CN207226835U - Automatic catching robot - Google Patents
Automatic catching robot Download PDFInfo
- Publication number
- CN207226835U CN207226835U CN201720952999.9U CN201720952999U CN207226835U CN 207226835 U CN207226835 U CN 207226835U CN 201720952999 U CN201720952999 U CN 201720952999U CN 207226835 U CN207226835 U CN 207226835U
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- Prior art keywords
- mechanical arm
- rotation
- center
- grasping mechanism
- catching robot
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- Expired - Fee Related
Links
- 230000003014 reinforcing effect Effects 0.000 abstract description 12
- 239000004566 building material Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
It the utility model is related to a kind of automatic catching robot, including the driving device that grasping mechanism and driving grasping mechanism are changed between first position, the second place.Grasping mechanism includes the first mechanical arm rotatably set, the second mechanical arm rotatably set and the connecting rod being connected between first mechanical arm, second mechanical arm, and the both ends of connecting rod are rotatablely connected with first mechanical arm, second mechanical arm respectively.Formed between first mechanical arm, second mechanical arm and grab mouth for what is captured, grasping mechanism grabs mouth opening at first position, and grasping mechanism grabs mouth closure at the second place.Driving device is connected with first mechanical arm, to drive first mechanical arm to rotate, and is driven second mechanical arm, connection-rod linkage, is realized that grasping mechanism is changed between first position, the second place.Driving device provides power for manipulator, and the light reinforcing bar etc. that captures is carried after opening grabs mouth, is reduced labor intensity, is improved work efficiency, improves capacity utilization and security.
Description
Technical field
Architectural Equipment field is the utility model is related to, more specifically to a kind of automatic catching robot.
Background technology
Conventional rebar mode of transport is that the reinforcing bar cut manually is placed on frame using steel wire rope binding is bundled in correlation technique
Reinforcing bar on son, reuses gantry crane transfer.If now cutting iron machine-cut automatically, good reinforcing bar reuses human assistance carrying, can pole
Big waste of manpower and time, there are some potential safety problems during operation.
Utility model content
The technical problems to be solved in the utility model is, there is provided a kind of improved automatic catching robot.
Technical solution is used by the utility model solves its technical problem：A kind of automatic catching robot is constructed, is wrapped
Include the driving device that grasping mechanism and the driving grasping mechanism are changed between first position, the second place；
The grasping mechanism includes the first mechanical arm rotatably set, the second mechanical arm rotatably set and connection
Connecting rod between the first mechanical arm, second mechanical arm, the both ends of the connecting rod respectively with the first mechanical arm, second
Mechanical arm is rotatablely connected；
Formed between the first mechanical arm, second mechanical arm and grab mouth for what is captured, the grasping mechanism is described the
Described to grab mouth opening during one position, the grasping mechanism is described to grab mouth closure at the second place；
The driving device is connected with the first mechanical arm, to drive the first mechanical arm to rotate, and described in drive
Second mechanical arm, connection-rod linkage, realize that the grasping mechanism is changed between the first position, the second place.
Preferably, the line between the center of rotation of the first mechanical arm, the center of rotation of the second mechanical arm and
Line between the center of rotation at the both ends of the connecting rod is arranged in a crossed manner.
Preferably, the center of rotation of the first mechanical arm, the center of rotation of second mechanical arm are spaced set in the horizontal direction
Put, the center of rotation that the connecting rod is connected with the first mechanical arm is located at the center of rotation of the first mechanical arm, described
Below line between the center of rotation of two mechanical arms, the center of rotation that the connecting rod is connected with the second mechanical arm is located at institute
State more than the line between the center of rotation of first mechanical arm, the center of rotation of the second mechanical arm.
Preferably, the link tilt is set.
Preferably, the center of rotation of the first mechanical arm, the center of rotation of second mechanical arm are in same level height.
Preferably, the center of rotation of the first mechanical arm, the center of rotation of second mechanical arm are arranged concentrically.
Preferably, the first mechanical arm, second mechanical arm and the driving device are rotatably arranged in hang respectively
Liang Shang.
Preferably, the first mechanical arm includes the first folded arm of arc, and the second mechanical arm includes the second of arc
Folded arm, and first folded arm, the second folded arm opening are opposite, form grasping part.
Preferably, the driving device includes the drive rod of scalable setting, one end of the drive rod and described first
Mechanical arm is rotatablely connected, and the first mechanical arm rotation is driven when flexible.
Preferably, the driving device is linear drive motor.
Implement the automatic catching robot of the utility model, have the advantages that：The manipulator of the utility model
Driving device provides power for manipulator, and opening grabs and can easily capture the building materials such as reinforcing bar after mouth and carried, and will directly can cut
Good reinforcing bar goes to automatic stamping and bending machine, reduces the labor intensity of worker, improves work efficiency, also effectively raises equipment
Utilization rate and operation safety coefficient.
Brief description of the drawings
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing：
Fig. 1 is that structure of the grasping mechanism of the automatic catching robot in the utility model embodiment at first position is shown
It is intended to；
Fig. 2 is structure diagram of the grasping mechanism of the automatic catching robot in Fig. 1 at the second place.
Embodiment
For a clearer understanding of the technical features, objectives and effects of the utility model, it is detailed now to compare attached drawing
Illustrate specific embodiment of the present utility model.
As shown in Figure 1 and Figure 2, the automatic catching robot in one preferred embodiment of the utility model includes grasping mechanism
1 and the driving device 2 changed between first position, the second place of driving grasping mechanism 1.
Grasping mechanism 1 is including the first mechanical arm 11 rotatably set, the second mechanical arm 12 rotatably set and connects
The connecting rod 13 being connected between first mechanical arm 11, second mechanical arm 12, the both ends of connecting rod 13 respectively with first mechanical arm 11, second
Mechanical arm 12 is rotatablely connected, and linkage can be realized by allowing between first mechanical arm 11, second mechanical arm 12 and connecting rod 13.
Formed between first mechanical arm 11, second mechanical arm 12 and grab mouth 14 for what is captured, grasping mechanism 1 is in first position
When, grab mouth 14 and open, the building materials such as reinforcing bar can be clamped.Grasping mechanism 1 is grabbed mouth 14 and is closed at the second place, allows the building materials such as reinforcing bar
Embraced, be conveniently lifted.
In certain embodiments, driving device 2 is connected with first mechanical arm 11, to drive first mechanical arm 11 to rotate, and
Drive second mechanical arm 12, connecting rod 13 to link, realize that grasping mechanism 1 is changed between first position, the second place.Driving device 2
Power is provided for manipulator, the building materials such as reinforcing bar is easily captured and is carried, reduce the labor intensity of worker, improve work
Efficiency.
Preferably, driving device 2 is linear drive motor, and as the power source of manipulator, power supply can directly external friendship
Galvanic electricity, it is also possible to which charging modes obtain.
Driving device 2 includes the drive rod 21 of scalable setting, and one end of drive rod 21 is rotated with first mechanical arm 11 to be connected
Connect, drive first mechanical arm 11 to rotate when flexible.The flexible of drive rod 21 can use remote control, can also connect wired input
Signal.Drive rod 21 is retracted, and is driven 11 swing open of first mechanical arm to grab mouth 14 and is removed folder reinforcing bar；Drive rod 21 stretches out, and drives the
One mechanical arm 11, which swings closing, grabs mouth 14 reinforcing bar is embraced and pick up.In other embodiments, driving device 2 can also drive the second machine
Tool arm 12 swings the either on or off realized and grab mouth 14.
In certain embodiments, first mechanical arm 11 includes the first folded arm 111 of arc, and second mechanical arm 12 includes arc
The second folded arm 121, and the first folded arm 111, the second folded arm 121 be open relatively, formed grasping part.First folded arm of arc
111st, the second folded arm 121 can be easy to catch on the building materials such as reinforcing bar, more convenient to use.
Further, first mechanical arm 11, second mechanical arm 12 and driving device 2 are rotatably arranged in hanging beam respectively
On, facilitate the installation and positioning of first mechanical arm 11, second mechanical arm 12 and driving device 2.
Preferably, the line and connecting rod between the center of rotation of first mechanical arm 11, the center of rotation of second mechanical arm 12
Line between the center of rotation at 13 both ends is arranged in a crossed manner, allows first mechanical arm 11, connecting rod 13, second mechanical arm 12 to be formed and connects
13 mechanism of bar realizes linkage.
In order to increase the clamping amount of manipulator, center of rotation, the center of rotation of second mechanical arm 12 of first mechanical arm 11
It is arranged at intervals in the horizontal direction, increases spacing, increases grasping part.
The center of rotation that connecting rod 13 is connected with first mechanical arm 11 is located at the center of rotation of first mechanical arm 11, the second machinery
Below line between the center of rotation of arm 12, the center of rotation that connecting rod 13 is connected with second mechanical arm 12 is located at first mechanical arm
More than the line between 11 center of rotation, the center of rotation of second mechanical arm 12, first mechanical arm 11 is allowed when swinging out
Second mechanical arm 12 is driven to swing out.
When first mechanical arm 11, which is turned out opening, grabs mouth 14, one end that connecting rod 13 is connected with first mechanical arm 11 also to
Outer movement, the both ends of line and connecting rod 13 between the center of rotation of first mechanical arm 11, the center of rotation of second mechanical arm 12
Center of rotation between the angle of line diminish, also drive second mechanical arm 12 to be turned out opening and grab mouth 14.
Preferably, connecting rod 13 is obliquely installed, grab mouth 14 open connecting rod 13 be driven deflect when, connecting rod 13 with it is horizontal
The angle in face diminishes.Further, the center of rotation of first mechanical arm 11, the center of rotation of second mechanical arm 12 are in same level
Highly, the swing of first mechanical arm 11,12 lower end of second mechanical arm is enable to keep synchronous.
In other embodiments, the center of rotation of first mechanical arm 11, the center of rotation of second mechanical arm 12 also can be concentric
Set.
It is to be appreciated that above-mentioned each technical characteristic can be used in any combination and unrestricted.
The above description is only the embodiments of the present invention, and it does not limit the scope of the patent of the present invention, every
Equivalent structure or equivalent flow shift made based on the specification and figures of the utility model, is directly or indirectly used in
Other related technical areas, are equally included in the patent within the scope of the utility model.
Claims (10)
1. a kind of automatic catching robot, it is characterised in that including grasping mechanism（1）And the driving grasping mechanism（1）
The driving device changed between first position, the second place（2）；
The grasping mechanism（1）Including the first mechanical arm rotatably set（11）, the rotatable second mechanical arm that sets（12）
And it is connected to the first mechanical arm（11）, second mechanical arm（12）Between connecting rod（13）, the connecting rod（13）Both ends
Respectively with the first mechanical arm（11）, second mechanical arm（12）Rotation connection；
The first mechanical arm（11）, second mechanical arm（12）Between formed for capture grab mouth（14）, the grasping mechanism
（1）It is described to grab mouth at the first position（14）Open, the grasping mechanism（1）It is described to grab mouth at the second place
（14）Closure；
The driving device（2）With the first mechanical arm（11）Connection, to drive the first mechanical arm（11）Rotate, and band
Move the second mechanical arm（12）, connecting rod（13）Linkage, realizes the grasping mechanism（1）In the first position, the second place
Between change.
2. automatic catching robot according to claim 1, it is characterised in that the first mechanical arm（11）Rotation
Center, the second mechanical arm（12）Center of rotation between line and the connecting rod（13）Both ends center of rotation between
Line it is arranged in a crossed manner.
3. automatic catching robot according to claim 2, it is characterised in that the first mechanical arm（11）Rotation in
The heart, second mechanical arm（12）Center of rotation be arranged at intervals in the horizontal direction, the connecting rod（13）With the first mechanical arm
（11）The center of rotation of connection is located at the first mechanical arm（11）Center of rotation, the second mechanical arm（12）Rotation in
Below line between the heart, the connecting rod（13）With the second mechanical arm（12）The center of rotation of connection is located at first machine
Tool arm（11）Center of rotation, the second mechanical arm（12）Center of rotation between line more than.
4. automatic catching robot according to claim 3, it is characterised in that the connecting rod（13）It is obliquely installed.
5. automatic catching robot according to claim 4, it is characterised in that the first mechanical arm（11）Rotation in
The heart, second mechanical arm（12）Center of rotation same level height.
6. automatic catching robot according to claim 1, it is characterised in that the first mechanical arm（11）Rotation in
The heart, second mechanical arm（12）Center of rotation be arranged concentrically.
7. automatic catching robot according to any one of claims 1 to 6, it is characterised in that the first mechanical arm
（11）, second mechanical arm（12）And the driving device（2）It is rotatably arranged in respectively on hanging beam.
8. automatic catching robot according to any one of claims 1 to 6, it is characterised in that the first mechanical arm
（11）The first folded arm including arc（111）, the second mechanical arm（12）The second folded arm including arc（121）, and it is described
First folded arm（111）, the second folded arm（121）Opening is opposite, forms grasping part.
9. automatic catching robot according to any one of claims 1 to 6, it is characterised in that the driving device（2）Bag
Include the drive rod of scalable setting（21）, the drive rod（21）One end and the first mechanical arm（11）Rotation connection,
The first mechanical arm is driven when flexible（11）Rotate.
10. automatic catching robot according to claim 9, it is characterised in that the driving device（2）For linear drives
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720952999.9U CN207226835U (en) | 2017-08-01 | 2017-08-01 | Automatic catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720952999.9U CN207226835U (en) | 2017-08-01 | 2017-08-01 | Automatic catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207226835U true CN207226835U (en) | 2018-04-13 |
Family
ID=61856267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720952999.9U Expired - Fee Related CN207226835U (en) | 2017-08-01 | 2017-08-01 | Automatic catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207226835U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110342156A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Adaptive holding barrels mechanism |
| CN110342157A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Side feeding device and garbage truck with it |
| CN110342155A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Side feeding device, the control system of holding barrels feed mechanism and method, garbage truck |
| CN113374002A (en) * | 2021-08-13 | 2021-09-10 | 南通海润机床有限公司 | Intelligent remote control split type two-box hydraulic grab bucket and using method |
-
2017
- 2017-08-01 CN CN201720952999.9U patent/CN207226835U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110342156A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Adaptive holding barrels mechanism |
| CN110342157A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Side feeding device and garbage truck with it |
| CN110342155A (en) * | 2019-07-11 | 2019-10-18 | 长沙中联重科环境产业有限公司 | Side feeding device, the control system of holding barrels feed mechanism and method, garbage truck |
| CN110342157B (en) * | 2019-07-11 | 2021-12-24 | 长沙中联重科环境产业有限公司 | Side loading attachment and have its garbage truck |
| CN110342156B (en) * | 2019-07-11 | 2021-12-24 | 长沙中联重科环境产业有限公司 | Self-adaptive bucket holding mechanism |
| CN113374002A (en) * | 2021-08-13 | 2021-09-10 | 南通海润机床有限公司 | Intelligent remote control split type two-box hydraulic grab bucket and using method |
| CN113374002B (en) * | 2021-08-13 | 2021-10-29 | 南通海润机床有限公司 | Intelligent remote control split type two-box hydraulic grab bucket and using method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200110 Address after: 401120 third floor, Liangjiang enterprise headquarters building, No.618 Liangjiang Avenue, Longxing Town, Yubei District, Chongqing Patentee after: Chongqing CSCEC Hailong Liangjiang Construction Technology Co.,Ltd. Address before: 518000 Guangdong Province, Shenzhen city Longhua District Guanlan Street gentleman cloth Xingfa Road No. 8 Patentee before: SHENZHEN HAILONG BUILDING TECHNOLOGY Co.,Ltd. |
|
| 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: 20180413 |