CN104626097B - loading and unloading manipulator - Google Patents
loading and unloading manipulator Download PDFInfo
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- CN104626097B CN104626097B CN201310574309.7A CN201310574309A CN104626097B CN 104626097 B CN104626097 B CN 104626097B CN 201310574309 A CN201310574309 A CN 201310574309A CN 104626097 B CN104626097 B CN 104626097B
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- transmission arm
- assembling
- gripper shoe
- disassembling manipulator
- underframe
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- 230000005540 biological transmission Effects 0.000 claims abstract description 84
- 230000033228 biological regulation Effects 0.000 claims description 15
- 238000000605 extraction Methods 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000008859 change Effects 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention provides a loading and unloading manipulator, comprising: the picking and placing component is used for picking and placing the detected workpiece; the picking and placing assembly is arranged at the first end of the transmission arm; the transmission arm is movably connected with the support component; the driving part is in driving connection with the transmission arm. Due to the arrangement of the driving part, the driving part drives the picking and placing assembly to act, so that the workpieces to be detected (such as steam valve covers) are repeatedly dismounted, the labor intensity of workers is reduced, the working efficiency is improved, the automation degree of the handling manipulator is improved, and the economic benefit of enterprises is improved. Because the transmission arm is movably connected with the supporting component, the motion reliability of the transmission arm is ensured, and the use reliability of the loading and unloading manipulator is ensured. Meanwhile, the loading and unloading manipulator has the characteristics of simple structure and low manufacturing cost.
Description
Technical field
The present invention relates to workpiece sensing technical field, more particularly, to a kind of assembling and disassembling manipulator.
Background technology
Prior art carries out steam valve cap (detected workpiece) when detecting service life, need rice cooker series products is carried out manually
The free-hand operation repeatedly loading and unloading steam valve cap, to complete detection, thus cause that intensity of workers is big, work efficiency, from
Dynamicization degree is low, has had a strong impact on the economic benefit of enterprise.
Summary of the invention
It is desirable to provide a kind of assembling and disassembling manipulator, cause solving the most free-hand detected workpiece of handling repeatedly in prior art
Intensity of workers problem big, ineffective.
For solving above-mentioned technical problem, the invention provides a kind of assembling and disassembling manipulator, including: for picking and placeing taking of detected workpiece
Put assembly；Transmission arm, picks and places assembly and is arranged on the first end of transmission arm；Propping up support component, transmission arm is flexibly connected with a support component；
Drive division, drive division and transmission arm drive connection.
Further, pick and place assembly to include: press section；Extraction unit, the press-side interval extracting end and press section of extraction unit sets
Put.
Further, press section is briquetting, and briquetting is arranged on the end of the first end of transmission arm along the bearing of trend of transmission arm.
Further, extraction unit is hook, links up with the end of the first end being arranged on transmission arm along the bearing of trend of transmission arm, and
The hooking end of hook stretches out towards the side at briquetting place.
Further, transmission arm is slidably arranged on a support component.
Further, prop up support component to include: supporting plate；Guide part, guide part is arranged on supporting plate, and transmission arm is by guiding
Portion is slidably connected with supporting plate.
Further, guide part includes multiple spaced lead, forms guide space, transmission arm between multiple leads
The second end be slidably arranged in guide space.
Further, transmission arm is arc transmission arm.
Further, assembling and disassembling manipulator also includes underframe, and supporting plate is arranged on underframe position-movablely, and picks and places assembly
The direction of motion is vertically arranged with the upper surface of underframe.
Further, a support component also includes supporting sloping platform, and supporting plate is slidably arranged on underframe by supporting sloping platform.
Further, support sloping platform to include: the first gripper shoe, supporting plate is arranged in the first gripper shoe；Second gripper shoe, the
First end of one gripper shoe and the first end of the second gripper shoe connect, and the second gripper shoe is slidably arranged on underframe, and first supports
Between plate and the second gripper shoe, there is angle；For regulating the regulation connecting rod of angle, the second end of the first gripper shoe is by regulation even
Second end of bar and the second gripper shoe connects.
Further, assembling and disassembling manipulator also includes locking member, and the upper surface of underframe has sliding elongated hole, supports sloping platform by locking
In part is slidably arranged in the sliding elongated hole of underframe and lock.
The present invention picks and places assembly for picking and placeing detected workpiece, picks and places assembly and be arranged on the first end of transmission arm, transmission arm with
Prop up support component to be flexibly connected, drive division and transmission arm drive connection.Owing to being provided with drive division, thus drive division drives and picks and places group
Part action, thus detected workpiece (such as: steam valve cap) is realized repeated disassembled and assembled, and then alleviate the work of staff
Intensity, improve work efficiency, improve the automaticity of assembling and disassembling manipulator, improve the economic benefit of enterprise.Owing to passing
Swing arm is flexibly connected with support component, hereby it is ensured that the motion credibility of transmission arm, thus ensure that the use of assembling and disassembling manipulator
Reliability.Meanwhile, the assembling and disassembling manipulator in the present invention has the feature of simple in construction, low cost of manufacture.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, the illustrative examples of the present invention and
Its explanation is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the structural representation of the assembling and disassembling manipulator in the present invention；
Fig. 2 diagrammatically illustrates the structural representation of the assembling and disassembling manipulator of another angle in the present invention；And
Fig. 3 diagrammatically illustrates the supporting plate in the present invention, transmission arm, picks and places the annexation schematic diagram of assembly.
Reference in figure: 10, pick and place assembly；11, press section；12, extraction unit；20, transmission arm；30, support component is propped up；
31, supporting plate；32, guide part；32a, lead；33, sloping platform is supported；33a, the first gripper shoe；33b, the second support
Plate；33c, regulation connecting rod；33d, regulation support；34, containment vessel；40, drive division；50, underframe；51, sliding elongated hole；
60, locking member.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the present invention can be defined by the claims and cover
Multitude of different ways implement.
The invention provides a kind of assembling and disassembling manipulator.In embodiment as shown in Figure 1 to Figure 3, assembling and disassembling manipulator includes picking and placeing group
Part 10, transmission arm 20, support component 30 and drive division 40, pick and place assembly 10 for picking and placeing detected workpiece, pick and place assembly
10 the first ends being arranged on transmission arm 20, transmission arm 20 is flexibly connected with a support component 30, and drive division 40 drives with transmission arm 20
It is dynamically connected.Owing to being provided with drive division 40, thus drive division 40 drives and picks and places assembly 10 action, thus to detected workpiece (example
Such as steam valve cap) realize repeated disassembled and assembled, and then alleviate the labor intensity of staff, improve work efficiency, improve
The automaticity of assembling and disassembling manipulator, improve the economic benefit of enterprise.Owing to transmission arm 20 is flexibly connected with a support component 30,
Hereby it is ensured that the motion credibility of transmission arm 20, thus ensure that the dependability of assembling and disassembling manipulator.Meanwhile, in the present invention
Assembling and disassembling manipulator there is the feature of simple in construction, low cost of manufacture.
The assembly 10 that picks and places in the present invention includes press section 11 and extraction unit 12, extraction end and the press section 11 of extraction unit 12
Press-side interval is arranged.Owing to being provided with press section 11, thus when detected workpiece is placed on installed position, press section 11
Detected workpiece can be pressed into installation site by lower pressure, thus realizes installing operation；Owing to being provided with extraction unit 12, thus extraction unit
Move on 12 and detected workpiece is mentioned, thus realize disassembling operations.
In embodiment as shown in figures 1 and 3, press section 11 is briquetting, and briquetting is arranged on biography along the bearing of trend of transmission arm 20
The end of the first end of swing arm 20.It is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20 due to briquetting,
Thus when transmission arm 20 moves, briquetting can move along with the motion of transmission arm 20, and the direction of motion of briquetting is transmission arm
The bearing of trend of 20, thus ensure that the force application stabilization of briquetting, improve the dependability picking and placeing assembly 10.At steam valve
In the example of lid detection in service life, the pressure end of briquetting contacts with the caping of steam valve cap, and steam valve cap is pressed into rice cooker lid
Steam valve opening in.
In embodiment as shown in figures 1 and 3, extraction unit 12 is hook, links up with the bearing of trend along transmission arm 20 and is arranged on
The end of the first end of transmission arm 20, and the hooking end of hook stretches out towards the side at briquetting place.Hooking end court due to hook
Stretch out to the side at briquetting place, thus the hooking end of hook can be with detected absorption surface, when transmission arm 20 is to away from detected
Time moving in the direction of workpiece, detected workpiece can be mentioned, thus be ensure that the dependability picking and placeing assembly 10 by hook.Due to
Link up with the end of the first end being arranged on transmission arm 20 along the bearing of trend of transmission arm 20, thus hook is extracting detected workpiece
Time force direction consistent with the direction of motion of transmission arm 20, thus ensure that the force application stabilization of hook, further increase and take
Put the dependability of assembly 10.
Transmission arm 20 in the present invention is slidably arranged on a support component 30.Owing to transmission arm 20 slides even with a support component 30
Connect, thus the two not only connects reliably, it is ensured that the kinetic stability of transmission arm 20, thus ensure that the behaviour of assembling and disassembling manipulator
Make stability and dependability.
In embodiment as shown in figures 1 and 3, a support component 30 includes supporting plate 31 and guide part 32, and guide part 32 is arranged
On supporting plate 31, transmission arm 20 is slidably connected with supporting plate 31 by guide part 32.Owing to transmission arm 20 passes through guide part
32 are slidably connected with supporting plate 31, hereby it is ensured that the motion credibility of transmission arm 20, thus ensure that the behaviour of assembling and disassembling manipulator
Make stability.
In embodiment as shown in Figure 3, guide part 32 includes multiple spaced lead 32a, multiple lead 32a it
Between formed guide space, the second end of transmission arm 20 is slidably arranged in guide space.By regulating between multiple lead 32a
Position relationship, thus it is possible to vary the shape of guide space and position, thus change the direction of motion of transmission arm 20, make in the present invention
Assembling and disassembling manipulator have the advantages that adjustability is good.Owing to the multiple lead 32a of use are as guide part, thus reduce transmission arm
20 with the contact area of guide part, thus reduce frictional resistance, it is to avoid abrasion transmission arm 20, and ensure that transmission arm 20
Motion credibility.Certainly, guide part 32 can also is that guide slide, transmission arm 20 are slidably arranged in guide slide.
In embodiment as shown in Figure 1, a support component 30 also includes that containment vessel 34, containment vessel 34 are located on supporting plate 31,
And between containment vessel 34 and supporting plate 31, forming motion cavity, it is empty that guide part 32, the second end of transmission arm 20 are respectively positioned on this motion
Intracavity.Owing to being provided with containment vessel 34, thus guide part 32 and transmission arm 20 are protected, thus avoid guide part 32 He
Transmission arm 20 is damaged by external force collision or foreign body is attached on guide part 32 and transmission arm 20 cause retard motion, thus carries
The high dependability of assembling and disassembling manipulator.
In embodiment as shown in Figure 1 to Figure 3, transmission arm 20 is arc transmission arm.Owing to transmission arm 20 is arc transmission arm,
Thus picking and placeing assembly 10 when vertical direction moves, arc transmission arm can be inclined in space, thus reduces charging crane
The whole height of tool hands, the topology layout making assembling and disassembling manipulator is more reasonable.
In embodiment as shown in Figure 1, assembling and disassembling manipulator also includes that underframe 50, supporting plate 31 are arranged on underframe position-movablely
On 50, and the upper surface of the direction of motion and underframe 50 picking and placeing assembly 10 is vertically arranged.Owing to being provided with underframe 50, thus protect
Demonstrate,prove the mounting stability of supporting plate 31, and then ensure that transmission arm 20 and pick and place the motion credibility of assembly 10.Due to support
Plate 31 is arranged on underframe 50 position-movablely, thus makes transmission arm 20 and pick and place assembly 10 location portability in horizontal plane
Dynamic, thus facilitate staff to regulate the position of supporting plate 31, preferably detected workpiece is grasped so that picking and placeing assembly 10
Make, and then improve the dependability of assembling and disassembling manipulator.Preferably, the lower end of underframe 50 has receiving space, such as rice cooker
Can be placed in this receiving space Deng product.
Preferably, supporting plate 31 is multiple, multiple supporting plates 31 is provided with the transmission arm 20 of correspondence and picks and places assembly 10.
In embodiment as depicted in figs. 1 and 2, supporting plate 31, transmission arm 20 and pick and place assembly 10 and be two, namely duplex
The assembling and disassembling manipulator of position.Owing to the assembling and disassembling manipulator in the present invention can be set to multistation, thus can be simultaneously to multiple detected
Workpiece carries out charge and discharge operations, and then improves detection efficiency.
A support component 30 in the present invention also includes supporting sloping platform 33, and supporting plate 31 is slidably arranged in underframe by supporting sloping platform 33
On 50.Owing to being provided with support sloping platform 33, thus the connection angle of supporting plate 31 and underframe 50 can be changed, thus change biography
The direction of motion of swing arm 20.Owing to supporting plate 31 is slidably arranged on underframe 50 by supporting sloping platform 33, thus when supporting tiltedly
When on platform 33, multiple supporting plate 31 is set, staff only need adjust support sloping platform 33 position can be to multiple supporting plates 31
Position carry out unifying regulation, thus improve work efficiency.
In embodiment as depicted in figs. 1 and 2, support sloping platform 33 and include the first gripper shoe 33a, the second gripper shoe 33b and tune
Joint connecting rod 33c, supporting plate 31 is arranged in the first gripper shoe 33a, the first end of the first gripper shoe 33a and the second gripper shoe 33b
The first end connect, the second gripper shoe 33b is slidably arranged on underframe 50, and the first gripper shoe 33a and the second gripper shoe 33b
Between there is angle, the second end connection by regulation connecting rod 33c and the second gripper shoe 33b of the second end of the first gripper shoe 33a,
Regulation connecting rod 33c is for regulating the size of angle.Owing to the first gripper shoe 33a and second can be changed by regulation connecting rod 33c
Connection angle between fagging 33b, thus angle of inclination and the rational height supporting sloping platform 33 can be changed, thus change setting
The angle of inclination of supporting plate 31 thereon, change transmission arm 20 and pick and place the direction of motion of assembly 10, and then making in the present invention
Assembling and disassembling manipulator have the advantages that adjustability is good, dependability is high, it is possible to meet the use requirements of the detected workpiece of difference.
Preferably, regulation connecting rod 33c is the assembly of screw rod and nut screw connection.First gripper shoe 33a and the second gripper shoe 33b are respectively
It is connected with the two ends of screw rod, the position being screwed on screw rod by adjusting nut, thus it is possible to vary the first gripper shoe 33a and second supports
The size of the angle between plate 33b.Owing to the first gripper shoe 33a and the second gripper shoe 33b are connected with nut screw connection by screw rod,
Thus not only ensure that the connection reliability of the two, also make support sloping platform 33 have adjustability is good, dependability is high feature.
In embodiment as shown in Figure 2, support sloping platform 33 and also include regulating support 33d, regulation support 33d and the first gripper shoe
33a connects, and the second gripper shoe 33b is connected with regulation support 33d by regulation connecting rod 33c.Owing to being provided with regulation support 33d,
Hereby it is ensured that the dependability of regulation connecting rod 33c.
Assembling and disassembling manipulator in the present invention also includes that locking member 60, the upper surface of underframe 50 have sliding elongated hole 51, supports sloping platform
33 pass through in locking member 60 is slidably arranged in the sliding elongated hole 51 of underframe 50 and lock.In embodiment as shown in Figure 1, support
Second gripper shoe 33b of sloping platform 33 is passed through in locking member 60 is slidably arranged in the sliding elongated hole 51 of underframe 50 and locks.Preferably
Ground, the assembly that locking member 60 coordinates for bolts and nuts.Bolt is located in sliding elongated hole 51 and by the second gripper shoe 33b and the end
Frame 50 connects.Staff passes through fastening nut, can be locked with supporting sloping platform 33 by underframe 50, thus ensure transmission arm 20
With the motion credibility picking and placeing assembly 10.
Preferably, drive division 40 is motor.Further, drive division 40 is torque motor.
In embodiment as shown in Figure 3, the second end of transmission arm 20 has rack segments, and assembling and disassembling manipulator also includes and above-mentioned tooth bar
Meshed gears, gear is pivotally disposed on supporting plate 31, and is positioned at motion cavity, and drive division 40 drives gear to turn
Dynamic, drive division 40 is arranged on containment vessel 34.Owing to gear, tooth bar coordinate power transmission stable, hereby it is ensured that assembling and disassembling manipulator
Motion credibility.
Assembling and disassembling manipulator in the present invention also includes that controller, switch element and power supply, power supply, switch element and motor series connection set
Put；Controller is connected with switch element, is used for controlling switch element Guan Bi or disconnecting.Owing to being provided with controller to loading mechanization
Hands carries out motor control, hereby it is ensured that the functional reliability of assembling and disassembling manipulator, improve the automaticity of assembling and disassembling manipulator.
Owing to power supply, switch element and motor are arranged in series, thus when the on off state of switch element changes, motor drives transmission arm
20 carry out stretching motion, so that picking and placeing the operation that detected workpiece is loaded and unloaded by assembly 10 repeatedly, and then ensure that charging crane
The dependability of tool hands.Preferably, controller is control chip.Controller is connected with motor, be used for controlling motor rotate forward or
Reversion.
Assembling and disassembling manipulator in the present invention also includes input block and counting element, and input block is connected with controller, is used for setting
Guan Bi number of times, the rotating forward time of motor and the reversing time of switch element；Counting element is connected with controller, for when switch unit
The Guan Bi number of times of part reaches to send a signal to controller during setting value, so that controller controls switch element and is in normally open.By
In being provided with input block, thus switch element can be closed number of times, rotating forward time and the reversing time of motor are set,
Thus improve the dependability of assembling and disassembling manipulator.It is, of course, also possible to by the closing time of input block configuration switch element
The parameters such as interval, thus further increase Man machine interaction and the dependability of assembling and disassembling manipulator.Preferably, input is single
Unit is for setting button.Preferably, counting element is enumerator.
Assembling and disassembling manipulator in the present invention also includes display unit, and display unit is connected with controller, for showing the switch of setting
The Guan Bi number of times of element and/or the Guan Bi number of times of the switch element of counting element physical record.Owing to being provided with display unit, thus
Staff by the duty of display unit inquiry assembling and disassembling manipulator, thus can improve the man-machine interaction of assembling and disassembling manipulator
Performance and dependability.Certainly, display unit can also show the information such as rotating forward time and reversing time of motor of setting.
Preferably, display unit is charactron.
Assembling and disassembling manipulator in the present invention also bag buzzer, for input block is operated, display unit display information,
Motor rotate forward put in place, motor reversal puts in place, motor power on/off etc. time, sound production prompt.
Preferably, switch element is relay.Owing to relay has the function on timing break-make road, thus can be to the operation of motor
State is controlled, thus realizes repeatedly the operation of workpiece loading and unloading.Staff realizes the control to relay by controller.
Assembling and disassembling manipulator in the present invention also includes emergency stop switch, and emergency stop switch is connected with controller, for cutoff circuit and power supply.
When assembling and disassembling manipulator fault or generation contingency, staff is by triggering emergency stop switch, to realize assembling and disassembling manipulator
Manually intervene, thus reduce accident rate, improve the dependability of assembling and disassembling manipulator.
Assembling and disassembling manipulator in the present invention also includes memory element, and memory element is connected with controller.Owing to being provided with memory element,
Thus the running state information such as the Guan Bi number of times set, closing time are spaced, the real time data of counting element all can be stored in storage
In unit, in order to staff inquires about, thus ensure that the dependability of assembling and disassembling manipulator.Further, anxious when assembling and disassembling manipulator
In the stopping time, running state information during jerk also can be preserved by memory element, in order to before can recovering power-off when device reruns
Running status, thus improve the operational reliability of assembling and disassembling manipulator, decrease manual intervention.
Assembling and disassembling manipulator in the present invention have easy for installation, control simple, power-fail memory function, automaticity high, manufacturing cost
Low feature.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made, etc.
With replacement, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. an assembling and disassembling manipulator, it is characterised in that including:
Assembly (10) is picked and placeed for pick and place detected workpiece；
Transmission arm (20), described in pick and place assembly (10) and be arranged on the first end of described transmission arm (20)；
Propping up support component (30), described transmission arm (20) is flexibly connected with described support component (30)；
Drive division (40), described drive division (40) and described transmission arm (20) drive connection, wherein, described in pick and place group
Part (10) including: press section (11)；Extraction unit (12), the extraction end of described extraction unit (12) and described press section (11)
Press-side interval arrange；Described transmission arm (20) is slidably arranged on described support component (30)；Described support component
(30) including: supporting plate (31)；Guide part (32), described guide part (32) is arranged on described supporting plate (31),
Described transmission arm (20) is slidably connected with described supporting plate (31) by described guide part (32)；Described guide part (32)
Including multiple spaced leads (32a), between multiple described leads (32a), form guide space, described biography
Second end of swing arm (20) is slidably arranged in described guide space.
Assembling and disassembling manipulator the most according to claim 1, it is characterised in that described press section (11) are briquetting, described briquetting edge
The bearing of trend of described transmission arm (20) is arranged on the end of the first end of described transmission arm (20).
Assembling and disassembling manipulator the most according to claim 2, it is characterised in that described extraction unit (12) is hook, described hook edge
The bearing of trend of described transmission arm (20) is arranged on the end of the first end of described transmission arm (20), and the hook of described hook
Extension end stretches out towards the side at described briquetting place.
Assembling and disassembling manipulator the most according to claim 1, it is characterised in that described transmission arm (20) is arc transmission arm.
Assembling and disassembling manipulator the most according to claim 1, it is characterised in that described assembling and disassembling manipulator also includes underframe (50), institute
State supporting plate (31) to be arranged on described underframe (50) position-movablely, and described in pick and place the motion side of assembly (10)
It is vertically arranged to the upper surface with described underframe (50).
Assembling and disassembling manipulator the most according to claim 5, it is characterised in that described support component (30) also includes supporting sloping platform (33),
Described supporting plate (31) is slidably arranged on described underframe (50) by described support sloping platform (33).
Assembling and disassembling manipulator the most according to claim 6, it is characterised in that described support sloping platform (33) including:
First gripper shoe (33a), described supporting plate (31) is arranged on described first gripper shoe (33a)；
Second gripper shoe (33b), the of the first end of described first gripper shoe (33a) and described second gripper shoe (33b)
One end connects, and described second gripper shoe (33b) is slidably arranged on described underframe (50), and described first gripper shoe (33a)
And between described second gripper shoe (33b), there is angle；
For regulating the regulation connecting rod (33c) of described angle, the second end of described first gripper shoe (33a) passes through described tune
Joint connecting rod (33c) is connected with the second end of described second gripper shoe (33b).
Assembling and disassembling manipulator the most according to claim 6, it is characterised in that described assembling and disassembling manipulator also includes locking member (60),
The upper surface of described underframe (50) has sliding elongated hole (51), and described support sloping platform (33) passes through described locking member (60)
In being slidably arranged in the described sliding elongated hole (51) of described underframe (50) and lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574309.7A CN104626097B (en) | 2013-11-15 | 2013-11-15 | loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574309.7A CN104626097B (en) | 2013-11-15 | 2013-11-15 | loading and unloading manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104626097A CN104626097A (en) | 2015-05-20 |
| CN104626097B true CN104626097B (en) | 2017-01-11 |
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ID=53205564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310574309.7A Expired - Fee Related CN104626097B (en) | 2013-11-15 | 2013-11-15 | loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626097B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19614143C2 (en) * | 1996-04-10 | 1998-12-24 | Chiron Werke Gmbh | Machine tool with a work area |
| FR2917988B1 (en) * | 2007-06-28 | 2009-10-09 | Jean Philippe Roux | APPARATUS FOR HANDLING A WORKING HEAD. |
| US8961537B2 (en) * | 2011-08-24 | 2015-02-24 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
| CN203092552U (en) * | 2013-01-14 | 2013-07-31 | 东莞市安利通用机械设备有限公司 | Cooling overturning mechanical arm |
| CN203527456U (en) * | 2013-11-15 | 2014-04-09 | 珠海格力电器股份有限公司 | Loading and unloading manipulator |
-
2013
- 2013-11-15 CN CN201310574309.7A patent/CN104626097B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
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| Publication number | Publication date |
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| CN104626097A (en) | 2015-05-20 |
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