CN103878758A - Feeding and discharging device of intelligent mobile robot - Google Patents
Feeding and discharging device of intelligent mobile robot Download PDFInfo
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- CN103878758A CN103878758A CN201210558673.XA CN201210558673A CN103878758A CN 103878758 A CN103878758 A CN 103878758A CN 201210558673 A CN201210558673 A CN 201210558673A CN 103878758 A CN103878758 A CN 103878758A
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Abstract
The invention relates to transporting and arranging device of cargoes to be precisely positioned, in particular to a feeding and discharging device of an intelligent mobile robot. The feeding and discharging device comprises a frame, a moving mechanism, a multi-axis motion robot, a grabbing mechanism, a fork lifting mechanism, a fork mechanism and a clamping mechanism. The frame is arranged on rails and is driven to reciprocate on the same via the moving mechanism mounted on the frame. The multi-axis motion robot and the fork lifting mechanism are respectively mounted on the frame, the output end of the multi-axis motion robot is connected with the grabbing mechanism, the fork lifting mechanism drives the fork mechanism to lift, the fork mechanism with a clamping mechanism hidden inside extends out of two sides of a meter box on a wire side rack, and the clamping mechanism extends out of the meter box arranged on the frame. By the feeding and discharging device of the intelligent mobile robot, automatic operation in detecting an electric energy meter is realized, detection reliability and production efficiency are improved, and labor resources are saved. Besides, the feeding and discharging device is high in arrangement position accuracy, wide in application range and applicable to various working places.
Description
Technical field
The present invention relates to need the carrying arranging apparatus of precise positioning goods, specifically a kind of handling equipment of intelligent mobile robot, can be used for being placed on the electric energy meter carrying in table case and putting on table platform.
Background technology
In order to facilitate the detection of electric energy meter, need to be by electric energy meter by showing in case carrying and putting on table platform, to be detected after, then electric energy meter carrying on will table platform and put back and show in case.The current aforesaid operations that will complete need to manually complete mostly, and this manual working mode, exists the problems such as poor reliability, efficiency is low, labour intensity is large, cannot adapt to the production requirement of enterprise development to industrial automation now.
Summary of the invention
The object of the present invention is to provide a kind of handling equipment of intelligent mobile robot, met the production requirement of industrial automation.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes support body, travel mechanism, multi-shaft interlocked robot, grasping mechanism, fork lifting mechanism, fork mechanism and clamping device, wherein support body is positioned on track, is driven, is moved back and forth in orbit by the travel mechanism being arranged on support body; Described multi-shaft interlocked robot and fork lifting mechanism are arranged on respectively on support body, output in multi-shaft interlocked robot is connected with grasping mechanism, described fork lifting mechanism has two-stage column, wherein one-level column drives lifting by the second reducing motor being arranged on support body, this one-level column is connected with secondary column by the first pulley and the first cable wire, makes secondary column synchronization lifting in one-level column up-down; Described fork mechanism is arranged on secondary column, have two-stage yoke, wherein one-level yoke drives flexible by the 3rd reducing motor being arranged on secondary column, this one-level yoke is connected with secondary yoke by the second pulley and the second cable wire, makes secondary yoke synchronization telescope when one-level yoke is flexible; Described clamping device is positioned at secondary yoke.
Wherein: described travel mechanism drives described handling equipment to move back and forth along the track fixing on the ground, this travel mechanism comprises roller box, the first reducing motor and driving shaft, the bilateral symmetry of support body is provided with multiple roller boxs, the first reducing motor is installed on arbitrary roller box, the first reducing motor is connected with driving shaft, the two ends of described driving shaft are connected with the road wheel in the roller box being arranged on support body respectively, realize the movement of handling equipment entirety; The both sides of described support body are respectively equipped with two roller boxs, symmetrical between two, and wherein two roller boxs are active roller box, and another two is driven roller box; Described roller box comprises road wheel, wheel casing, roller box side plate and connection bearing, both sides at wheel casing are separately installed with roller box side plate, the wheel carrier of described road wheel is rotationally connected by the extension forming that extends internally in the middle of connection bearing and roller box side plate, and road wheel is arranged in the space that the roller box side plate of wheel casing and both sides surrounds; Described driving shaft is connected with the wheel carrier of road wheel, drives road wheel to move in orbit; On described support body, promising support body is installed and is moved back and forth in orbit the guiding mechanism of guiding, the outside of each roller box is separately installed with the rollover-resistant mechanism that guarantees that handling equipment monolithic stability moves; Described grasping mechanism comprises connecting plate, jaw, jaw cylinder, conversion cylinder and shell fragment, wherein connecting plate is connected with the output of multi-shaft interlocked robot, jaw cylinder is multiple, the jaw cylinder that is positioned at both sides is arranged on connecting plate by conversion cylinder, middle jaw cylinder and connecting plate are direct-connected, on each jaw cylinder, be all connected with jaw, the spacing between the jaw of both sides and middle jaw regulates by conversion cylinder, is equipped with the shell fragment that prevents from taking out of electric energy meter in each jaw; Described fork lifting mechanism comprises base, the second reducing motor, ball screw, one-level column, the first pulley, the first cable wire, secondary column and the first contiguous block, wherein the second reducing motor is arranged on support body, be respectively equipped with symmetrical base in the both sides of this second reducing motor, the second reducing motor is connected with the rolling lead screw being rotatably installed on base by transmission device, and described one-level column is threaded with ball screw, is rotated and driven one-level column up-down by ball screw by nut; The two ends up and down of described one-level column are respectively equipped with the first pulley, between two first pulleys, connect by the first cable wire, and described secondary column is connected with the first cable wire by the first contiguous block; On described one-level column, have the first bar hole, be connected with the first fixed block on support body, the other end of this first fixed block is passed by described the first bar hole, and affixed with the first cable wire; Described fork mechanism comprises the 3rd reducing motor, gear, tooth bar, one-level yoke, the second pulley, the second cable wire, secondary yoke and the second contiguous block, and wherein the 3rd reducing motor is arranged in secondary column, and gear is connected in the output of the 3rd reducing motor; In described one-level yoke, the tooth bar being meshed with gear is installed, the two ends of this tooth bar are respectively equipped with the second pulley being arranged in one-level yoke, between two second pulleys, connect by the second cable wire, and described secondary yoke is connected with the second cable wire by the second contiguous block; On described secondary column, be connected with the second fixed block, the other end of this second fixed block penetrates in one-level yoke, and affixed with the second cable wire; Described clamping device comprises cylinder, rotating shaft and tong, wherein cylinder is arranged in secondary yoke, the two ends of cylinder are respectively equipped with by rotating shaft and are hinged on the tong in secondary yoke, the two ends of cylinder are connected with one end of each tong by connector respectively, and the other end of each tong is the bare terminal end of clamping table case.
Advantage of the present invention and good effect are:
1. the present invention combines robot and travel mechanism, field is put in the carrying that applies to goods, greatly increase the crawl scope of robot, can the electric energy meter that become case be split, be put and case, realize the automation mechanized operation that electric energy meter detects, improve the reliability and the production efficiency that detect, saved human resources, and the positional precision of putting has been high.
2. the present invention is weight and the load of being born handling equipment by roller box, has avoided driving shaft stressed.
3. the present invention is arranged on the guiding mechanism and the rollover-resistant mechanism that is installed on roller box side under support body, can guarantee the stable movement of whole handling equipment.
4. in grasping mechanism of the present invention, the jaw of both sides can, by conversion cylinder and middle jaw conversion spacing, adapt to the variation of electric energy meter spacing in table case.
5. in the each jaw of the present invention, be also provided with shell fragment, can prevent from taking out of electric energy meter.
6. fork lifting mechanism of the present invention has the column of two-stage lifting, and provides power by the first fixed block to the lifting of secondary column.
7. fork mechanism of the present invention has the flexible yoke of two-stage, and by the second fixed block the flexible power that provides to secondary yoke.
Accompanying drawing explanation
Fig. 1 is that the present invention carries the working state figure of putting table case;
Fig. 2 is overall structure schematic diagram of the present invention;
Fig. 3 is the structural representation of Tu2Zhong travel mechanism;
Fig. 4 is the internal structure schematic diagram of roller box in Fig. 3;
Fig. 5 is the structural representation of grasping mechanism in Fig. 2;
Fig. 6 is the structural representation of fork lifting mechanism in Fig. 2;
Fig. 6 A is the structure principle chart of Fig. 6 fork lifting mechanism;
Fig. 7 is the structural representation of fork mechanism in Fig. 2;
Fig. 7 A is the structure principle chart of Fig. 6 fork mechanism;
Fig. 8 is the structural representation of clamping device in Fig. 2;
Wherein: 1 is support body,
2 is travel mechanism, and 201 is track, and 202 is roller box, and 203 is the first reducing motor, and 204 is driving shaft, and 205 is guiding mechanism, and 206 is rollover-resistant mechanism, and 221 is road wheel, and 222 is wheel casing, and 223 is roller box side plate, and 224 is connection bearing, and 225 is wheel carrier;
3 is multi-shaft interlocked robot,
4 is grasping mechanism, and 401 is connecting plate, and 402 is jaw, and 403 is jaw cylinder, and 404 is conversion cylinder, and 405 is shell fragment;
5 is fork lifting mechanism, and 501 is base, and 502 is the second reducing motor, and 503 is Timing Belt, 504 is ball screw, and 505 is one-level column, and 506 is the first pulley, and 507 is the first cable wire, 508 is the first fixed block, and 509 is secondary column, and 510 is the first contiguous block, and 511 is the first bar hole;
6 is fork mechanism, and 601 is the 3rd reducing motor, and 602 is gear, and 603 is tooth bar, and 604 is one-level yoke, and 605 is the second pulley, and 606 is the second cable wire, and 607 is the second fixed block, and 608 is secondary yoke, and 609 is the second contiguous block, 610 second bar holes;
7 is clamping device, and 701 is cylinder, and 702 is the first connector, and 703 is the second connector, and 704 is rotating shaft, and 705 is tong, and 706 is Article 3 shape hole;
50 is handling equipment, and 60 is table case, and 61 is electric energy meter, and 70 is line rim charge frame, and 80 is table platform.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the handling equipment 50 of intelligent mobile robot of the present invention is a kind of for 61 FCLs of the electric energy meter in the table case 60 of putting on online rim charge frame 70 are taken out, again electric energy meter 61 is put on the table platform 80 of handling equipment 50 opposite sides and detected, after detection, again electric energy meter 61 is put back in table case 60, and table case 60 is put back into the handling equipment on line rim charge frame 70, but be not limited to electric energy meter.
As shown in Figure 2, the present invention includes support body 1, travel mechanism 2, multi-shaft interlocked robot 3, grasping mechanism 4, fork lifting mechanism 5, fork mechanism 6 and clamping device 7, wherein support body 1 is positioned on track 201, is driven, on track 201, is moved back and forth by the travel mechanism 2 being arranged on support body 1; Multi-shaft interlocked robot 3 and fork lifting mechanism 5 are arranged on respectively on support body 1, are connected with grasping mechanism 4 at the output of multi-shaft interlocked robot; Fork lifting mechanism 5, fork mechanism 6 are used for picking and placeing table case 60 with clamping device 7, fork lifting mechanism 5 drives fork mechanism 6 liftings, fork mechanism 6 reaches table case 60 both sides on line rim charge frame 70 with the clamping device 7 of hiding therein, clamping device 7 stretches out clamps table case 60, and table case 60 is put on support body 1.
As shown in Figure 5, grasping mechanism 4 is used for capturing electric energy meter 61, comprise connecting plate 401, jaw 402, jaw cylinder 403, conversion cylinder 404 and shell fragment 405, wherein being connected with the output of multi-shaft interlocked robot 3 above of connecting plate 401, multiple jaw cylinder 403(the present embodiment that are arranged side by side are below three jaw cylinders), the output of each jaw cylinder 403 is all connected with jaw 402, and jaw 402 drives clamping and release by jaw cylinder 403; The jaw cylinder 403 that is positioned at both sides is arranged on connecting plate 401 by conversion cylinder 404, middle jaw cylinder 403 is direct-connected with connecting plate 401, spacing between the jaw of both sides and middle jaw regulates by conversion cylinder 404, to adapt to the variation of electric energy meter 61 spacing; Less because of the gap between jaw 402 and electric energy meter 61, in each jaw 402, be equipped with the shell fragment 405 that prevents from taking out of electric energy meter 61.
As Fig. 6, shown in Fig. 6 A, fork lifting mechanism 5 is symmetrical structure, comprise base 501, the second reducing motor 502, Timing Belt 503, ball screw 504, one-level column 505, the first pulley 506, the first cable wire 507, the first fixed block 508, secondary column 509 and the first contiguous block 510, wherein the second reducing motor 502 is fixed on support body 1, be respectively equipped with symmetrical in the both sides of this second reducing motor 502, be fixed on equally the base 501 on support body 1, on each base 501, be all rotatablely equipped with ball screw 504, the second reducing motor 502 is connected with the rolling lead screw 504 on two bases 501 by transmission device, the transmission device of the present embodiment is Timing Belt 503 and belt wheel, on the rolling lead screw 504 on two bases 501, is separately installed with belt wheel, and the output of the second reducing motor 502 is connected with two belt wheels respectively by Timing Belt 503, and then drives ball screw 504 to rotate.One-level column 505 is threaded with ball screw 504 by nut, drives 505 liftings of one-level column by the rotation of ball screw 504; Be respectively equipped with the first pulley 506 at the two ends up and down of one-level column 505, between two first pulleys 506, connect by the first cable wire 507, secondary column 509 is connected with the first cable wire 507 by the first contiguous block 510, in 505 liftings of one-level column with the first cable wire 507 synchronization liftings.On one-level column 505, have the first bar hole 511, on support body 1, be connected with the first fixed block 508, the other end of this first fixed block 508 is passed by the first bar hole 511, and affixed with the first cable wire 507, like this in 505 liftings of one-level column, will there is length and change in the distance between two the first pulleys 506 and the first fixed block 508 and the affixed point of the first cable wire 507 on one-level column 505, can provide power to the lifting of secondary column 509.
As shown in Fig. 7, Fig. 7 A, fork mechanism 6 comprises the 3rd reducing motor 601, gear 602, tooth bar 603, one-level yoke 604, the second pulley 605, the second cable wire 606, the second fixed block 607, secondary yoke 608 and the second contiguous block 609, wherein the 3rd reducing motor 601 is fixed on the secondary column 509 of fork lifting mechanism 5, the output of the 3rd reducing motor 601 penetrates in one-level yoke 604, and is connected with gear 602; In one-level yoke 604, be connected with the tooth bar 603 being meshed with gear 602 along its length, the gear 602 of the 3rd reducing motor 601 drive installations on it rotates, thereby stretches out forward with carry-over bar 603 with the one-level yoke 604 that tooth bar 603 is fixed together; Be respectively equipped with the second pulley 605 being arranged in one-level yoke 604 at the two ends of tooth bar 603, between two second pulleys 605, connect by the second cable wire 606, secondary yoke 608 is connected with the second cable wire 606 by the second contiguous block 609, when one-level yoke 604 is flexible with the second cable wire 606 synchronization telescopes.On the secondary column 509 of fork lifting mechanism 5, be connected with the second fixed block 607, the other end of this second fixed block 607 penetrates in one-level yoke 604, and affixed with the second cable wire 606, like this when one-level yoke 604 is flexible, will there is length and change in the distance between two the second pulleys 605 and the second fixed block 607 and the affixed point of the second cable wire 606 on one-level yoke 604, can be to the flexible power that provides of secondary yoke 608.
As shown in Figure 8, clamping device 7 is contained in secondary yoke 608, comprises cylinder 701, rotating shaft 704 and tong 705, and wherein tong 705 is two, is hinged in secondary yoke 608 respectively by rotating shaft 704; Cylinder 701 is arranged in the secondary yoke 608 of fork mechanism 6, and the two ends of cylinder 701 are hinged by one end of the first connector 702, the second connector 703 and tong 705 respectively, and the other end of each tong 705 is the bare terminal end of clamping table case 60.On secondary yoke 608, have two Article 3 shape holes 706, the one end that has the second bar hole 610, the second bar holes 610 on one-level yoke 604 is blind end, and the other end stretching out near secondary yoke 608 is openend; Two tongs 705 respectively in the time that rotating shaft 704 is separately rotated, are produced by Article 3 shape hole 706 respectively under the driving of cylinder 701; In the time that one-level yoke 604 and secondary yoke 608 shrink, the tong 705 producing is entered by the openend of the second bar hole 610.
Operation principle of the present invention is:
The first reducing motor 203 is worked, and drives the road wheel 221 in roller box 202 to move on track 201, and handling equipment 50 integrated movings are to line rim charge frame 70 places, and the first reducing motor 203 quits work.The second reducing motor 502 is worked, and drives the ball screw 504 on both sides to rotate, and then drives one-level column 505 to rise; When one-level column 505 rises, by two the first pulleys 506, the first cable wire 507 sliding along the first pulley 506, first fixed block 508 affixed with the first cable wire 507 and be connected the first contiguous block 510 of the first cable wire 507 and secondary column 509, drive secondary column 509 synchronously to rise.After one-level column 505 and 509 risings of secondary column put in place, the second reducing motor 502 quits work; The 3rd reducing motor 601 is worked, and by engaging of gear 602 and tooth bar 603, drives one-level yoke 604 to stretch out to table case 60 directions; When one-level yoke 604 stretches out, by two the second pulleys 605, the second cable wire 606 sliding along the second pulley 605, second fixed block 607 affixed with the second cable wire 606 and be connected the second contiguous block 609 of the second cable wire 606 and secondary yoke 608, drive secondary yoke 608 synchronously to stretch out.After one-level yoke 604 and secondary yoke 608 stretch out and put in place, the 3rd reducing motor 601 quits work; Cylinder 701 is worked, and drives two tongs 705 to rotate around rotating shaft 704 separately respectively, by producing in secondary yoke 608, completes the clamping work of his-and-hers watches case 60.
Then, one-level yoke 604 and secondary yoke 608 shrink, and fork lifting mechanism 5 drives fork mechanism 6 and clamping device 7 to rise; Multi-shaft interlocked robot 3 works, and drives grasping mechanism 4 to table case 60 places, and each jaw cylinder 403 is worked, and drives jaw 402 to clamp respectively electric energy meter 61, transfers to table platform 80 in the effect of multi-shaft interlocked robot 3; In order to adapt to the different spacing of electric energy meter 61 in table case 60 and on table platform 80, the conversion cylinder 404 of both sides is worked, and drives the jaw 402 of both sides to move, until adapt to the spacing of electric energy meter 61 on table platform 80; Each electric energy meter 61 starts to detect after putting well on table platform 80.Electric energy meter 61 after detection is put back in table case 60 by above-mentioned steps again, and table case 60 is put back on line rim charge frame 70.
Applied range of the present invention, applicable multiple workplace, adapts to different working condition requirements.
Claims (10)
1. the handling equipment of an intelligent mobile robot, it is characterized in that: comprise support body (1), travel mechanism (2), multi-shaft interlocked robot (3), grasping mechanism (4), fork lifting mechanism (5), fork mechanism (6) and clamping device (7), wherein support body (1) is positioned at track (201) above, is driven, is above moved back and forth at track (201) by the travel mechanism (2) being arranged on support body (1), described multi-shaft interlocked robot (3) and fork lifting mechanism (5) are arranged on respectively on support body (1), be connected with grasping mechanism (4) at the output of multi-shaft interlocked robot (3), described fork lifting mechanism (5) has two-stage column, wherein one-level column (505) drives lifting by the second reducing motor (502) being arranged on support body (1), this one-level column (505) is connected with secondary column (509) by the first pulley (506) and the first cable wire (507), make secondary column (509) synchronization lifting in one-level column (505) lifting, described fork mechanism (6) is arranged on secondary column (509) and goes up, has two-stage yoke, wherein one-level yoke (604) drives flexible by the 3rd reducing motor (601) being arranged on secondary column (509), this one-level yoke (604) is connected with secondary yoke (608) by the second pulley (605) and the second cable wire (606), makes secondary yoke (608) synchronization telescope when one-level yoke (604) is flexible, described clamping device (7) is positioned at secondary yoke (608).
2. by the handling equipment of intelligent mobile robot described in claim 1, it is characterized in that: described travel mechanism (2) drives described handling equipment to move back and forth along the track (201) fixing on the ground, this travel mechanism (2) comprises roller box (202), the first reducing motor (203) and driving shaft (204), wherein the bilateral symmetry of support body (1) is provided with multiple roller boxs (202), the first reducing motor (203) is installed on arbitrary roller box (202), the first reducing motor (203) is connected with driving shaft (204), the two ends of described driving shaft (204) are connected with the road wheel (221) in the roller box (202) being arranged on support body (1) respectively, realize the movement of handling equipment entirety.
3. by the handling equipment of intelligent mobile robot described in claim 2, it is characterized in that: the both sides of described support body (1) are respectively equipped with two roller boxs (202), symmetrical between two, wherein two roller boxs are active roller box, and another two is driven roller box; Described roller box (202) comprises road wheel (221), wheel casing (222), roller box side plate (223) and connection bearing (224), both sides at wheel casing (222) are separately installed with roller box side plate (223), the wheel carrier (225) of described road wheel (221) is rotationally connected by the extension forming that extends internally in the middle of connection bearing (224) and roller box side plate (223), and road wheel (221) is arranged in the space that wheel casing (222) and the roller box side plate (223) of both sides surround; Described driving shaft (204) is connected with the wheel carrier (225) of road wheel (221), drives road wheel (221) upper mobile at track (201).
4. by the handling equipment of intelligent mobile robot described in claim 2 or 3, it is characterized in that: the upper promising support body (1) of installing of described support body (1) is at the upper guiding mechanism (205) that moves back and forth guiding of track (201), and the outside of each roller box (202) is separately installed with the rollover-resistant mechanism (206) that guarantees that handling equipment monolithic stability moves.
5. by the handling equipment of intelligent mobile robot described in claim 1, it is characterized in that: described grasping mechanism (4) comprises connecting plate (401), jaw (402), jaw cylinder (403), conversion cylinder (404) and shell fragment (405), wherein connecting plate (401) is connected with the output of multi-shaft interlocked robot (3), jaw cylinder (403) is multiple, the jaw cylinder (403) that is positioned at both sides is arranged on connecting plate (401) by conversion cylinder (404), middle jaw cylinder (403) is direct-connected with connecting plate (401), on each jaw cylinder (403), be all connected with jaw (402), spacing between the jaw of both sides and middle jaw regulates by conversion cylinder (404), in each jaw (402), be equipped with the shell fragment (405) that prevents from taking out of electric energy meter (61).
6. by the handling equipment of intelligent mobile robot described in claim 1, it is characterized in that: described fork lifting mechanism (5) comprises base (501), the second reducing motor (502), ball screw (504), one-level column (505), the first pulley (506), the first cable wire (507), secondary column (509) and the first contiguous block (510), wherein the second reducing motor (502) is arranged on support body (1), be respectively equipped with symmetrical base (501) in the both sides of this second reducing motor (502), the second reducing motor (502) is connected with the rolling lead screw (504) being rotatably installed on base (501) by transmission device, described one-level column (505) is threaded with ball screw (504) by nut, rotate and drive one-level column (505) lifting by ball screw (504), the two ends up and down of described one-level column (505) are respectively equipped with the first pulley (506), between two first pulleys (506), connect by the first cable wire (507), described secondary column (509) is connected with the first cable wire (507) by the first contiguous block (510).
7. by the handling equipment of intelligent mobile robot described in claim 6, it is characterized in that: on described one-level column (505), have the first bar hole (511), on support body (1), be connected with the first fixed block (508), the other end of this first fixed block (508) is passed by described the first bar hole (511), and affixed with the first cable wire (507).
8. by the handling equipment of intelligent mobile robot described in claim 1, it is characterized in that: described fork mechanism (6) comprises the 3rd reducing motor (601), gear (602), tooth bar (603), one-level yoke (604), the second pulley (605), the second cable wire (606), secondary yoke (608) and the second contiguous block (609), wherein the 3rd reducing motor (601) is arranged in secondary column (509), and gear (602) is connected in the output of the 3rd reducing motor (601); The tooth bar (603) being meshed with gear (602) is installed in described one-level yoke (604), the two ends of this tooth bar (603) are respectively equipped with the second pulley (605) being arranged in one-level yoke (604), between two second pulleys (605), connect by the second cable wire (606), described secondary yoke (608) is connected with the second cable wire (606) by the second contiguous block (609).
9. by the handling equipment of intelligent mobile robot described in claim 8, it is characterized in that: on described secondary column (509), be connected with the second fixed block (607), the other end of this second fixed block (607) penetrates in one-level yoke (604), and affixed with the second cable wire (606).
10. by the handling equipment of intelligent mobile robot described in claim 1, it is characterized in that: described clamping device (7) comprises cylinder (701), rotating shaft (704) and tong (705), wherein cylinder (701) is arranged in secondary yoke (604), the two ends of cylinder (701) are respectively equipped with by rotating shaft (704) and are hinged on the tong (705) in secondary yoke (604), the two ends of cylinder (701) are connected with one end of each tong (705) by connector respectively, and the other end of each tong (705) is the bare terminal end of clamping table case (60).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210558673.XA CN103878758A (en) | 2012-12-19 | 2012-12-19 | Feeding and discharging device of intelligent mobile robot |
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| CN201210558673.XA CN103878758A (en) | 2012-12-19 | 2012-12-19 | Feeding and discharging device of intelligent mobile robot |
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| CN103878758A true CN103878758A (en) | 2014-06-25 |
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| CN104399675A (en) * | 2014-10-20 | 2015-03-11 | 国网重庆市电力公司电力科学研究院 | Automatic sorting system for electric energy meters, and method |
| CN104960919A (en) * | 2015-06-30 | 2015-10-07 | 国网甘肃省电力公司电力科学研究院 | Electric energy meter robot feeding and discharging system and working process thereof |
| WO2016033781A1 (en) * | 2014-09-04 | 2016-03-10 | 惠州市吉瑞科技有限公司 | Atomizer retrieval apparatus and atomizer resistance testing apparatus |
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| CN110422620A (en) * | 2019-08-20 | 2019-11-08 | 国网冀北电力有限公司电力科学研究院 | A kind of device and method based on RGV automatic transportation electric energy meter loading and unloading |
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Application publication date: 20140625 |