is risen, rotating basis 1 rotation, make machinery hold frame 10 and move to folded code region, adobe is put down, when brick clamp 11 unclamps adobe, cylinder 13 is controlled and is pressed brick frame 12 to press down adobe, prevent that wet adobe can not be completely and brick clamp 11 disengagings, by brick clamp, driven displacement, the folded code of impact quality,
Rotating basis 1 repeats above process, rotation is to treating folded code region again, next group adobe is moved to folded code region, when next group adobe moves to top, folded code region, rotary tray motor 9 is controlled lifting sabot 8 half-twists, makes this batch of adobe with respect to the orthogonal thereto state of last consignment of adobe, and then adobe is put down, orthogonal thereto state between the adobe of adjacent batch is put, then continued to repeat above process, carry out the folded code of adobe.
Manipulator of the present utility model is arranged on rotatable rotating basis by playing great arm and lifting forearm, during installation, can need to be arranged on the side of brick equipment according to place, mounting means is flexible, not limited by place, the articulated type design action of simultaneously having passed through great arm, lifting forearm is more flexible, coordinates lifting turntable location more accurate.
Above embodiment is only in order to illustrate that the technical solution of the utility model is not intended to limit, although the utility model is had been described in detail with reference to above-described embodiment, those of ordinary skill in the field should be appreciated that still and can modify or be equal to replacement the specific embodiment of the present utility model.Therefore, do not depart from any modification of the utility model spirit and scope or be equal to replacement, it all should be encompassed in the scope of technical solutions of the utility model.
Claims (8)
1. the folded code of block shape material robot, is characterized in that, comprising:
Be fixed on ground fixed way;
Rotatably be arranged at the rotating basis on described fixed way;
By rotating shaft, be arranged at the great arm that rises on described rotating basis, described great arm can rotate around the axis by the large arm hydraulic cylinder being arranged on rotating basis;
By rotating shaft, be arranged at the described lifting forearm that plays great arm end, described lifting forearm can rotate around the axis by the little arm hydraulic cylinder being arranged on great arm;
Be arranged at the lifting turntable on described lifting forearm;
The machinery that is arranged at described lifting turntable bottom is held frame;
Be arranged at described machinery and hold the brick clamp on frame.
2. according to claim 1 block of shape material folded code robot, it is characterized in that: described lifting turntable comprises:
The stationary housing fixing with described lifting forearm;
Be arranged at the link span in described stationary housing, described link span bottom is exposed to described stationary housing and holds frame with machinery and is connected;
The rotary drive dish being connected with described link span;
On described stationary housing, be provided with rotary tray motor, the output shaft of described rotary tray motor is connected with described rotary drive dish by Transmission.
3. the according to claim 2 folded code of shape material robot, is characterized in that: described rotary drive dish is transmission fluted disc, and described Transmission is chain.
4. according to claim 2 block of shape material folded code robot, it is characterized in that: described link span comprises link span and lower link span, rotary drive dish is arranged on link span, lower link span is held frame with machinery and is connected, between upper and lower link span, be inside and outside sleeve type structure, between upper link span and lower link span, by hoist cylinder, be connected.
5. the according to claim 1 folded code of shape material robot, is characterized in that: the hinge of described lifting forearm is arranged at the middle part of lifting forearm or near medium position, the piston rod of described little arm hydraulic cylinder and lifting forearm upper end are hinged.
6. according to claim 1 block of shape material folded code robot, it is characterized in that: also comprise balancing pull rod system, described balancing pull rod system comprises large arm balancing pull rod, large arm balance adjustment bar, forearm balancing pull rod and forearm balance adjustment bar, one end of large arm balancing pull rod is hingedly mounted on rotating basis, the other end is hinged with large arm balance adjustment bar, large arm balance adjustment bar has been arranged on great arm, and large arm balancing pull rod is positioned at hinge on rotating basis and a great arm and is positioned at hinge on rotating basis on same plumb bob vertical; Forearm balancing pull rod one end is hingedly mounted on large arm balance adjustment bar, the other end and forearm balance adjustment bar are hinged; forearm balance adjustment bar is arranged on lifting forearm bottom; forearm balancing pull rod, forearm balance adjustment bar, lifting forearm and large arm balance adjustment bar, and arm balancing pull rod, large arm balance adjustment bar, a great arm and large arm balancing pull rod are positioned at the hinge on rotating basis and play great arm and be positioned at two parallelogram of line formation between the hinge on rotating basis greatly.
7. the according to claim 1 folded code of shape material robot, is characterized in that: described machinery is held frame below and is provided with pressure brick frame, and described pressure brick frame is held frame by cylinder with described machinery and is connected.
8. the according to claim 7 folded code of shape material robot, is characterized in that: described cylinder is positioned at the position, four angles that described machinery is held frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320453915.9U CN203473969U (en) | 2013-07-26 | 2013-07-26 | Block material stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320453915.9U CN203473969U (en) | 2013-07-26 | 2013-07-26 | Block material stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203473969U true CN203473969U (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320453915.9U Expired - Fee Related CN203473969U (en) | 2013-07-26 | 2013-07-26 | Block material stacking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN203473969U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN104609199A (en) * | 2015-01-09 | 2015-05-13 | 武汉科技大学 | Stacking grabbing method and clamp |
| CN105366361A (en) * | 2015-12-15 | 2016-03-02 | 张利平 | Large gantry crane type brick clamping machine |
| CN105525244A (en) * | 2015-12-30 | 2016-04-27 | 天津市工大镀锌设备有限公司 | Hot galvanizing manipulator for structural part |
| CN106881711A (en) * | 2015-12-16 | 2017-06-23 | 刘耀宗 | One kind piles up machine and control method of building a wall automatically |
| CN107719512A (en) * | 2017-10-05 | 2018-02-23 | 段建英 | A kind of construction puts brick car with building a wall |
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
-
2013
- 2013-07-26 CN CN201320453915.9U patent/CN203473969U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002304A (en) * | 2014-05-08 | 2014-08-27 | 昆明理工大学 | Novel pneumatic manipulator |
| CN104002304B (en) * | 2014-05-08 | 2015-11-25 | 昆明理工大学 | A kind of Novel pneumatic manipulator |
| CN104609199A (en) * | 2015-01-09 | 2015-05-13 | 武汉科技大学 | Stacking grabbing method and clamp |
| CN104609199B (en) * | 2015-01-09 | 2018-05-08 | 武汉科技大学 | A kind of stacking grasping means and fixture |
| CN105366361A (en) * | 2015-12-15 | 2016-03-02 | 张利平 | Large gantry crane type brick clamping machine |
| CN106881711A (en) * | 2015-12-16 | 2017-06-23 | 刘耀宗 | One kind piles up machine and control method of building a wall automatically |
| CN105525244A (en) * | 2015-12-30 | 2016-04-27 | 天津市工大镀锌设备有限公司 | Hot galvanizing manipulator for structural part |
| CN105525244B (en) * | 2015-12-30 | 2018-06-29 | 河北工业大学 | A kind of structural member galvanizing manipulator |
| CN107719512A (en) * | 2017-10-05 | 2018-02-23 | 段建英 | A kind of construction puts brick car with building a wall |
| CN110202562A (en) * | 2019-06-30 | 2019-09-06 | 山西科达自控股份有限公司 | Robot device for underground coal mine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BAOJI JINWANGDA JIXIE COMPANY Free format text: FORMER OWNER: XI'AN YUEDA ENVIRONMENTAL TECHNOLOGY CO., LTD. Effective date: 20150611 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150611 Address after: 721300 Shaanxi province Chencang District of Baoji City, Guo Town Train Station East Peace Street Patentee after: Baoji Jinwangda Machinery Equipment Co., Ltd. Address before: 710075 innovation building, No. 25, Gaoxin Road, Xi'an hi tech Zone, Shaanxi, N306 Patentee before: Xi'an Yueda Environmental Protection Technology Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20180726 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |