CN107414577A - Industrial transport machine people - Google Patents
Industrial transport machine people Download PDFInfo
- Publication number
- CN107414577A CN107414577A CN201710731342.4A CN201710731342A CN107414577A CN 107414577 A CN107414577 A CN 107414577A CN 201710731342 A CN201710731342 A CN 201710731342A CN 107414577 A CN107414577 A CN 107414577A
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- China
- Prior art keywords
- groove
- workbench
- rotating bar
- crossbeam
- magnet
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of industrial transport machine people, including：Workbench, its upper surface is provided with a telescopic column, and the column upper surface is provided with a fixed column, and the crossbeam that one end is provided with a perforation is sheathed on outside fixed column, the crossbeam can rotate around fixed column, and the crossbeam lower end is provided with multiple suckers that can be moved along crossbeam length direction；Below the crossbeam is provided with body feed tank；Base, the base lower surface are provided with multiple driving wheels；Two stretching structures, each stretching structure are located between base and workbench along position base length direction, and each stretching structure includes the first rotating bar, the second rotating bar, the sleeve below the second rotating bar that upper end passes workbench.The kind industrial transport machine people of invention, it can capture the article of different shapes and sizes, and contact area is big, grasping stability, and stable, height adjustable of being walked in transportation.
Description
Technical field
The present invention relates to robotic technology field.A kind of it is more particularly related to industrial transport machine people.
Background technology
With the continuous development of society, robot is widely used in industry-by-industry and field, is especially given birth in factory
It is widely used in production, grabbing device is the various equipment for producing, being commonly used on process line in existing industrial transport machine people,
Artificial repetition operation is may replace, reduces production cost.The grabbing device of prior art is by a pair of grabbing claws or more mostly
Grabbing claw gripping article, article easily drops, and crawl is unstable, and article is in irregular shape, or putting position is crooked etc.
The clamping degree of grabbing claw may all be had influence on.And existing industrial transport machine people transports after article is captured to article
When defeated, stability is bad, can not highly adjust, and is inclined to set when walking if encountering ground, how to ensure industry
Robot in the process of walking be steadily current urgent problem.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of industrial transport machine people, and it can capture different shapes and sizes
Article, contact area is big, grasping stability, and stable, height adjustable of being walked in transportation.
In order to realize according to object of the present invention and further advantage, there is provided a kind of industrial transport machine people, including：
Workbench, its upper surface are provided with a telescopic column, and the column upper surface is provided with a fixed column, one end
Provided with one perforation crossbeam be sheathed on outside fixed column, the crossbeam can rotate around fixed column, the crossbeam lower end provided with it is multiple can
The sucker moved along crossbeam length direction；The below the crossbeam is provided with body feed tank, and the body feed tank can be along workbench length direction
The worktable upper surface is slidably connected to, multiple expansion links are provided with along its length above the workbench, it is each flexible
One end of bar is connected with body feed tank side wall, the other end is connected with a vertical plate, and the vertical plate lower end connects with worktable upper surface
Connect, the expansion link is flexible to move body feed tank；
Base, the base lower surface are provided with multiple driving wheels；
Two stretching structures, each stretching structure are located between base and workbench along position base length direction, each
Stretching structure includes the first rotating bar, the second rotating bar, the sleeve below the second rotating bar that upper end passes workbench,
The first rotating bar lower surface offers the first interconnected groove, the second groove, and the second groove is located under the first groove
Side, the first groove diameter are more than the second groove diameter, and the second rotating bar upper end is stretched into the first groove, the second groove, institute
State the second rotating bar upper end and be provided with contiguous block, the contiguous block can move up and down along the first recess sidewall, and described second rotates
Screw thread coordinates between bar and the second groove, is provided with connecting rod in sleeve, the connecting rod can move up and down along sleeve axis direction, institute
State the second rotating bar lower end to be connected with the connecting rod upper end, the second rotation shank diameter is less than the connection shank diameter, covers
Cylinder upper end is located at the second rotating bar both sides and is arranged with fixed block, and support bullet is connected between fixed block and connecting rod upper surface
Spring, the connecting rod lower end are stretched out outside sleeve and are connected with base upper surface, and first rotating bar is located above workbench
Turbine, the scroll bar of output axis connection one of an electric rotating machine circumferentially are arranged with, scroll bar engages with the turbine, electric rotating machine rotational band
Dynamic first rotating bar rotates.
Preferably, described industrial transport machine people, the projection of one end of the workbench in the horizontal plane exceed bottom
The projection of seat corresponding end in the horizontal plane, the workbench are sequentially provided with the first height along its length beyond the end of base
Sensor, the second height sensor, the first height sensor, the second height sensor can be between test table lower surface and ground
Distance；Data processor, it is connected with the first height sensor, the communication of the second height sensor, and the data processor can
The first height sensor, the test data of the second height sensor are received, and calculates generation teaching data；Control device, its with
Data processor communication connection, the control device are connected with electric rotating machine, and the control device can receive teaching data and control
Electric rotating machine processed rotates.
Preferably, described industrial transport machine people, the body feed tank include be arranged successively from inside to outside internal box,
Middle case, outer case, the outer container body sidewall are connected with expansion link, and the outer case is slidably connected to the workbench upper table
Face, multiple buffer springs are provided between the middle case outer wall and outer case inwall, are provided between the internal box and middle case
Elastic rubber layer.
Preferably, described industrial transport machine people, the is offered on the base between corresponding two stretching structures
Three grooves, the 3rd groove is interior to be provided with cushion block, and the cushion block is highly less than the 3rd groove height, cushion block upper surface both ends
It is connected to the lower surface of two connecting rods respectively, the cushion block lower end is provided with the first magnet, the 3rd groove floor is provided with the
Two magnet, the relative face opposite polarity of the first magnet, the second magnet, the first spring, institute are provided between the first magnet, the second magnet
State the first magnet lower surface and the first support column is provided between the first spring, the second magnet upper surface is located at the first spring
The second support column is inside provided with, the first support column lower surface offers the 4th groove, the second support column upper end vertically
Face is provided with a projection, and the projection is inserted in the 4th groove and can moved along the 4th recess axis direction, and the 4th groove height is big
In height of projection, the projection is outer to be arranged with second spring, and the second spring diameter is slightly larger than the 4th groove diameter.
Preferably, described industrial transport machine people, the crossbeam lower end are provided with mobile bar, and mobile bar can be grown along crossbeam
Direction movement is spent, the mobile bar lower end is provided with connecting plate, and multiple suckers are distributed in connecting plate lower surface.
Preferably, described industrial transport machine people, compression is respectively equipped between multiple sucker and connecting plate lower surfaces
Spring.
Preferably, described industrial transport machine people, the outer case inwall, which is located in buffer spring, is provided with support bar,
Support pole length is less than buffer spring length.
The present invention comprises at least following beneficial effect：
1st, industrial transport machine people of the present invention, two stretching structures are provided between base and workbench, each
Stretching structure includes the first rotating bar, the second rotating bar, the sleeve below the second rotating bar that upper end passes workbench,
When the second rotating bar rotates relative to the first rotating bar, connecting rod can be driven to move up and down, so that stretching structure elongation or contracting
Short, to meet to capture or different height demand during transport article, while connecting rod is sheathed in sleeve and can be along sleeve axis
It is mobile, and connected between connecting rod and sleeve by support spring, so that stretching structure also has certain cushioning effect, right
Extraneous stress interference has certain cushioning effect.
2nd, industrial transport machine people of the present invention, the first height sensor, the second height is set to pass on the table
Sensor, the first height sensor, the second height sensor can detect workbench lower surface height from the ground, be oblique when encountering ground
During face, by detecting the first height sensor, the second height sensor detects workbench lower surface and oblique distance between the surface, by counting
The gradient on inclined-plane can be extrapolated according to processor, is sending the gradient on inclined-plane to control device, control device is according to surface slope
Control electric rotating machine to rotate, make the angle of inclination of base consistent with bevel inclination angle so as to adjust stretching structure, can so make
Workbench keep level state so that more steady during industrial robot transport article.
3rd, industrial transport machine people of the present invention, the 3rd groove is provided with base, cushion block is provided with the 3rd groove,
Cushion block lower end is provided with the first magnet, the second magnet, and the first spring is provided between the first magnet, the second magnet, utilizes magnet, second
Mutual expelling force between magnet can reduce vibration during industrial robot transport article, while the first magnet lower surface first supports
Post, the second magnet upper surface are provided with the second support column, and raised on the second support column can be along the 4th groove on the first support column
It is mobile, it is raised it is outer is arranged with second spring, industrial robot is substantially increased in the process of walking by two-stage damping device
Vibration so that robot ambulation is stable.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the structural representation of the industrial transport machine people of the present invention；
Fig. 2 is the stretching structure schematic diagram of the present invention；
Fig. 3 is the beam structure schematic diagram of the present invention；
Fig. 4 is the body feed tank structural representation of the present invention；
Fig. 5 is the first magnet of the present invention, the second magnet attachment structure schematic diagram.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
As Figure 1-5, the present invention provides a kind of industrial transport machine people, including：
Workbench 2, its upper surface are provided with a telescopic column 41, and the upper surface of column 41 is provided with a fixed column
42, the crossbeam 43 that one end is provided with a perforation is sheathed on outside fixed column 42, and the crossbeam 43 can rotate around fixed column 42, the horizontal stroke
The lower end of beam 43 is provided with multiple suckers that can be moved along crossbeam length direction；The lower section of crossbeam 43 is provided with body feed tank 5, the material
Case 5 is slidably connected to the upper surface of workbench 2 along the length direction of workbench 2, and the top of workbench 2 is set along its length
There are multiple expansion links 62, one end of each expansion link 62 is connected with the side wall of body feed tank 5, the other end is connected with a vertical plate 61, institute
State the lower end of vertical plate 61 to be connected with worktable upper surface, the expansion link 62 is flexible can to move body feed tank 5；
Base 1, the lower surface of base 1 are provided with multiple driving wheels 11；
Two stretching structures, each stretching structure are located between base 1 and workbench 2 along the length direction of position base 1, often
Individual stretching structure includes upper end and passes the first rotating bar 31 of workbench, the second rotating bar 32, under the second rotating bar 32
The sleeve 35 of side, the lower surface of the first rotating bar 31 offer the first interconnected groove 311, the second groove 312, and second
Groove 312 is located at the lower section of the first groove 311, and the diameter of the first groove 311 is more than the diameter of the second groove 311, second rotating bar
32 upper ends are stretched into the first groove 311, the second groove 312, and the upper end of the second rotating bar 32 is provided with contiguous block 33, the connection
Block 33 can move up and down along the side wall of the first groove 311, and screw thread coordinates between the groove 312 of the second rotating bar 32 and second, set
Connecting rod 34 is provided with cylinder, the connecting rod 34 can move up and down along the axis direction of sleeve 35, the lower end of the second rotating bar 32
It is connected with the upper end of connecting rod 34, the diameter of the second rotating bar 32 is less than the diameter of connecting rod 34, the upper end position of sleeve 35
Fixed block is arranged with the both sides of the second rotating bar 32, support spring 37 is connected between fixed block and the upper surface of connecting rod 34,
The lower end of connecting rod 34 is stretched out outside sleeve 35 and is connected with the upper surface of base 1, and first rotating bar 31 is located on workbench
The circumference of side is arranged with turbine, the scroll bar of output axis connection one of an electric rotating machine 36, and scroll bar engages with the turbine, electric rotating machine
36, which rotate the first rotating bar 31 of drive, rotates.
The industrial transport machine people of the present invention, sets telescopic column 41, the column 41 can be by hydraulic pressure on workbench 2
Flexible, the upper end fixed column 42 of column 41 is realized in cylinder driving, and the end of crossbeam 43 can rotate through fixed column 42 and around fixed column 42,
The lower end of crossbeam 43 is provided with multiple suckers, and the lower section of crossbeam 43 is provided with body feed tank 5, vertical plate 61, body feed tank 5 are additionally provided with workbench 2
Multiple expansion links 62 are provided between vertical plate 61, the flexible of expansion link 62 can be realized by telescope motor, expansion link 62
It is flexible to move body feed tank 5；Two stretching structures are provided between workbench 2 and base 1, electric rotating machine 36 rotates, and drives whirlpool
Bar rotates, and scroll bar, which rotates, drives the first rotating bar 31 of stretching structure to rotate, and the first rotating bar 31, which rotates, drives second turn
Contiguous block 33 in lever 32 moves up and down along the side wall of the first groove 311, and then moves up and down the second rotating bar 32, so as to
Make to move up and down along sleeve 35 with the connecting rod 34 that the second rotating bar 32 is connected so make between workbench 2 and base 1 away from
From changing, while the upper end both sides of sleeve 35 are arranged with fixed block, are connected between fixed block and the upper surface of connecting rod 34
Support spring 37, by setting support spring 37 to make stretching structure that there is certain buffering to make between sleeve 35 and connecting rod 34
With external interference can be prevented；The industrial transport machine people of the present invention at work, first passes through the flexible of column 41, then rotated
Crossbeam makes sucker be located above article to be drawn to be drawn, the article of absorption is placed in into material in rotating beam and mobile sucker
In case 5, suction process is completed, then drives industrial transport machine people to destination, and using sucker is sucked out article i.e. complete
Destination is delivered to by one place into article.
In another technical solution, described industrial transport machine people, one end of the workbench 2 is in the horizontal plane
Projection exceed the projection of the corresponding end of base 1 in the horizontal plane, the workbench 2 exceed the end of base 2 along its length according to
Secondary to be provided with the first height sensor 22, the second height sensor 21, the first height sensor 22, the second height sensor 21 can be surveyed
Try the distance between workbench lower surface and ground；Data processor, itself and the first height sensor 22, the second height sensor 21
Communication connection, the data processor can receive the first height sensor 21, the test data of the second height sensor 22, and count
Calculate generation teaching data；Control device, it is communicated with data processor and connected, and the control device is connected with electric rotating machine 36,
The control device can receive teaching data and control electric rotating machine 36 to rotate.
In the above-mentioned technical solutions when industrial transport machine people is in the process of walking if when running into slope, first first is high
Sensor 22, the second height sensor 21 difference the distance between the lower surface of test table 2 and slope L1, L2 are spent, due to the
Horizontal range L between one height sensor 22 and the second height sensor 21 is definite value, passes through data by L1, L2, L value
Processor can calculate the angle of inclination on slope, then the flexible knot of rotation two of electric rotating machine is controlled by control device
Structure stretches, and so as to ensure that the angle of inclination between base 1 between angle of inclination and slope is consistent, now workbench 2 is in level
State, ensure that in industrial transport machine people in transportation, body feed tank 5 is in horizontality all the time, so as to ensure industrial fortune
Defeated robot will not spill the material in body feed tank 5 when walking on the slope.
In another technical solution, described industrial transport machine people, the body feed tank 5 includes covering successively from inside to outside
If internal box 53, middle case 52, outer case 51, the side wall of outer case 51 is connected with expansion link 62, and the outer case 51 is slided
It is dynamic to be connected to the upper surface of workbench 2, it is provided with multiple buffer springs between the outer wall of middle case 52 and the inwall of outer case 51
54, elastic rubber layer 55 is provided between the internal box 53 and middle case 52.In the technical program, body feed tank 5 includes interior case
Body 53, middle case 52, outer case 51, multiple buffer springs 54 are provided between middle case 52 and outer case 51, internal box 53 is with
Elastic rubber layer 55 is provided between casing 52, so substantially increases the anti-seismic performance of body feed tank 5, machine people exists when industrial transport
The interference to article in body feed tank 5 can be reduced due to the design of body feed tank 5 when colliding to greatest extent.
In another technical solution, described industrial transport machine people, on the base 1 corresponding two stretching structures it
Between offer the 3rd groove 12, cushion block 13 is provided with the 3rd groove 12, the height of cushion block 13 is high less than the 3rd groove 12
Degree, the upper surface both ends of cushion block 13 are connected to the lower surface of two connecting rods 34 respectively, and the lower end of cushion block 13 is provided with first
Magnet 14, the bottom surface of the 3rd groove 12 are provided with the second magnet 15, the relative face polarity phase of the first magnet 14, the second magnet 15
Instead, the first spring 18 is provided between the first magnet 14, the second magnet 15, the lower surface of the first magnet 14 is located at the first spring 18
Between be provided with the first support column 16, the upper surface of the second magnet 15 is provided with the second support column 17, institute in the first spring 18
To state the lower surface of the first support column 16 and offer the 4th groove vertically, 17 end faces are provided with a projection 19 on second support column,
It can move in the 4th groove of raised 19 insertion and along the 4th recess axis direction, it is high that the 4th groove height is more than projection 19
Degree, described raised 19 are arranged with second spring 191 outside, and the diameter of second spring 191 is slightly larger than the 4th groove diameter.
In the above-mentioned technical solutions, the 3rd groove 12 is provided with base, cushion block 13, cushion block 13 are provided with the 3rd groove 12
Lower end is provided with the first magnet 14, the second magnet 15, and the first spring 18 is provided between the first magnet 14, the second magnet 15, utilizes the
Mutual expelling force between one magnet 14, the second magnet 15 can reduce vibration during industrial robot transport article, while the first magnet
14 the first support columns of lower surface 16, the upper surface of the second magnet 15 are provided with the second support column 17, the projection 19 on the second support column 17
It can be moved along the 4th groove on the first support column 17, second spring 191 is arranged with outside projection 19, it is big by two-stage damping device
Improve the vibration of industrial robot in the process of walking greatly so that robot ambulation is stable.
In another technical solution, described industrial transport machine people, the lower end of crossbeam 43 is provided with mobile bar 44, moves
Lever 44 can move along crossbeam length direction, and the lower end of mobile bar 44 is provided with connecting plate 45, and multiple suckers 46 are distributed in connection
The lower surface of plate 45.
In another technical solution, described industrial transport machine people, multiple suckers 46 and the lower surface of connecting plate 45 it
Between be respectively equipped with compression spring 47.Compression spring 47 is set to adapt to thing of different shapes between sucker 46 and connecting plate 45
Product, sucker 46 is stablized and adsorb in article surface.
In another technical solution, described industrial transport machine people, the inwall of outer case 51 is located at buffer spring
Support bar is provided with 54, support pole length is less than the length of buffer spring 54.Support bar is set to be supported when buffer spring 54 compresses
Bar can play certain supporting role.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (7)
- A kind of 1. industrial transport machine people, it is characterised in that including：Workbench, its upper surface are provided with a telescopic column, and the column upper surface is provided with a fixed column, and one end is provided with One perforation crossbeam be sheathed on outside fixed column, the crossbeam can rotate around fixed column, the crossbeam lower end provided with it is multiple can be along horizontal stroke The sucker of beam length direction movement；The below the crossbeam is provided with body feed tank, and the body feed tank slides along workbench length direction to be connected It is connected to the worktable upper surface, is provided with multiple expansion links above the workbench along its length, the one of each expansion link End is connected with body feed tank side wall, the other end is connected with a vertical plate, and the vertical plate lower end is connected with worktable upper surface, described Expansion link is flexible to move body feed tank；Base, the base lower surface are provided with multiple driving wheels；Two stretching structures, each stretching structure are located between base and workbench along position base length direction, each flexible Structure includes the first rotating bar, the second rotating bar, the sleeve below the second rotating bar that upper end passes workbench, described First rotating bar lower surface offers the first interconnected groove, the second groove, and the second groove is located at below the first groove, the One groove diameter is more than the second groove diameter, and the second rotating bar upper end is stretched into the first groove, the second groove, and described second Rotating bar upper end is provided with contiguous block, and the contiguous block can move up and down along the first recess sidewall, second rotating bar and the Screw thread coordinates between two grooves, and connecting rod is provided with sleeve, and the connecting rod can move up and down along sleeve axis direction, and described second Rotating bar lower end is connected with the connecting rod upper end, and the second rotation shank diameter is less than the connection shank diameter, sleeve upper end Fixed block is arranged with positioned at the second rotating bar both sides, support spring is connected between fixed block and connecting rod upper surface, it is described Connecting rod lower end is stretched out outside sleeve and is connected with base upper surface, and the circumference that first rotating bar is located above workbench is arranged There are turbine, the scroll bar of output axis connection one of an electric rotating machine, scroll bar engages with the turbine, and electric rotating machine, which rotates, drives first turn Lever rotates.
- 2. industrial transport machine people as claimed in claim 1, it is characterised in that one end of the workbench is in the horizontal plane Projection exceeds the projection of base corresponding end in the horizontal plane, and the workbench is set successively along its length beyond the end of base There are the first height sensor, the second height sensor, the first height sensor, the second height sensor can test table lower ends Distance between face and ground；Data processor, it is connected with the first height sensor, the communication of the second height sensor, the number The test data of the first height sensor, the second height sensor can be received according to processor, and calculates generation teaching data；Control Equipment, it is communicated with data processor and connected, and the control device is connected with electric rotating machine, and the control device can receive teaching Data simultaneously control electric rotating machine to rotate.
- 3. industrial transport machine people as claimed in claim 1, it is characterised in that the body feed tank includes covering successively from inside to outside If internal box, middle case, outer case, the outer container body sidewall is connected with expansion link, and the outer case is slidably connected to described Worktable upper surface, multiple buffer springs, the internal box and raising middle flask are provided between the middle case outer wall and outer case inwall Elastic rubber layer is provided between body.
- 4. industrial transport machine people as claimed in claim 1, it is characterised in that on the base corresponding two stretching structures it Between offer the 3rd groove, is provided with cushion block in the 3rd groove, the cushion block is highly less than the 3rd groove height, the cushion block Upper surface both ends are connected to the lower surface of two connecting rods respectively, and the cushion block lower end is provided with the first magnet, the 3rd groove Bottom surface is provided with the second magnet, the relative face opposite polarity of the first magnet, the second magnet, is provided between the first magnet, the second magnet First spring, the first magnet lower surface are provided with the first support column, the second magnet upper surface between the first spring It is provided with the second support column in the first spring, the first support column lower surface offers the 4th groove vertically, and described Two support column upper surfaces are provided with a projection, and the projection is inserted in the 4th groove and can moved along the 4th recess axis direction, the Four groove heights are more than height of projection, and the projection is outer to be arranged with second spring, and the second spring diameter is recessed slightly larger than the 4th Groove diameter.
- 5. industrial transport machine people as claimed in claim 1, it is characterised in that the crossbeam lower end is provided with mobile bar, mobile Bar can move along crossbeam length direction, and the mobile bar lower end is provided with connecting plate, and multiple suckers are distributed in connecting plate lower surface.
- 6. industrial transport machine people as claimed in claim 5, it is characterised in that divide between multiple sucker and connecting plate lower surfaces She You not compression spring.
- 7. industrial transport machine people as claimed in claim 3, it is characterised in that the outer case inwall is located in buffer spring Provided with support bar, support pole length is less than buffer spring length.
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| CN201710731342.4A CN107414577A (en) | 2017-08-23 | 2017-08-23 | Industrial transport machine people |
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| CN201710731342.4A CN107414577A (en) | 2017-08-23 | 2017-08-23 | Industrial transport machine people |
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| CN108356795A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN108413764A (en) * | 2018-04-10 | 2018-08-17 | 江西东旺动物微生物有限公司 | A kind of oar blade type dryer with damping effect |
| CN108481296A (en) * | 2018-03-23 | 2018-09-04 | 淮阴师范学院 | A kind of walking robot multiple degrees of freedom ankle-joint mechanism |
| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| CN109015072A (en) * | 2018-07-11 | 2018-12-18 | 李伟 | It is a kind of to walk scheming material-receiving device with protection workpiece function |
| CN110936364A (en) * | 2019-12-12 | 2020-03-31 | 深圳市微语信息技术开发有限公司 | Industrial carrying robot |
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
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| CN112371897A (en) * | 2020-09-08 | 2021-02-19 | 南京金线金箔总厂 | High-precision full-automatic dipping machine for traditional gold foil forging process |
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| CN108356795A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN108481296A (en) * | 2018-03-23 | 2018-09-04 | 淮阴师范学院 | A kind of walking robot multiple degrees of freedom ankle-joint mechanism |
| CN108656124A (en) * | 2018-04-08 | 2018-10-16 | 李培培 | A kind of intelligent robot |
| CN108656124B (en) * | 2018-04-08 | 2021-11-02 | 谢娟 | Robot |
| CN108413764A (en) * | 2018-04-10 | 2018-08-17 | 江西东旺动物微生物有限公司 | A kind of oar blade type dryer with damping effect |
| CN109015072A (en) * | 2018-07-11 | 2018-12-18 | 李伟 | It is a kind of to walk scheming material-receiving device with protection workpiece function |
| CN110936364A (en) * | 2019-12-12 | 2020-03-31 | 深圳市微语信息技术开发有限公司 | Industrial carrying robot |
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
| CN112371897A (en) * | 2020-09-08 | 2021-02-19 | 南京金线金箔总厂 | High-precision full-automatic dipping machine for traditional gold foil forging process |
| CN112371897B (en) * | 2020-09-08 | 2022-09-23 | 南京金线金箔总厂 | High-precision full-automatic dipping machine for traditional gold foil forging process |
| CN112212902A (en) * | 2020-10-14 | 2021-01-12 | 宋亚东 | Hydraulic instrument panel fixing device suitable for different specifications |
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Application publication date: 20171201 |