CN111136673A - A palletizing manipulator structure for industrial handling - Google Patents
A palletizing manipulator structure for industrial handling Download PDFInfo
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- CN111136673A CN111136673A CN202010032031.0A CN202010032031A CN111136673A CN 111136673 A CN111136673 A CN 111136673A CN 202010032031 A CN202010032031 A CN 202010032031A CN 111136673 A CN111136673 A CN 111136673A
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- 239000002184 metal Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000003466 welding Methods 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
本发明公开了一种工业搬运用的码垛机械手结构，涉及到码垛机械手领域，包括机械手平台，机械手平台呈矩形板状结构，机械手平台的一侧设有移动车板，移动车板靠近机械手平台的一端固定焊接有两组支撑架板，机械手平台的上表面靠近移动车板的一端固定焊接有两组铰接板。本发明中机械手平台上设有可夹紧物体的活动夹板和固定夹板，两者之间的距离可调节，方便适用于不同大小的物件进行码垛，实用性强；本发明中活动夹板和固定夹板各设有两组，分别设置在机械手平台的四个面，方便从不同的方位进行码垛；本发明中机械手平台通过活动夹板和固定夹板固定物件的同时设置有负压风箱对物件进一步吸附固定，搬运过程中稳定不会脱落。
The invention discloses a palletizing manipulator structure for industrial handling, and relates to the field of palletizing manipulators. One end of the platform is fixedly welded with two sets of support frame plates, and one end of the upper surface of the manipulator platform close to the moving vehicle plate is fixedly welded with two sets of hinge plates. In the present invention, the manipulator platform is provided with a movable splint that can clamp objects and a fixed splint, and the distance between the two can be adjusted, which is convenient for stacking objects of different sizes, and has strong practicability; the movable splint and the fixed splint in the present invention are There are two sets of splints, which are respectively arranged on the four sides of the manipulator platform, which is convenient for stacking from different directions; in the present invention, the manipulator platform fixes the objects through the movable splint and the fixed splint, and at the same time is provided with a negative pressure bellows to further adsorb the objects. Fixed, stable and will not fall off during handling.
Description
Technical Field
The invention relates to the field of stacking manipulators, in particular to a stacking manipulator structure for industrial conveying.
Background
The stacking manipulator can neatly and automatically stack (or disassemble) the packaged goods with different external dimensions on the tray (or on a production line, etc.). In order to fully utilize the area of the tray and the stability of the stacked materials, the robot is provided with a material stacking sequence and arrangement setter. Can meet the requirements from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking a plurality of different products. The device is applied to product transportation, stacking and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like.
However, the phenomenon of shedding easily appears when carrying goods in the stacking manipulator, the clamping force of goods is not enough, and often only one-way centre gripping article carries out the pile up neatly, because the setting of manipulator during the pile up neatly, still there is the gap between the object of pile up neatly, and unstable between the pile up neatly structure collapses easily, and need dispose the balancing weight on the pile up neatly mechanical device, but the balancing weight often only sets up in fixed position, need design the multiunit just can accomplish the counter weight of whole car, and inconvenient according to the weight real-time adjustment of carrying goods, it is inconvenient to use.
Therefore, it is necessary to provide a pallet robot structure for industrial transportation to solve the above problems.
Disclosure of Invention
The invention aims to provide a stacking manipulator structure for industrial conveying, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a stacking manipulator structure for industrial carrying comprises a manipulator platform, wherein the manipulator platform is of a rectangular plate structure, a movable vehicle plate is arranged on one side of the manipulator platform, two groups of supporting frame plates are fixedly welded at one end, close to the manipulator platform, of the movable vehicle plate, two groups of hinged plates are fixedly welded at one end, close to the movable vehicle plate, of the upper surface of the manipulator platform, the supporting frame plates are of an L-shaped structure, one ends, far away from the movable vehicle plate, of the supporting frame plates are movably hinged to the hinged plates through rotating shafts, the rotating shafts are fixedly connected with the hinged plates, the rotating shafts of the hinged plates are movably connected, rotating motors are in transmission connection with the rotating shafts of the hinged plates, and the rotating motors are fixedly welded at one side, far away;
the manipulator platform is characterized in that two sides of the manipulator platform are provided with fixed clamping plates, the other two sides of the manipulator platform are provided with movable clamping plates, the fixed clamping plates and the movable clamping plates are arranged oppositely, the upper end of each movable clamping plate is fixedly welded with a connecting frame plate, one side of the upper end of the connecting frame plate, which is close to the manipulator platform, is fixedly welded with a transverse electric push rod, one end of the transverse electric push rod, which is far away from the connecting frame plate, is fixedly welded with a connecting plate, the lower end of the connecting plate is fixedly welded with a lifting electric push rod, the bottom end of the lifting electric push rod is fixedly welded on the upper surface of the manipulator platform, the upper end of each fixed clamping plate is fixedly welded with an upper supporting plate, the upper supporting plate is arranged above the manipulator platform, a second lifting electric push rod, a negative pressure fan is fixedly welded in the middle of the upper surface of the manipulator platform and is communicated with a negative pressure air box, a plurality of groups of negative pressure suction holes which are communicated inside and outside are formed in the lower surface of the negative pressure air box, and a matching groove is formed in one side, close to the connecting frame plate, of the manipulator platform;
the bottom of the movable sweep is provided with movable wheels, a cab is arranged above the movable sweep, one side of the cab far away from the support frame plate is provided with a weight box, the weight box is of a rectangular box body structure without an upper surface, one end of the weight box close to the cab is fixedly welded with an air cylinder, one end of the air cylinder far away from the weight box is fixedly welded at the bottom of the cab, four groups of guide rods are fixedly welded on the bottom surface of the weight box, a metal counterweight block is placed in the weight box, four groups of positioning holes for the guide rods to pass through are arranged on the metal balancing weight, a pull groove is arranged on the upper surface of the metal balancing weight, the fixed welding of one side that the support frame plate was kept away from to the removal sweep has the extension board, and the surface of extension board and the one end that the removal sweep is close to the extension board all are equipped with the spout, the fixed welding in bottom of weight box has the slider, slider sliding fit is in the spout.
Preferably, the upper end of the connecting frame plate extends above the manipulator platform, and the width of the connecting frame plate is smaller than that of the movable clamping plate.
Preferably, the matching groove is of a rectangular groove body structure, the width of the matching groove is consistent with that of the connecting frame plate, and the length of the matching groove is smaller than half of the width of the manipulator platform.
Preferably, the fixed clamping plate and the movable clamping plate are both in rectangular plate structures, and the height of the fixed clamping plate is greater than that of the movable clamping plate.
Preferably, rubber pads are fixedly arranged on the surfaces, close to the manipulator platform, of the fixed clamping plate and the movable clamping plate, and a plurality of groups of rubber anti-slip strips distributed at equal intervals are integrally arranged on the surfaces of the rubber pads.
Preferably, the bottom of the movable sweep is fixedly welded with four groups of movable wheel supporting plates, the four groups of movable wheel supporting plates are rotatably connected with movable wheels through transmission shafts, the end parts of the transmission shafts on the group of movable wheels are in transmission connection with driving motors, and the driving motors are fixedly welded at the bottom of the movable sweep.
Preferably, the end part of one end, far away from the movable vehicle plate, of the extension plate is provided with a limit screw, and the limit screw transversely penetrates through the sliding groove.
Preferably, the pull groove is composed of two sets of rectangular groove body structures, the upper ends of the two sets of rectangular groove body structures penetrate through the upper surface of the metal balancing weight, and the bottom ends of the two sets of rectangular groove body structures are communicated.
Preferably, the sliding groove is of a rectangular groove body structure, the sliding block is of a rectangular plate-shaped structure, and the length of the sliding block is consistent with the width of the weight box.
The invention has the technical effects and advantages that:
1. the movable clamping plate and the fixed clamping plate which can clamp objects are arranged on the manipulator platform, the distance between the movable clamping plate and the fixed clamping plate can be adjusted, the manipulator platform is convenient to stack the objects with different sizes, and the practicability is high;
2. two groups of movable clamping plates and two groups of fixed clamping plates are respectively arranged on four surfaces of the manipulator platform, so that stacking can be conveniently carried out from different directions;
3. according to the invention, the manipulator platform fixes the object through the movable clamping plate and the fixed clamping plate, and the negative pressure air box is arranged to further adsorb and fix the object, so that the object is stable and cannot fall off in the carrying process;
4. the weight box can be moved, so that real-time adjustment can be conveniently carried out according to the weight of an object, and the use of weight balancing is convenient;
5. the manipulator platform can be turned over integrally, so that the object can be supported better, and the manipulator platform is convenient to use under the condition of longer carrying process.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a schematic side view of the present invention.
FIG. 3 is a schematic bottom structure of the present invention.
FIG. 4 is an enlarged view of the structure at A in FIG. 1 according to the present invention.
FIG. 5 is an enlarged view of the structure at B in FIG. 2 according to the present invention.
FIG. 6 is an enlarged view of the structure at C in FIG. 3 according to the present invention.
In the figure: 1. a manipulator platform; 2. moving the sweep; 3. a support frame plate; 4. a cab; 5. a weight box; 6. an extension plate; 7. a chute; 8. a limit screw; 9. a moving wheel; 10. fixing the clamping plate; 11. a movable splint; 12. a slider; 13. a drive motor; 14. a moving wheel support plate; 15. an upper support plate; 16. a first lifting electric push rod; 17. a connecting plate; 18. a mating groove; 19. transversely moving the electric push rod; 20. connecting the frame plate; 21. a negative pressure fan; 22. rotating the motor; 23. a hinge plate; 24. a rubber pad; 25. rubber antislip strips; 26. a metal counterweight block; 27. positioning holes; 28. a guide bar; 29. groove drawing; 30. a cylinder; 31. a negative pressure bellows; 32. negative pressure suction holes; 33. and a second lifting electric push rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a stacking manipulator structure for industrial carrying, as shown in figures 1-6, which comprises a manipulator platform 1, wherein the manipulator platform 1 is in a rectangular plate-shaped structure, a movable vehicle plate 2 is arranged on one side of the manipulator platform 1, two groups of support frame plates 3 are fixedly welded at one end, close to the manipulator platform 1, of the movable vehicle plate 2, two groups of hinge plates 23 are fixedly welded at one end, close to the movable vehicle plate 2, of the upper surface of the manipulator platform 1, the support frame plates 3 are in an L-shaped structure, one end, far away from the movable vehicle plate 2, of each support frame plate 3 is movably hinged on each hinge plate 23 through a rotating shaft, the rotating shafts are fixedly connected with the hinge plates 23, the rotating shafts are movably connected with the support frame plates 3, a rotating motor 22 is in transmission connection with the rotating shafts of one group of the hinge plates;
the manipulator platform comprises a manipulator platform 1, fixed clamping plates 10, movable clamping plates 11, the fixed clamping plates 10 and the movable clamping plates 11 are arranged oppositely, a connecting frame plate 20 is fixedly welded at the upper end of each movable clamping plate 11, a transverse electric push rod 19 is fixedly welded at one side, close to the manipulator platform 1, of the upper end of each connecting frame plate 20, a connecting plate 17 is fixedly welded at one end, far away from the corresponding connecting frame plate 20, of the transverse electric push rod 19, a first lifting electric push rod 16 is fixedly welded at the lower end of the connecting plate 17, the bottom end of the first lifting electric push rod 16 is fixedly welded on the upper surface of the manipulator platform 1, an upper supporting plate 15 is fixedly welded at the upper end of each fixed clamping plate 10, the upper supporting plate 15 is arranged above the manipulator platform 1, a second lifting electric push rod 33 is fixedly welded between the bottom surface of the upper supporting plate 15 and, a negative pressure fan 21 is fixedly welded in the middle of the upper surface of the manipulator platform 1, the negative pressure fan 21 is communicated with a negative pressure air box 31, a plurality of groups of negative pressure suction holes 32 which are communicated with the inside and the outside are formed in the lower surface of the negative pressure air box 31, and a matching groove 18 is formed in one side, close to the connecting frame plate 20, of the manipulator platform 1;
the bottom of the movable vehicle board 2 is provided with movable wheels 9, a cab 4 is arranged above the movable vehicle board 2, and the cab 4 is a cab of a common trolley, which is a common prior art and is not described herein again;
a weight box 5 is arranged on one side of the cab 4, which is far away from the support frame plate 3, the weight box 5 is of a rectangular box structure without an upper surface, an air cylinder 30 is fixedly welded at one end, which is close to the cab 4, of the weight box 5, one end, which is far away from the weight box 5, of the air cylinder 30 is fixedly welded at the bottom of the cab 4, four groups of guide rods 28 are fixedly welded at the bottom surface of the weight box 5, a metal counterweight block 26 is placed in the weight box 5, four groups of positioning holes 27 for the guide rods 28 to pass through are formed in the metal counterweight block 26, and the metal counterweight block 26 is conveniently and stably seated in the;
the upper surface at metal balancing weight 26 is equipped with the kerve 29, and the fixed welding of one side that the support frame plate 3 was kept away from to removal sweep 2 has extension board 6, and the surface of extension board 6 and the one end that removes sweep 2 and be close to extension board 6 all are equipped with spout 7, and the fixed welding of bottom of weight box 5 has slider 12, and slider 12 sliding fit is in spout 7.
The upper end of the connecting frame plate 20 extends above the manipulator platform 1, and the width of the connecting frame plate 20 is smaller than that of the movable clamping plate 11, so that the weight of the whole device is reduced.
The matching groove 18 is of a rectangular groove body structure, the width of the matching groove 18 is consistent with that of the connecting frame plate 20, and the length of the matching groove 18 is smaller than half of the width of the manipulator platform 1, so that the connecting frame plate 20 can drive the movable clamping plate 11 to move conveniently.
The fixed clamping plate 10 and the movable clamping plate 11 are both in rectangular plate structures, and the height of the fixed clamping plate 10 is larger than that of the movable clamping plate 11.
The rubber pads 24 are fixedly arranged on the surfaces, close to the manipulator platform 1, of the fixed clamping plate 10 and the movable clamping plate 11, a plurality of groups of rubber anti-slip strips 25 distributed equidistantly are integrally arranged on the surfaces of the rubber pads 24, the anti-slip effect is strong, and stacking is convenient.
The fixed welding in bottom of removing sweep 2 has four groups to remove wheel backup pad 14, and four groups are removed and are rotated through the transmission shaft and be connected with removal wheel 9 in the wheel backup pad 14, and the transmission shaft end transmission on a set of removal wheel 9 is connected with driving motor 13, and the fixed welding in bottom of removing sweep 2 of driving motor 13, driving motor 13 accessible transmission shaft drive remove the walking of wheel 9, make things convenient for whole equipment walking.
The end part of one end of the extension plate 6, which is far away from the movable vehicle plate 2, is provided with a limit screw 8, the limit screw 8 transversely penetrates through the sliding groove 7, and the limit screw 8 prevents the weight box 5 from being pushed out of the device, so that the limiting effect is achieved.
The pull groove 29 is composed of two groups of rectangular groove structures, the upper ends of the two groups of rectangular groove structures penetrate through the upper surface of the metal counterweight block 26, and the bottom ends of the two groups of rectangular groove structures are communicated, so that the metal counterweight block 26 can be conveniently taken and placed by holding the upper end of the pull groove 29 by hand.
The sliding groove 7 is of a rectangular groove body structure, the sliding block 12 is of a rectangular plate-shaped structure, the length of the sliding block 12 is consistent with the width of the weight box 5, and the sliding structure is stable.
The working principle is as follows: according to the invention, the movable clamping plate 11 and the fixed clamping plate 10 which can clamp objects are arranged on the manipulator platform 1, the distance between the two is adjustable, the manipulator platform is convenient for stacking objects with different sizes, and the practicability is strong;
the electric transverse push rod 19 drives the connecting frame plate 20 to move, so that the distance between the movable clamping plate 11 and the fixed clamping plate 10 can be adjusted, and objects can be conveniently clamped.
Two groups of movable clamping plates 11 and two groups of fixed clamping plates 10 are respectively arranged on four surfaces of the manipulator platform 1, so that stacking can be conveniently carried out from different directions;
when a group of opposite movable clamping plates 11 and fixed clamping plates 10 are used, the other group of opposite movable clamping plates 11 and fixed clamping plates 10 can be driven to ascend through the first lifting electric push rod 16 and the second lifting electric push rod 33, the stacking process is not influenced, seamless stacking can be carried out, and objects are not prone to collapse.
According to the invention, the manipulator platform 1 is provided with the negative pressure air box 31 to further adsorb and fix the object while fixing the object through the movable clamping plate 11 and the fixed clamping plate 10, so that the object is stable and cannot fall off in the carrying process;
the negative pressure fan 21 generates negative pressure wind power through the negative pressure suction hole 32 and transmits the negative pressure wind power to the object, and the object is further adsorbed and fixed.
The weight box 5 can be moved, so that real-time adjustment can be conveniently carried out according to the weight of an object, and the use of weight balancing is convenient;
the air cylinder 30 can drive the weight box 5 to move in the sliding groove 7 through the sliding block 12, and the weight box 5 can be conveniently changed in position.
The manipulator platform 1 can be turned over integrally, so that the object can be supported better, and the manipulator platform is convenient to use under the condition of longer carrying process.
The rotary motor 22 can drive the manipulator platform 1 to turn over integrally, and the phenomenon that objects slide off due to bumping in the long-distance carrying process is avoided.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a pile up neatly machinery hand structure of industry transport usefulness, includes manipulator platform (1), its characterized in that: the manipulator platform (1) is of a rectangular plate-shaped structure, one side of the manipulator platform (1) is provided with a movable sweep (2), one end of the movable sweep (2) close to the manipulator platform (1) is fixedly welded with two groups of supporting frame plates (3), two groups of hinged plates (23) are fixedly welded at one end of the upper surface of the manipulator platform (1) close to the movable sweep (2), the support frame plate (3) is in an L-shaped structure, one end of the support frame plate (3) far away from the movable vehicle plate (2) is movably hinged on the hinged plate (23) through a rotating shaft, the rotating shaft is fixedly connected with the hinged plates (23), the rotating shaft is movably connected with the supporting frame plate (3), the rotating shaft of one group of hinged plates (23) is connected with a rotating motor (22) in a transmission way, the rotating motor (22) is fixedly welded on one side of the support frame plate (3) far away from the hinge plate (23);
the manipulator platform comprises a manipulator platform (1), wherein two sides of the manipulator platform (1) are provided with fixed clamping plates (10), two sides of the manipulator platform are provided with movable clamping plates (11), the fixed clamping plates (10) and the movable clamping plates (11) are arranged oppositely, the upper end of each movable clamping plate (11) is fixedly welded with a connecting frame plate (20), the upper end of each connecting frame plate (20) is fixedly welded with a transverse electric push rod (19) close to one side of the manipulator platform (1), one end, far away from the connecting frame plate (20), of each transverse electric push rod (19) is fixedly welded with a connecting plate (17), the lower end of each connecting plate (17) is fixedly welded with a lifting electric push rod (16), the bottom end of each lifting electric push rod (16) is fixedly welded on the upper surface of the manipulator platform (1), the upper end of each fixed clamping plate (10) is fixedly welded with an upper supporting plate (, a second lifting electric push rod (33) is fixedly welded between the bottom surface of the upper supporting plate (15) and the upper surface of the manipulator platform (1), a negative pressure air box (31) is fixedly welded in the middle of the bottom surface of the manipulator platform (1), a negative pressure fan (21) is fixedly welded in the middle of the upper surface of the manipulator platform (1), the negative pressure fan (21) is communicated with the negative pressure air box (31), a plurality of groups of negative pressure suction holes (32) which are communicated with the inside and the outside are formed in the lower surface of the negative pressure air box (31), and a matching groove (18) is formed in one side, close to the connecting frame plate (20), of the manipulator platform (1);
the bottom of the movable sweep (2) is provided with movable wheels (9), the top of the movable sweep (2) is provided with a cab (4), one side of the cab (4) far away from the support frame plate (3) is provided with a weight box (5), the weight box (5) is of a rectangular box structure without an upper surface, one end of the weight box (5) close to the cab (4) is fixedly welded with a cylinder (30), one end of the cylinder (30) far away from the weight box (5) is fixedly welded at the bottom of the cab (4), the bottom surface of the weight box (5) is fixedly welded with four groups of guide rods (28), a metal counterweight block (26) is placed in the weight box (5), four groups of positioning holes (27) for the guide rods (28) to pass through are arranged on the metal counterweight block (26), the upper surface of the metal counterweight block (26) is provided with a pull groove (29), one side of the movable sweep (2) far away from the support frame plate (3) is fixedly welded with an, the surface of extension board (6) and the one end that removes sweep (2) and be close to extension board (6) all are equipped with spout (7), the fixed welding in bottom of weight box (5) has slider (12), slider (12) sliding fit is in spout (7).
2. A stacking manipulator structure for industrial handling according to claim 1, wherein: the upper end of the connecting frame plate (20) extends above the manipulator platform (1), and the width of the connecting frame plate (20) is smaller than that of the movable clamping plate (11).
3. A stacking manipulator structure for industrial handling according to claim 1, wherein: the matching groove (18) is of a rectangular groove body structure, the width of the matching groove (18) is consistent with that of the connecting frame plate (20), and the length of the matching groove (18) is smaller than half of the width of the manipulator platform (1).
4. A stacking manipulator structure for industrial handling according to claim 1, wherein: the fixed splint (10) and the movable splint (11) are both in rectangular plate structures, and the height of the fixed splint (10) is greater than that of the movable splint (11).
5. A stacking manipulator structure for industrial handling according to claim 1, wherein: the manipulator platform is characterized in that rubber pads (24) are fixedly arranged on one surfaces, close to the manipulator platform (1), of the fixed clamping plate (10) and the movable clamping plate (11), and a plurality of groups of rubber anti-slip strips (25) distributed at equal intervals are integrally arranged on the surfaces of the rubber pads (24).
6. A stacking manipulator structure for industrial handling according to claim 1, wherein: the bottom fixed welding of removing sweep (2) has four groups to remove wheel backup pad (14), rotates through the transmission shaft on four groups of removal wheel backup pads (14) to be connected with and removes wheel (9), and the transmission shaft tip transmission on a group of removal wheel (9) is connected with driving motor (13), driving motor (13) fixed welding is in the bottom of removing sweep (2).
7. A stacking manipulator structure for industrial handling according to claim 1, wherein: the end part, far away from the movable vehicle plate (2), of one end of the extension plate (6) is provided with a limiting screw rod (8), and the limiting screw rod (8) transversely penetrates through the sliding groove (7).
8. A stacking manipulator structure for industrial handling according to claim 1, wherein: the pull groove (29) is composed of two groups of rectangular groove body structures, the upper ends of the two groups of rectangular groove body structures penetrate through the upper surface of the metal balancing weight (26), and the bottom ends of the two groups of rectangular groove body structures are communicated.
9. A stacking manipulator structure for industrial handling according to claim 1, wherein: the sliding groove (7) is of a rectangular groove body structure, the sliding block (12) is of a rectangular plate-shaped structure, and the length of the sliding block (12) is consistent with the width of the weight box (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010032031.0A CN111136673B (en) | 2020-01-13 | 2020-01-13 | A palletizing manipulator structure for industrial handling |
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| CN202010032031.0A CN111136673B (en) | 2020-01-13 | 2020-01-13 | A palletizing manipulator structure for industrial handling |
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| CN111136673A true CN111136673A (en) | 2020-05-12 |
| CN111136673B CN111136673B (en) | 2021-08-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954297A (en) * | 2021-09-28 | 2022-01-21 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
| CN117162122A (en) * | 2023-09-14 | 2023-12-05 | 太仓红马机械设备制造有限公司 | A kind of manipulator special for environmental protection equipment |
| CN120039646A (en) * | 2025-02-21 | 2025-05-27 | 郴州七三二零化工有限公司 | Emulsion explosive stacker with detection control function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113954297A (en) * | 2021-09-28 | 2022-01-21 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
| CN113954297B (en) * | 2021-09-28 | 2024-04-02 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
| CN117162122A (en) * | 2023-09-14 | 2023-12-05 | 太仓红马机械设备制造有限公司 | A kind of manipulator special for environmental protection equipment |
| CN120039646A (en) * | 2025-02-21 | 2025-05-27 | 郴州七三二零化工有限公司 | Emulsion explosive stacker with detection control function |
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