CN102059690A - Stacked carrying manipulator - Google Patents
Stacked carrying manipulator Download PDFInfo
- Publication number
- CN102059690A CN102059690A CN2009102119048A CN200910211904A CN102059690A CN 102059690 A CN102059690 A CN 102059690A CN 2009102119048 A CN2009102119048 A CN 2009102119048A CN 200910211904 A CN200910211904 A CN 200910211904A CN 102059690 A CN102059690 A CN 102059690A
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- guide rail
- moving guide
- transmission device
- synchronous transmission
- backward
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Abstract
The invention relates to a stacked carrying manipulator, which comprises a rack, a base, a left and right moving guide rail, a front and rear moving guide rail, a pneumatic claw, a pulley, a steel cable, a direct current motor and the like. The rack is vertically fixed on the horizontal base; and the left and right moving guide rail is connected with the rack through a synchronous transmission device consisting of the pulley, the steel cable and the direct current motor, and can realize up-and-down movement in the vertical direction along the guide rail of the rack under the drive of the synchronous transmission device. The front and rear moving guide rail is connected with the left and right moving guide rail through the synchronous transmission device, and can realize left and right movement in the horizontal direction along the left and right moving guide rail under the drive of the synchronous transmission device. The pneumatic claw is connected with the front and rear moving guide rail through the synchronous transmission device, and can realize front and rear movement in the horizontal direction along the front and rear moving guide rail under the drive of the synchronous transmission device. The pneumatic claw can realize clawing of an arm through a pneumatic element so as to pick up goods, and the goods are conveyed to a destination through the moving guide rails.
Description
Technical field
The present invention relates to a kind of stack type conveying robot.
Background technology
In industries such as stevedoring and mechanical handings, visible everywhere porter's carrying thing back and forth, both lavished labor on and efficient not high.Replace the machinery of manpower to carry stacking though had now, can the general because complexity of structure costs an arm and a leg and operates inconvenience, underaction and cause.
Summary of the invention
At above-mentioned the deficiencies in the prior art, the invention provides a kind of simple in structure, easy to operate and can realize the stack type conveying robot of big displacement, multi-angle object transport.
The present invention is achieved by the following technical solutions:
A kind of stack type conveying robot comprises frame, base, move left and right guide rail, moves forward and backward guide rail, compositions such as pneumatic hand is grabbed, pulley, cable wire, direct current generator.Its mid frame is vertically fixed on the horizontal base, and the move left and right guide rail links to each other with frame by the synchronous transmission device of being made up of pulley, cable wire and direct current generator, and the guide rail along frame under the drive of synchronous transmission device can be realized moving up and down of vertical direction.Moving forward and backward guide rail also is to link to each other with the move left and right guide rail by synchronous transmission device, can realize the move left and right of horizontal direction under the drive of synchronous transmission device along the move left and right guide rail.Pneumatic hand grab equally by synchronous transmission device with move forward and backward guide rail and link to each other, under the drive of synchronous transmission device, can realize moving forward and backward of horizontal direction along moving forward and backward guide rail.Pneumatic hand is grabbed by pneumatic element can realize that grabbing of arm close, thereby picks up goods, is transported to the destination by moving guide rail again.
The present invention is simple in structure, easy to operate, and can realize moving of the three-dimensional that pneumatic hand grabs, big displacement, has high efficiency, and the characteristics that usage range is wide all have been widely used at teaching demonstration and articles from the storeroom carrying industry.
Description of drawings
Fig. 1 is the structural principle schematic diagram of stack type manipulator.
Fig. 2 is the guide rail profile of stack type manipulator.
Wherein, 1 base, 2 frames, 3 move left and right guide rails, 4 move forward and backward guide rail, and 5 pneumatic hands are grabbed, 6 cushioning fenders, 7 pulleys, 8 cable wires, 9 cylinders.
The specific embodiment
Among Fig. 1, set up 3 D stereo coordinate system as shown in the figure, form the synchronous driving device by pulley 7, cable wire 8 and direct current generator, drive move left and right guide rail 3 can be implemented in moving on the z direction of principal axis along the guide rail of frame 2, drive moves forward and backward guide rail 4 and can be implemented in moving on the y direction of principal axis along move left and right guide rail 3, drive pneumatic hand and grab 5 and can be implemented in moving on the x direction of principal axis, so just can realize stack type manipulator omnibearing mobile on three-dimensional along moving forward and backward guide rail 4.In the time will transporting goods, thereby at first pneumatic hand is grabbed 5 and is grabbed to close and pick up goods by what cylinder 9 pneumatic elements such as grade provided that power realizes that hand grabs, under the drive of synchronous driving device, pneumatic hand is grabbed along guide rail and is moved on three-dimensional then, arrives the precalculated position at last.
Wherein, Fig. 2 is the profile of guide rail, meshes by mode structure as shown in the figure between guide rail inside groove and the moving member, moves under the drive of synchronous driving device then, thereby reaches firmly, the stable structure characteristics.
Claims (1)
1. stack type conveying robot, main manipulator by frame, base, move left and right guide rail, move forward and backward that guide rail, pneumatic hand are grabbed, pulley, cable wire, direct current generator form; It is characterized in that: frame is vertically fixed on the horizontal base, and the move left and right guide rail moves down in vertical direction, moves forward and backward guide rail along move left and right guide rail move left and right in the horizontal direction, and pneumatic hand is grabbed along moving forward and backward guide rail and moved forward and backward in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102119048A CN102059690A (en) | 2009-11-17 | 2009-11-17 | Stacked carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102119048A CN102059690A (en) | 2009-11-17 | 2009-11-17 | Stacked carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102059690A true CN102059690A (en) | 2011-05-18 |
Family
ID=43995289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102119048A Pending CN102059690A (en) | 2009-11-17 | 2009-11-17 | Stacked carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102059690A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699751A (en) * | 2012-05-02 | 2012-10-03 | 宁国双宁机械有限公司 | Manipulator of washing machine impeller shaft drilling equipment |
| CN102862158A (en) * | 2012-09-07 | 2013-01-09 | 北京商驰科技发展有限公司 | Single-axis drive plane motion reciprocating delivery device |
| CN104867770A (en) * | 2015-05-11 | 2015-08-26 | 吴中区横泾嘉运模具厂 | Pneumatic double-shaft transferring device of water heater thermal protection switch assembling machine |
| CN105415364A (en) * | 2015-12-29 | 2016-03-23 | 苏州卓德电子有限公司 | Horizontal adjusting device for movable joint of mechanical arm |
| CN106185172A (en) * | 2015-05-07 | 2016-12-07 | 苏州塞维拉上吴电梯轨道系统有限公司 | A kind of T-shaped guide rail feeding clamping device |
| CN112593974A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187749A (en) * | 1978-03-13 | 1980-02-12 | Bay City Boring | Method and apparatus for loading and unloading workpieces |
| CN201067910Y (en) * | 2007-09-05 | 2008-06-04 | 陈法胜 | Material picking member by using negative pressure |
| CN101284379A (en) * | 2007-04-10 | 2008-10-15 | 厄罗瓦公司 | Handling manipulator assembly |
| CN201253847Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN201342669Y (en) * | 2009-01-09 | 2009-11-11 | 张涛 | Stacking type carrying mechanical arm |
| CN201544231U (en) * | 2009-11-17 | 2010-08-11 | 董志军 | Stacking type handling mechanical hand |
-
2009
- 2009-11-17 CN CN2009102119048A patent/CN102059690A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187749A (en) * | 1978-03-13 | 1980-02-12 | Bay City Boring | Method and apparatus for loading and unloading workpieces |
| CN101284379A (en) * | 2007-04-10 | 2008-10-15 | 厄罗瓦公司 | Handling manipulator assembly |
| CN201067910Y (en) * | 2007-09-05 | 2008-06-04 | 陈法胜 | Material picking member by using negative pressure |
| CN201253847Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN201342669Y (en) * | 2009-01-09 | 2009-11-11 | 张涛 | Stacking type carrying mechanical arm |
| CN201544231U (en) * | 2009-11-17 | 2010-08-11 | 董志军 | Stacking type handling mechanical hand |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699751A (en) * | 2012-05-02 | 2012-10-03 | 宁国双宁机械有限公司 | Manipulator of washing machine impeller shaft drilling equipment |
| CN102862158A (en) * | 2012-09-07 | 2013-01-09 | 北京商驰科技发展有限公司 | Single-axis drive plane motion reciprocating delivery device |
| CN102862158B (en) * | 2012-09-07 | 2015-01-28 | 北京商驰科技发展有限公司 | Single-axis drive plane motion reciprocating delivery device |
| CN106185172A (en) * | 2015-05-07 | 2016-12-07 | 苏州塞维拉上吴电梯轨道系统有限公司 | A kind of T-shaped guide rail feeding clamping device |
| CN104867770A (en) * | 2015-05-11 | 2015-08-26 | 吴中区横泾嘉运模具厂 | Pneumatic double-shaft transferring device of water heater thermal protection switch assembling machine |
| CN104867770B (en) * | 2015-05-11 | 2017-05-03 | 吴中区横泾嘉运模具厂 | Pneumatic double-shaft transferring device of water heater thermal protection switch assembling machine |
| CN105415364A (en) * | 2015-12-29 | 2016-03-23 | 苏州卓德电子有限公司 | Horizontal adjusting device for movable joint of mechanical arm |
| CN105415364B (en) * | 2015-12-29 | 2017-03-22 | 苏州卓德电子有限公司 | Horizontal adjusting device for movable joint of mechanical arm |
| CN112593974A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110518 |