CN106586537A - Three-axis-transferring-bearing loading and unloading device - Google Patents
Three-axis-transferring-bearing loading and unloading device Download PDFInfo
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- CN106586537A CN106586537A CN201611217899.8A CN201611217899A CN106586537A CN 106586537 A CN106586537 A CN 106586537A CN 201611217899 A CN201611217899 A CN 201611217899A CN 106586537 A CN106586537 A CN 106586537A
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- 230000000712 assembly Effects 0.000 claims abstract description 59
- 238000000429 assembly Methods 0.000 claims abstract description 59
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000002787 reinforcement Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
- 125000006850 spacer group Chemical group 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 238000001816 cooling Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010053615 Thermal burn Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a three-axis-transferring-bearing loading and unloading device which comprises a rack, an XYZ-three-axis drive device, a clamping device and battery jigs. The XYZ-three-axis drive device is arranged above the rack in an erected manner; the battery jigs are fixedly arranged on the rack through locating pins and located below the XYZ-three-axis drive device; the clamping device is arranged on the XYZ-three-axis drive device and driven by the XYZ-three-axis drive device to conduct linear movement in the directions of the X axis, the Y axis and the Z axis; the clamping device is composed of a plurality of clamping assemblies; the clamping assemblies are arranged in a spaced manner through spacers; each clamping assembly comprises a finger clamping air cylinder, two clamping pieces and a connection seat; the fixing end of each finger clamping air cylinder is connected with the corresponding connection seat; and the two clamping pieces are symmetrically connected to the movement end of the corresponding finger clamping air cylinder respectively and are driven and controlled by the corresponding finger clamping air cylinder to complete the clamping action. The three-axis-transferring-bearing loading and unloading device has the advantages of being high in transferring-bearing speed, good in controllability, high in clamping precision and efficiency and good in overall stability and continuity.
Description
Technical field
The present invention relates to battery production equipment technical field, more particularly to a kind of handling equipment of three axles transfer.
Background technology
Battery is power source indispensable in daily life and commercial production, and demand is very big, therefore, production effect
Rate is the important factor in order of the battery production performance of enterprises；In the production line of battery processing, battery is placed into into high temperature
Baking box in toasted after, then need by battery be carried to battery cooling material flow line lowered the temperature, and here transport process
In, it is existing to be typically with manually carrying out mode of transport to battery, battery takes out successively to be positioned over battery cold from baking box
But on material flow line, but the temperature of battery is often very high, and a dead lift easily causes scald, and operation is numerous and diverse, and inefficiency is consumed
Substantial amounts of manpower and materials；Current existing improved battery Transporting equipment, complex structure, and for robot manipulator structure, its operation
Motion is clumsy, and the space and flexibility ratio of battery feeding, discharge is little, and transfer speed is slow, and Modulatory character is poor, and the clamping to battery is made
With unstable, however it remains clamping position precision is low, and stability is poor, the problem that efficiency is low, fault rate is high and security performance is low.
The content of the invention
It is an object of the invention to propose a kind of handling equipment of three axles transfer, its transfer speed is fast, Modulatory character is good,
Clamp precision and efficiency high, and its stability in the large and seriality are good.
It is that, up to this purpose, the present invention is employed the following technical solutions：
A kind of handling equipment of three axles transfer, including frame, XYZ triaxial driving apparatus, clamping device and battery tool；
The XYZ triaxial driving apparatus are set up in the top of the frame；The battery tool is fixedly installed on described by alignment pin
Frame, and positioned at the lower section of the XYZ triaxial driving apparatus；The clamping device is arranged at XYZ triaxial driving apparatus, and by institute
State XYZ triaxial driving apparatus drives edge X-axis, Y-axis and Z-direction for linear motion；
The clamping device is made up of several clamp assemblies；Each clamp assemblies is respectively separated by escapement and is set
Put；The clamp assemblies include gripping finger cylinder, two holders and connecting seat；The fixing end of the gripping finger cylinder is connected to described
Connecting seat；Two holders are respectively symmetrically the tache motorice for being connected to the gripping finger cylinder, and by the gripping finger cylinder
Drive control completes pinching action.
Further illustrate, the XYZ triaxial driving apparatus include two X-axis sliding parts, Y-axis sliding part and Z axis sliding parts；
Two X-axis sliding part difference level frames are located at the top both sides of the frame；The two ends of the Y-axis sliding part are provided with cunning
Plate, the slide plate slides are connected on the slide rail of the X-axis sliding part, make the Y-axis sliding part to slide along X-direction；Institute
State Z axis sliding part and be provided with the first sliding part and the second sliding part, first sliding part is slideably positioned in the Y-axis sliding part
Slide rail on, and along Y direction slide；Slide rail and the side of first sliding part of second sliding part by its side
Fixed slide block connection, and the Z-direction slip relative to first sliding part is done by the slide rail；Second sliding part
Bottom be connected to the connecting seat of the clamp assemblies.
Further illustrate, the escapement is arranged at the bottom of second sliding part, the escapement includes solid
Reservation, slide and servomotor；The fixed seat is fixedly connected the connecting seat of the clamp assemblies, remaining described clamping group
Part is connected through respectively seat and is arranged at intervals on the slide, and drives the clamp assemblies along described by the servomotor
Slide direction is moved, and adjusts the distance between each clamp assemblies.
Further illustrate, the slide is provided with two slide rails being parallel to each other, the folder being arranged on the slide
The two ends for holding the connecting seat of component are correspondingly connected on two slide rails by connection sliding block；The end outside of two slide rails
Catch is vertically arranged, the side of the catch end inwardly extends vertically and is provided with baffle plate, and the baffle plate is towards the clamping
The side of component is additionally provided with rubber cushion.
Further illustrate, the holder includes L-shaped sliding part, clamping limb and keeper, the slip of the L-shaped sliding part
End is connected to the slide block of the gripping finger cylinder lower end, and the slide block can be along the runner movement of the gripping finger cylinder bottom so as to driving
The L-shaped sliding part motion；
The clamping limb is fixedly installed on the outside of the bare terminal end of the L-shaped sliding part, and the fixing end of the keeper connects
The inner side of the bare terminal end of the L-shaped sliding part is connected to, the angle between the positioning end of the keeper and the clamping limb is straight
Angle；Do relative motion under being driven by the L-shaped sliding part respectively with the clamping limb of two holders in a clamp assemblies,
Complete pinching action.
Further illustrate, the lower surface of the positioning end of the keeper is provided with rubber cushion, the lower surface of the rubber cushion and institute
State the distance between clamping limb end accounts for the length of whole clamping limb more than 1/2.
Further illustrate, be provided with rubber cushion described in each two between clamp assemblies, the elastic mounting is disposed therein
On the connecting seat of any one of clamp assemblies.
Further illustrate, the clamping device is provided with the dismountable clamp assemblies of two or more.
Further illustrate, the side of the gripping finger cylinder is additionally provided with reinforcement plate, and the reinforcement plate extends downward described
Between the L-shaped sliding part and the keeper of holder, the reinforcement plate end is provided with detection means.
Further illustrate, concavo-convex pit or concave and convex stripe are provided with the inside of the clamping limb.
Beneficial effects of the present invention：1st, the mode of three axle transfers is employed, battery has been adapted to and has been removed transfer is interior on a large scale
Fortune, increased the space and flexibility ratio of battery feeding, discharge, and faster, Modulatory character is good for transfer speed, the stability of transport
It is good；
2nd, the clamping device controls the pinching action of the holder, simple structure, spirit by the gripping finger cylinder
Quick, the high precision of clamping and clamping degree are high；
3rd, the clamping device realizes multiple clamp assemblies common operationals also by the escapement, and its clamping is moved
The efficiency of load is greatly improved, and shortens the time of loading and unloading and transfer；And by the regulation and control of the escapement, can be more accurate
Really control the distance between described detection components, positioning precision is high, overcome the spacing of battery loading point and blanking point not
Unified problem；
4th, the battery tool will be fixed in the frame by alignment pin, it is ensured that battery tool is in battery loading
When in the frame position uniformity, it is to avoid the skew of battery tool position and affect the clamping of the clamping device
Accuracy and seriality, fault rate is low, has a safety feature, and stability in the large is higher.
Description of the drawings
Fig. 1 is the structural representation of the handling equipment of three axle transfers of one embodiment of the invention；
Fig. 2 is the partial structural diagram of the handling equipment of three axle transfers of one embodiment of the invention；
Fig. 3 is the partial structural diagram of the handling equipment of three axle transfers of one embodiment of the invention；
Fig. 4 is the structural representation of the clamping device of the handling equipment of three axle transfers of one embodiment of the invention；
Fig. 5 is the structural representation of the clamping device of the handling equipment of three axle transfers of one embodiment of the invention；
Wherein：Frame 1, XYZ triaxial driving apparatus 2, X-axis sliding part 21, Y-axis sliding part 22, slide plate 221, Z axis sliding part
23, the first sliding part 231, the second sliding part 232, clamping device 3, clamp assemblies 33, gripping finger cylinder 331, holder 332, even
Joint chair 333, L-shaped sliding part 334, clamping limb 335, keeper 336, battery tool 4, escapement 5, fixed seat 51, slide 52,
Servomotor 53, slide rail 521, slide block 6, rubber cushion 7, catch 81, baffle plate 82, reinforcement plate 9, detection means 10.
Specific embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by specific embodiment.
As shown in figure 1, a kind of handling equipment of three axles transfer, including frame 1, XYZ triaxial driving apparatus 2, clamping dress
Put 3 and battery tool 4；The XYZ triaxial driving apparatus 2 are set up in the top of the frame 1；The battery tool 4 is by fixed
Position pin is fixedly installed on the frame 1, and positioned at the lower section of the XYZ triaxial driving apparatus 2；The clamping device 3 is arranged at
XYZ triaxial driving apparatus 2, and it is for linear motion by the drives edge X-axis of the XYZ triaxial driving apparatus 2, Y-axis and Z-direction；
As shown in Figure 4 and Figure 5, the clamping device 3 is made up of several clamp assemblies 33；Each clamp assemblies 33 passes through
Escapement 5 is respectively separated setting；The clamp assemblies 33 include 331, two holders 332 of gripping finger cylinder and connecting seat 333；
The fixing end of the gripping finger cylinder 331 is connected to the connecting seat 333；Two holders 332 are respectively symmetrically and are connected to institute
The tache motorice of gripping finger cylinder 331 is stated, and the drive control by the gripping finger cylinder 331 completes pinching action.
A kind of handling equipment of three axles transfer proposed by the present invention, mainly solves for high-temperature battery is cooled down
Feeding and the difficulty transplanted are big, the low problem of efficiency, wherein making the clamping device 3 can by the XYZ triaxial driving apparatus 2
Do that X-axis, Y-axis and Z-direction are for linear motion, while can be simultaneously right by several clamp assemblies 33 in the clamping device 3
Battery in the battery tool 4 is clamped successively and transfer, and transporting to the other end of production line carries out cooling treatment, so as to
Realize and the battery in battery tool 4 is more quickly and accurately carried to into the function that battery cools down material flow line, and it is while suitable
The feeding and blanking scope of battery tool 4 have been answered, transfer speed and production and transport efficiency has been improve, effectively life has been shortened
Produce beat.
The mode of three axle transfers is present invention employs, battery has been adapted in transfer carrying interior on a large scale, battery is increased
The space and flexibility ratio of feeding, discharge, faster, Modulatory character is good for transfer speed, the good stability of transport；The clamping device
3 by the gripping finger cylinder come the pinching action of holder described in independent control 232, its simple structure, sensitive, the precision of clamping
High and clamping degree is high；
The clamping device 3 also by the escapement 5, realizes the common operational of multiple clamp assemblies 33, its clamping
The efficiency of transfer is greatly improved, and shortens the time of loading and unloading and transfer；And by the regulation and control of the escapement 5, Ke Yigeng
Plus the spacing of the adjustment control clamp assemblies 33 exactly, positioning precision is high, overcomes battery loading point and blanking point
The skimble-scamble problem of spacing；The battery tool 4 will be fixed in the frame by alignment pin, it is ensured that battery tool 4 exists
Battery loading when in the frame position uniformity, it is to avoid the skew of the position of battery tool 4 and affect the clamping
The accuracy and seriality of the clamping of device 3, fault rate is low, has a safety feature, and stability in the large is higher.
Further illustrate, as shown in Fig. 2 the XYZ triaxial driving apparatus 2 include that two X-axis sliding parts 21, Y-axis slide
Part 22 and Z axis sliding part 23；Two difference level frames of X-axis sliding part 21 are located at the top both sides of the frame 1；The Y
The two ends of axle sliding part 22 are provided with slide plate 221, and the slide plate 221 is slidably connected on the slide rail of the X-axis sliding part 21, makes
The Y-axis sliding part 22 can slide along X-direction；
The Z axis sliding part 23 is provided with the first sliding part 231 and the second sliding part 232, and first sliding part 231 is slided
It is dynamic to be arranged on the slide rail of the Y-axis sliding part 22, and slide along Y direction；Second sliding part 232 by its side cunning
Rail is connected with the fixed slide block of the side of first sliding part 231, and is done relative to the described first slip by the slide rail
The Z-direction in portion 231 is slided；The bottom of second sliding part 232 is connected to the connecting seat 333 of the clamp assemblies 33.
The X-axis sliding part 21 and Y-axis sliding part 22 mainly regulate and control the lateral displacement positioning of the clamping device 3, institute
It is then the length travel for controlling the clamping device 3 to state Z axis sliding part 23, wherein by described in the Z axis sliding part 23
First sliding part 231 and the second sliding part 232 are synchronized with the movement and relative motion, it is achieved thereby that making the clamping device 3 along Y
Direction of principal axis and Z-direction are slided, and structure is simpler, and transfer speed is fast and positioning precision is high.
Further illustrate, as shown in figure 3, the escapement 5 is arranged at the bottom of second sliding part 232, it is described
Escapement 5 includes fixed seat 51, slide 52 and servomotor 53；The fixed seat 51 is fixedly connected the clamp assemblies
33 connecting seat 333, remaining described clamp assemblies 33 are connected through respectively seat 333 and are arranged at intervals on the slide 52, and
Drive the clamp assemblies 33 to move along the direction of the slide 52 by the servomotor 53, adjust between each clamp assemblies 33
Distance.
Because in the clamping device 3, during movement, the distance between each clamp assemblies can be with the battery
The arrangement positional distance of battery produces deviation in tool 4, therefore the present invention has mainly passed through to be provided with the escapement 5, its
In by the firm banking 51 and slide 52 be pedestal, make the clamp assemblies 33 be individually fixed in its upper end, then by institute
The spacing that servomotor 53 is realized between adjust automatically each clamp assemblies is stated, i.e., during loading and unloading are carried out to battery, is passed through
Detection device carries out real-time detection come the interval on the cooling material flow line to the distance between battery and placing battery, so as to timely
The spacing of each clamp assemblies is adjusted；Therefore the escapement 5 can not only be such that the clamp assemblies interval setting comes together
When multiple batteries are gripped, and also the function of variable-distance can be realized by the servomotor 53, so as to adapt to electricity
The skimble-scamble problem of spacing of pond feeding point and blanking point, the precision of gripping is higher, and work seriality is strong, and clamping effect is more
It is stable；In addition, one of clamp assemblies 33 are fixedly connected, be finely adjusted away from process, can be in this, as ginseng
According to it is quicker, accurate and convenient to regulate and control.
Further illustrate, the slide 52 is provided with two slide rails 521 being parallel to each other, and is arranged on the slide 52
The two ends of the connecting seat 333 of the clamp assemblies 33 are correspondingly connected on two slide rails 521 by connection sliding block；Described in two
The end outside of slide rail 521 is vertically arranged catch 81, and the side of the end of the catch 81 inwardly extends vertically and is provided with baffle plate
82, the baffle plate 82 is additionally provided with rubber cushion 7 towards the side of the clamp assemblies 33.
The double sided slider bar being parallel to each other is set on the slide 52, the clamp assemblies 33 is further enhancing above it
The stability of slip；And catch and inwardly vertically extending baffle plate are set on the outside of the end of two slide rails 521, from
And the clamp assemblies 33 are served with the position-limiting action of maximum magnitude, it is to avoid and the situation of the abjection of clamp assemblies 33, increased peace
Full performance；Also by arranging the rubber cushion 7 on the baffle plate 82, the effect of the rubber cushion 7 is, to bit buffering, further to reduce
Collision dynamics of the clamp assemblies 33 in displacement, extend its service life, and overall structure is simple, and action effect is good.
Further illustrate, the holder 332 includes L-shaped sliding part 334, clamping limb 335 and keeper 336, the L-shaped
The sliding end of sliding part 334 is connected to the slide block 6 of the lower end of gripping finger cylinder 331, and the slide block 6 can be along the gripping finger cylinder
The runner movement of 331 bottoms is moved so as to drive the L-shaped sliding part 334；
The clamping limb 335 is fixedly installed on the outside of the bare terminal end of the L-shaped sliding part 334, the keeper 336
Fixing end is connected to the inner side of the bare terminal end of the L-shaped sliding part 334, the positioning end of the keeper 336 and the clamping limb
Angle between 335 is right angle；
With the clamping limb 335 of two holders 332 in a clamp assemblies 33 respectively by the L-shaped sliding part 334
Do relative motion under drive, complete pinching action.By the gripping finger cylinder 331 respectively controlling two L-shaped sliding parts
334 slip, drives the corresponding relative motion of the clamping limb 335, so as to realize the clamping to battery；And it is also provided with institute
State keeper 336 and serve the effect for reaching positioning clamping so that while battery is clamped, carry out effectively altitude location,
Avoid the height of battery from differing and cause to rock situations such as coming off, realize the clamping force in the both direction to battery,
The dynamics of clamping is stablized, and precision is more accurate.
Further illustrate, the lower surface of the positioning end of the keeper 336 is provided with rubber cushion 7, the lower surface of the rubber cushion 7
With more than the 1/2 of the length that the distance between the end of the clamping limb 335 accounts for whole clamping limb.Arrange in the keeper 336
The rubber cushion 7 is able to while play a part of effectively spacing and to bit buffering, reduce the abrasion and collision to battery
Dynamics；Ensure the certain distance between the lower surface of the rubber cushion 7 and the end of the clamping limb 335 in addition, be to ensure
The stability that the clamping limb 335 is clamped to battery, it is to avoid long or too short and the midway situation that comes off and rock occur.
Further illustrate, be provided with rubber cushion 7 described in each two between clamp assemblies 33, the rubber cushion 7 is fixedly installed on
On the connecting seat 333 of wherein any one of clamp assemblies 33.Rubber cushion is provided between each described clamp assemblies 33
7, make during motion the clamp assemblies 33 to be played a part of to buffer, protected.
Further illustrate, the clamping device 3 is provided with the dismountable clamp assemblies 33 of two or more.According to reality
Requirements of one's work, arrange multiple clamp assemblies 33 multiple batteries are gripped simultaneously, so as to effectively improve to battery folders
Hold the efficiency of feeding, discharge, high precision.
Further illustrate, the side of the gripping finger cylinder 331 is additionally provided with reinforcement plate 9, and the reinforcement plate 9 is extended downward
Between the L-shaped sliding part 334 and the keeper 336 of the holder 332, the end of reinforcement plate 9 is provided with detection means
10.Due to the movement dimension of the clamping device it is more, in order to ensure its overall steadiness, therefore in the gripping finger cylinder
331 side arranges the reinforcement plate 9, on the one hand separates each clamp assemblies, it is ensured that gripping finger cylinder 331 drives the clamping
The stability of the motion of part 332；On the other hand by arranging the detection means, effectively the jam of battery can be carried out
Detection, when some appearance is not clamped completely, then sends alarm, and security performance is high.
Further illustrate, the inner side of the clamping limb 335 is provided with concavo-convex pit or concave and convex stripe.In the clamping limb
335 inner side arranges concavo-convex pit or concave and convex stripe, increases the frictional force between the clamping limb 335 and battery, so as to improve
Stability to battery clamping, it is to avoid drop breaking-up battery.
The know-why of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and can not by any way be construed to limiting the scope of the invention.Based on explanation herein, the technology of this area
Personnel associate other specific embodiments of the present invention by need not paying performing creative labour, these modes fall within
Within protection scope of the present invention.
Claims (10)
1. a kind of handling equipment of three axles transfer, it is characterised in that：Including frame, XYZ triaxial driving apparatus, clamping device and
Battery tool；The XYZ triaxial driving apparatus are set up in the top of the frame；The battery tool is fixed by alignment pin and set
The frame is placed in, and positioned at the lower section of the XYZ triaxial driving apparatus；The clamping device is arranged at XYZ Three-axis drives dress
Put, and it is for linear motion by the XYZ triaxial driving apparatus drives edge X-axis, Y-axis and Z-direction；
The clamping device is made up of several clamp assemblies；Each clamp assemblies is respectively separated setting by escapement；Institute
Clamp assemblies are stated including gripping finger cylinder, two holders and connecting seat；The fixing end of the gripping finger cylinder is connected to the connection
Seat；Two holders are respectively symmetrically the tache motorice for being connected to the gripping finger cylinder, and by the driving of the gripping finger cylinder
Control completes pinching action.
2. the handling equipment of a kind of three axles transfer according to claim 1, it is characterised in that：The XYZ Three-axis drives
Device includes two X-axis sliding parts, Y-axis sliding part and Z axis sliding parts；Two X-axis sliding part difference level frames are located at institute
State the top both sides of frame；The two ends of the Y-axis sliding part are provided with slide plate, and the slide plate slides are connected to the X-axis and slide
On the slide rail of part, the Y-axis sliding part is set to slide along X-direction；
The Z axis sliding part is provided with the first sliding part and the second sliding part, and first sliding part is slideably positioned in the Y-axis
On the slide rail of sliding part, and slide along Y direction；Second sliding part by its side slide rail and first sliding part
The fixed slide block connection of side, and the Z-direction slip relative to first sliding part is done by the slide rail；Described second
The bottom of sliding part is connected to the connecting seat of the clamp assemblies.
3. the handling equipment of a kind of three axles transfer according to claim 2, it is characterised in that：The escapement is arranged
In the bottom of second sliding part, the escapement includes fixed seat, slide and servomotor；The fixed seat is fixed and connected
The connecting seat of the clamp assemblies is connect, remaining described clamp assemblies is connected through respectively seat and is arranged at intervals at the slide
On, and drive the clamp assemblies to move along the slide direction by the servomotor, adjust between each clamp assemblies away from
From.
4. the handling equipment of a kind of three axles transfer according to claim 3, it is characterised in that：The slide is provided with two
The slide rail that bar is parallel to each other, the two ends of the connecting seat of the clamp assemblies being arranged on the slide pass through connection sliding block pair
Should be connected on two slide rails；
The end outside of two slide rails is vertically arranged catch, and the side of the catch end inwardly extends vertically and is provided with
Baffle plate, the baffle plate is additionally provided with rubber cushion towards the side of the clamp assemblies.
5. the handling equipment of a kind of three axles transfer according to claim 1, it is characterised in that：The holder includes L
Shape sliding part, clamping limb and keeper, the sliding end of the L-shaped sliding part is connected to the slide block of the gripping finger cylinder lower end, institute
Stating slide block can be along the runner movement of the gripping finger cylinder bottom so as to drive the L-shaped sliding part to move；
The clamping limb is fixedly installed on the outside of the bare terminal end of the L-shaped sliding part, and the fixing end of the keeper is connected to
The inner side of the bare terminal end of the L-shaped sliding part, the angle between the positioning end of the keeper and the clamping limb is right angle；
Relative fortune is done under being driven by the L-shaped sliding part respectively with the clamping limb of two holders in a clamp assemblies
It is dynamic, complete pinching action.
6. the handling equipment of a kind of three axles transfer according to claim 5, it is characterised in that：The positioning of the keeper
The lower surface at end is provided with rubber cushion, and the distance between the lower surface of the rubber cushion and described clamping limb end account for whole clamping limb
More than the 1/2 of length.
7. the handling equipment of a kind of three axles transfer according to claim 1, it is characterised in that：Clamping group described in each two
Rubber cushion is provided between part, the elastic mounting is disposed therein on the connecting seat of any one of clamp assemblies.
8. the handling equipment of a kind of three axles transfer according to claim 1, it is characterised in that：The clamping device is arranged
There are the dismountable clamp assemblies of two or more.
9. the handling equipment of a kind of three axles transfer according to claim 5, it is characterised in that：The one of the gripping finger cylinder
Side is additionally provided with reinforcement plate, and the reinforcement plate is extended downward between the L-shaped sliding part of the holder and the keeper, institute
State reinforcement plate end and be provided with detection means.
10. the handling equipment of a kind of three axles transfer according to claim 1, it is characterised in that：The clamping limb it is interior
Side is provided with concavo-convex pit or concave and convex stripe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217899.8A CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217899.8A CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106586537A true CN106586537A (en) | 2017-04-26 |
| CN106586537B CN106586537B (en) | 2022-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611217899.8A Active CN106586537B (en) | 2016-12-26 | 2016-12-26 | Three-axis load transferring and discharging device |
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| CN (1) | CN106586537B (en) |
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| CN107601032A (en) * | 2017-10-12 | 2018-01-19 | 无锡中鼎集成技术有限公司 | A kind of new energy battery sorting clamping jaw with dimension compensation |
| CN107618826A (en) * | 2017-09-01 | 2018-01-23 | 广州市科腾智能装备股份有限公司 | A kind of automatic material taking means for correcting for automotive upholstery base material |
| CN108545420A (en) * | 2018-04-25 | 2018-09-18 | 苏州阡晨金属包装设备有限公司 | Handling device in a kind of pop can mould |
| CN108940905A (en) * | 2018-06-29 | 2018-12-07 | 深圳砺剑防卫技术有限公司 | A kind of detection device and detection method of sheet material |
| CN109108858A (en) * | 2018-10-17 | 2019-01-01 | 博众精工科技股份有限公司 | Multifunctional grip device |
| CN109823827A (en) * | 2018-12-25 | 2019-05-31 | 无锡蓝智自动化科技有限公司 | Spiral handling equipment |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111573258A (en) * | 2020-05-20 | 2020-08-25 | 欧拓飞科技(珠海)有限公司 | Manipulator feeding and discharging alignment system and method |
| CN111872754A (en) * | 2020-06-24 | 2020-11-03 | 广东利迅达机器人系统股份有限公司 | Clamping groove type feeding and discharging mechanism for water milling of cutter |
| CN111922795A (en) * | 2020-06-24 | 2020-11-13 | 广东利迅达机器人系统股份有限公司 | Material frame type feeding and discharging mechanism for water milling of cutter |
| CN113003115A (en) * | 2021-02-22 | 2021-06-22 | 江苏新悦自动化有限公司 | Hollow stabilizer bar guide device |
| CN114348637A (en) * | 2021-12-31 | 2022-04-15 | 盈合(深圳)机器人与自动化科技有限公司 | Substrate conveying device and method |
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| CN107618826A (en) * | 2017-09-01 | 2018-01-23 | 广州市科腾智能装备股份有限公司 | A kind of automatic material taking means for correcting for automotive upholstery base material |
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| CN108940905A (en) * | 2018-06-29 | 2018-12-07 | 深圳砺剑防卫技术有限公司 | A kind of detection device and detection method of sheet material |
| CN109108858A (en) * | 2018-10-17 | 2019-01-01 | 博众精工科技股份有限公司 | Multifunctional grip device |
| CN109823827A (en) * | 2018-12-25 | 2019-05-31 | 无锡蓝智自动化科技有限公司 | Spiral handling equipment |
| CN109823827B (en) * | 2018-12-25 | 2024-03-26 | 无锡蓝智自动化科技有限公司 | Winding wire feeding and discharging device |
| CN111376460A (en) * | 2018-12-29 | 2020-07-07 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection molding and stamping equipment with same |
| CN111376460B (en) * | 2018-12-29 | 2024-06-04 | 深圳市远望工业自动化设备有限公司 | Blanking robot and injection stamping equipment with same |
| CN111573258B (en) * | 2020-05-20 | 2022-03-22 | 欧拓飞科技(珠海)有限公司 | Manipulator feeding and discharging alignment system and method |
| CN111573258A (en) * | 2020-05-20 | 2020-08-25 | 欧拓飞科技(珠海)有限公司 | Manipulator feeding and discharging alignment system and method |
| CN111922795B (en) * | 2020-06-24 | 2021-10-01 | 广东利迅达机器人系统股份有限公司 | Material frame type feeding and discharging mechanism for water milling of cutter |
| CN111922795A (en) * | 2020-06-24 | 2020-11-13 | 广东利迅达机器人系统股份有限公司 | Material frame type feeding and discharging mechanism for water milling of cutter |
| CN111872754B (en) * | 2020-06-24 | 2022-04-01 | 广东利迅达机器人系统股份有限公司 | Clamping groove type feeding and discharging mechanism for water milling of cutter |
| CN111872754A (en) * | 2020-06-24 | 2020-11-03 | 广东利迅达机器人系统股份有限公司 | Clamping groove type feeding and discharging mechanism for water milling of cutter |
| CN113003115A (en) * | 2021-02-22 | 2021-06-22 | 江苏新悦自动化有限公司 | Hollow stabilizer bar guide device |
| CN114348637A (en) * | 2021-12-31 | 2022-04-15 | 盈合(深圳)机器人与自动化科技有限公司 | Substrate conveying device and method |
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Denomination of invention: A three-axis loading and unloading device Effective date of registration: 20231205 Granted publication date: 20221101 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. Chencun sub branch Pledgor: GUANGDONG LXD ROBOTICS Co.,Ltd. Registration number: Y2023980069372 |
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