CN106629104B - The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively - Google Patents
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively Download PDFInfo
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- CN106629104B CN106629104B CN201710056913.9A CN201710056913A CN106629104B CN 106629104 B CN106629104 B CN 106629104B CN 201710056913 A CN201710056913 A CN 201710056913A CN 106629104 B CN106629104 B CN 106629104B
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- Prior art keywords
- trailing arm
- basket
- girder
- sleeve
- hydraulic cylinder
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Classifications
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- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
Abstract
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, is related to a kind of sleeve handling system.In order to solve the problems, such as the inconvenient and extremely inefficient problem of existing sleeve transportation loading and unloading process.The present invention includes sleeve basket and automatic loading and unloading robot；The main body of sleeve basket is arc support basket；It is equipped on the outside of two edges of arc support basket and automatic loading and unloading robot overlapped suspension hook；The both ends of arc support basket are respectively equipped with support basket side shield；The both ends of center fixes sleeve are separately connected at the center of two support basket side shields；The girder of automatic loading and unloading robot passes perpendicularly through in the middle part of one end of board-like column, one end of girder trailing arm and end trailing arm, and can relatively rotate；The piston rod of column hydraulic cylinder corresponds to the center for being hinged to board-like column respectively；The piston rod of girder trailing arm hydraulic cylinder corresponds to the center for being hinged to girder trailing arm respectively；Hold the piston rod of trailing arm hydraulic cylinder hinged with the other end of corresponding end trailing arm respectively.The present invention is suitable for the design and manufacture field of transmission device.
Description
Technical field
The present invention relates to a kind of sleeve handling systems.
Background technology
Band is rolled be thinned to certain thickness after, when band volume withdraws milling train, volume center portion position will produce loose layer and recess,
In order to improve the needs with volume center portion rigidity and reprocessing, the bushing of a steel, that is, custom are all lined with volume center portion mostly
The steel bushing of title, it can be recycled in inside plants；And paper is generally replaced as when coiled material dispatches from the factory as finished product
Matter sleeve.So as soon as metal coiled strip processing enterprise, having a large amount of empty set will be continuously from each
It is removed on production line uncoiler, also has corresponding coiling machine and repeat to take on demand.In this way, it is desirable to be equal with coiled material and count
Storage and flowing between the different machines row in the online outer even different workshops of the empty set of amount.
Even the previous similar enterprises with considerable scale are also only stacked using simple posture and monomer-type is transported
Defeated scheme.As a result, workshop, other than semi-finished product coiled material and waste material, stacking is sleeve entirely；What overhead traveling crane was hung, fork truck and automobile fortune
Be also sleeve mostly.The especially enterprise in modern age, the degree of automation is higher, and the storage and transportation mode of similar sleeve, which just seems, more to be fallen
5.Because the automation procedure linking for only focusing on coiled material of people simply, a volume realize automation from being generated to output all,
Review the storage and transportation of sleeve almost without exception still continue to use above-mentioned old method.
Empty set is transported by overhead traveling crane, overhead traveling crane needs move on the overhead crane orbit at the top of workshop, the operation of overhead traveling crane is relatively slow,
Hanged relatively slow, and limited by overhead crane orbit at the top of workshop, moving region is restricted, and overhead traveling crane due to the use of the service life or
Person's mass is limited, it is possible to which, there is a situation where falling (overhead traveling crane, which falls, also to be actually occurred), there are great security risks.
Although application No. is a kind of 2013202199627 utility model patent " empty set aggregation dresses convenient for storage and transportation
It sets ".A kind of empty set aggregation device is described.Sleeve can only be stored in the both sides of U-shaped framework by the device, be equivalent to one
A likeness in formSleeve storing unit, the transport of sleeve can only be facilitated, and can only be sharp after sleeve is transported to designated position
With the hanged sleeve of the devices such as overhead traveling crane, load and unload inconvenient, extremely inefficient.
Invention content
The present invention is in order to solve the problems, such as the inconvenient and extremely inefficient problem of existing sleeve transportation loading and unloading process.
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, including sleeve basket and automatic loading and unloading robot；
The sleeve basket includes two support basket side shields, arc support basket, center fixes sleeve, middle and upper part hand basket plate and four
Block pedestal reinforcement plate；
The arc support basket is made of side by side several U-shaped skeletons for being lined with channel steel, and several U-shapeds for being lined with channel steel
The bottom centre of skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons are connected with
Securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook；
Support basket side shield is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve is cylindrical shape；
The middle and upper part hand basket plate includes that a top connects transverse slat, three connection boards；Three connections are vertical
Plate is along the surface of center fixes sleeve central axis centrally disposed fixes sleeve in one line and in three connection boards
Two both ends being located on the fixes sleeve length direction of center, two sections of skies between centre, these three connection boards
Gap is used to insert for fork truck and take；Three connection board other ends (connection board connect with center fixes sleeve 13 while it is opposite while)
Common contiguous top connects transverse slat, and three connection boards connect the axis collinear of transverse slat with top；
It is separately connected the both ends of center fixes sleeve at the center of two support basket side shields, and middle and upper part hand basket plate is towards U
The open outer side of shape skeleton；It is the cavity being connected to, cavity of the cavity similar to U-tube between center fixes sleeve and U-shaped skeleton；
Four pieces of pedestal reinforcement plates arcuately ask the center line symmetrical setting on basket length direction at arc support basket bottom
On the outer surface in portion, two pieces of pedestal reinforcement plates per side are arranged at the both ends of arc support basket length direction；Four pieces of pedestal reinforcement plates
Bottom surface and arc support basket outer surface bottom form a plane, stood on ground so that the cavity inside arc support basket can be put down
On；
The automatic loading and unloading robot include two board-like columns, two girder trailing arms, two end trailing arms, girder, with
The equal column hydraulic cylinder of board-like column quantity, the girder trailing arm hydraulic cylinder equal with girder trailing arm quantity and end trailing arm quantity
Equal end trailing arm hydraulic cylinder；
Two board-like columns are arranged in the same direction side by side, and one end of two board-like columns connects with corresponding ground pedestal respectively
Fitting is hinged；Girder passes perpendicularly through the other end of each board-like column being arranged in the same direction side by side and can relatively rotate, or each
The other end of a board-like column is and main beam pivot；
Column hydraulic cylinder is corresponded with board-like column, and correspondence is hinged to board-like column to the piston rod of column hydraulic cylinder respectively
Center, the cylinder body of column hydraulic cylinder is hinged with corresponding ground pedestal connector respectively；
Two girder trailing arms are arranged in the same direction side by side；Girder passes perpendicularly through the one end for the girder trailing arm being arranged in the same direction side by side and energy
It is enough relatively rotate or one end of girder trailing arm with and main beam pivot, hinged end are the rotation center of main corbel arm；Girder support
The other end of arm is tache motorice；
Girder trailing arm hydraulic cylinder is corresponded with girder trailing arm, and correspondence is hinged to the piston rod of girder trailing arm hydraulic cylinder respectively
The center of girder trailing arm；The cylinder body of girder trailing arm hydraulic cylinder is hinged with corresponding ground pedestal connector respectively；Girder support
The support object plane of arm is arc；Jaw identical with pedestal reinforcement plate bottom shape is provided on the support object plane of the tache motorice of girder trailing arm
Slot, to match clamper sleeve basket with pedestal reinforcement plate；
Two end trailing arms are arranged in the same direction side by side, and end trailing arm hydraulic cylinder is corresponded with end trailing arm, holds the work of trailing arm hydraulic cylinder
Stopper rod is hinged with one end of corresponding end trailing arm respectively, and it is tache motorice to hold the other end of trailing arm；And girder is also cross each
It holds in the middle part of trailing arm or is hinged with end trailing arm middle part；The cylinder body of end trailing arm hydraulic cylinder is respectively hinged in supporting beam, the support
Beam is to pass perpendicularly through each board-like column being arranged in the same direction side by side and the column or angle bar affixed with board-like column；Hold trailing arm
Support object plane be arc, and hold trailing arm arc support object plane side be equipped with slope edge；
When loading and unloading empty set, the suspension hook of the U-shaped skeleton opening of arc support basket is hooked in the girder of automatic loading and unloading robot
On, make arc support basket by adjusting the girder trailing arm hydraulic cylinder of automatic loading and unloading robot, column hydraulic cylinder and end trailing arm hydraulic cylinder
Angle change, so that empty set is entered arc support basket from side or is poured out from the side of arc support basket；Pass through girder simultaneously
Trailing arm and end trailing arm realize that sleeve into basket or goes out basket, complete handling.
Preferably, the end trailing arm is equipped with sensor and sense object sensor in survey.
Preferably, the middle and upper part hand basket plate further includes several small gussets；The both sides and center of three connection boards
The junction of fixes sleeve is equipped with small gusset, i.e., a side of small gusset connects middle and upper part hand basket plate, small gusset another
The third sideband of side connection center fixes sleeve, small gusset is cambered affixed as middle and upper part hand basket plate and center fixes sleeve
The fillet at place.
Preferably, four pieces of pedestal reinforcement plates arcuately ask the center line symmetrical setting on basket length direction in arc
When holding in the palm on the outer surface of basket bottom, the distance between two pieces of pedestal reinforcement plates per side are more than the length that machine alignment unreels saddle.
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, including sleeve basket and automatic loading and unloading robot；
The sleeve basket includes two support basket side shields, arc support basket, center fixes sleeve, middle and upper part hand basket plate and four
Block pedestal reinforcement plate；
The arc support basket is made of side by side several U-shaped skeletons for being lined with channel steel, and several U-shapeds for being lined with channel steel
The bottom centre of skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons are connected with
Securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook；
Support basket side shield is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve is cylindrical shape；
The middle and upper part hand basket plate includes that a top connects transverse slat, three connection boards；Three connections are vertical
Plate is along the surface of center fixes sleeve central axis centrally disposed fixes sleeve in one line and in three connection boards
Two both ends being located on the fixes sleeve length direction of center, two sections of skies between centre, these three connection boards
Gap is used to insert for fork truck and take；Three connection board other ends (connection board connect with center fixes sleeve 13 while it is opposite while)
Common contiguous top connects transverse slat, and three connection boards connect the axis collinear of transverse slat with top；
It is separately connected the both ends of center fixes sleeve at the center of two support basket side shields, and middle and upper part hand basket plate is towards U
The open outer side of shape skeleton；It is the cavity being connected to, cavity of the cavity similar to U-tube between center fixes sleeve and U-shaped skeleton；
Four pieces of pedestal reinforcement plates arcuately ask the center line symmetrical setting on basket length direction at arc support basket bottom
On the outer surface in portion, two pieces of pedestal reinforcement plates per side are arranged at the both ends of arc support basket length direction；Four pieces of pedestal reinforcement plates
Bottom surface and arc support basket outer surface bottom form a plane, stood on ground so that the cavity inside arc support basket can be put down
On；
The automatic loading and unloading robot include two board-like columns, two girder trailing arms, two end trailing arms, girder, with
The equal girder trailing arm hydraulic cylinder of trailing arm quantity, the end trailing arm hydraulic cylinder equal with end trailing arm quantity；
Two board-like columns are arranged in the same direction side by side, and one end of two board-like columns is separately fixed on sleeve rack；Girder hangs down
The other end of the excessively each board-like column being arranged in the same direction side by side of direct puncture and can relatively rotate or each board-like column it is another
End is and main beam pivot；
Two girder trailing arms are arranged in the same direction side by side；Girder passes perpendicularly through the one end for the girder trailing arm being arranged in the same direction side by side and energy
It is enough relatively rotate or one end of girder trailing arm with and main beam pivot, hinged end are the rotation center of main corbel arm；Girder support
The other end of arm is tache motorice；
Girder trailing arm hydraulic cylinder is corresponded with girder trailing arm, and correspondence is hinged to the piston rod of girder trailing arm hydraulic cylinder respectively
The center of girder trailing arm；The cylinder body of girder trailing arm hydraulic cylinder is respectively hinged on sleeve rack；The support object plane of girder trailing arm is arc；
Jaw slot identical with pedestal reinforcement plate bottom shape is provided on the support object plane of the tache motorice of girder trailing arm, so as to pedestal lacing wire
Plate matches clamper sleeve basket；
Two end trailing arms are arranged in the same direction side by side, and end trailing arm hydraulic cylinder is corresponded with end trailing arm, holds the work of trailing arm hydraulic cylinder
Stopper rod is hinged with one end of corresponding end trailing arm respectively, and it is tache motorice to hold the other end of trailing arm；And girder is also cross each
It holds in the middle part of trailing arm or is hinged with end trailing arm middle part；The cylinder body of end trailing arm hydraulic cylinder is respectively hinged on sleeve rack；Hold trailing arm
Support object plane is arc, and the side of trailing arm arc support object plane is held to be equipped with slope edge；
When loading and unloading empty set, the suspension hook of the U-shaped skeleton opening of arc support basket is hooked in the girder of automatic loading and unloading robot
On, make arc support basket by adjusting the girder trailing arm hydraulic cylinder of automatic loading and unloading robot, column hydraulic cylinder and end trailing arm hydraulic cylinder
Angle change, so that empty set is entered arc support basket from side or is poured out from the side of arc support basket；Pass through girder simultaneously
Trailing arm and end trailing arm realize that sleeve into basket or goes out basket, complete handling.
Preferably, the end trailing arm is equipped with sensor and sense object sensor in survey.
Preferably, the middle and upper part hand basket plate further includes several small gussets；The both sides and center of three connection boards
The junction of fixes sleeve is equipped with small gusset, i.e., a side of small gusset connects middle and upper part hand basket plate, small gusset another
The third sideband of side connection center fixes sleeve, small gusset is cambered affixed as middle and upper part hand basket plate and center fixes sleeve
The fillet at place.
Preferably, four pieces of pedestal reinforcement plates arcuately ask the center line symmetrical setting on basket length direction in arc
When holding in the palm on the outer surface of basket bottom, the distance between two pieces of pedestal reinforcement plates per side are more than the length that machine alignment unreels saddle.
The invention has the advantages that：
The present invention can avoid the operation frequency of overhead traveling crane as possible, can largely save material resources and energy consumption.And
The automatic loading and unloading that empty set can be realized using the present invention, can almost realize unattended operation, largely save
Cost of human resources.The present invention not only loads and unloads empty set without overhead traveling crane, and can realize continuous handling, and handling are very square
Just, fast, compare and load and unload empty set by overhead traveling crane, the efficiency of loading and unloading of the invention improves several times or more；
And sleeve basket that can be through the invention stores empty set, not only so that the regular effect for improving sleeve and taking fortune in scene
Rate, while meeting various safety or production requirement.Sleeve basket transport empty set efficiency through the invention is also conventional simultaneously
The several times of single empty set overhead traveling crane means of transportation efficiency.
Empty set handling system through the invention is fully able to realize the handling problem of the ground transport of empty set simultaneously,
It avoids empty set and is used in various problems and security risk existing for air transport.And the configuration of the present invention is simple, failure rate is low,
It is easy repair, safeguards, largely save maintenance cost.
Description of the drawings
Fig. 1 is the structural schematic diagram on sleeve basket side shield direction；
Fig. 2 is the structural schematic diagram on sleeve basket length direction；
Fig. 3 is the structural schematic diagram in the automatic loading and unloading robot side-looking direction in specific implementation mode one；
Fig. 4 is the structural schematic diagram on the automatic loading and unloading robot main view direction in specific implementation mode one；
Fig. 5 is the structural schematic diagram in the automatic loading and unloading robot side-looking direction in specific implementation mode five；
Fig. 6 is the structural schematic diagram on the automatic loading and unloading robot main view direction in specific implementation mode five；
Fig. 7 is that sleeve basket and manipulator are used cooperatively and connect the three-dimensional signal that empty set enters basket on direct slave alignment trolley
Figure；
Fig. 8 is that sleeve basket and manipulator are used cooperatively and connect the process signal that empty set enters basket on direct slave alignment trolley
Figure；
Fig. 9 is sleeve basket and manipulator with the use of the process schematic for loading empty set from sleeve storage rack；
Figure 10 is sleeve basket and manipulator with the use of the process schematic for unloading empty set on sleeve storage rack.
Specific implementation mode
Specific implementation mode one：Illustrate present embodiment in conjunction with Fig. 1 to Fig. 4,
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, including sleeve basket and automatic loading and unloading robot；
The sleeve basket includes two support basket side shields 11, arc support basket 12, center fixes sleeve 13, middle and upper part hand basket
Plate 14 and four pieces of pedestal reinforcement plates 15；
The arc support basket 12 is made of side by side several U-shaped skeletons for being lined with channel steel, and several U for being lined with channel steel
The bottom centre of shape skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons connect
There is securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook 121；
Support basket side shield 11 is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve 13 is cylindrical shape；
The middle and upper part hand basket plate 14 includes that a top connects 142, three connection boards 141 of transverse slat；Described three
A connection board 141 along the surface of 13 central axis of center fixes sleeve centrally disposed fixes sleeve 13 in one line and
Two in three connection boards 141 both ends being located on 13 length direction of center fixes sleeve, one be located at centre, these three
Two sections of gaps between connection board 141 are used to insert for fork truck and take；Three 141 other ends of connection board (connection board and centers
The connection of fixes sleeve 13 while it is opposite while) common contiguous top connects transverse slat 142, and three connection boards 141 connect with top
Connect the axis collinear of transverse slat 142；
The both ends of center fixes sleeve 13, and middle and upper part hand basket plate 14 are separately connected at the center of two support basket side shields 11
Towards the open outer side of U-shaped skeleton；It is the cavity 123 being connected between center fixes sleeve 13 and U-shaped skeleton, cavity 123 is similar to U
The cavity of type pipe；
Four pieces of pedestal reinforcement plates 15 arcuately ask the center line symmetrical setting on 12 length direction of basket in arc support
On the outer surface of 12 bottom of basket, two pieces of pedestal reinforcement plates 15 per side are arranged at the both ends of 12 length direction of arc support basket；Four pieces
The bottom surface of pedestal reinforcement plate 15 forms a plane with 12 outer surface bottom of arc support basket, so as to the cavity inside arc support basket 12
123 can put down it is vertical on the ground；
The automatic loading and unloading robot includes that two 22, two, board-like column girder trailing arms 21, two hold trailing arm 23, master
Beam 24, the column hydraulic cylinder 221 equal with board-like column quantity, the girder trailing arm hydraulic cylinder 211 equal with girder trailing arm quantity,
The end trailing arm hydraulic cylinder 231 equal with end trailing arm quantity；
The setting in the same direction side by side of two board-like columns 22, one end of two board-like columns 22 respectively with corresponding ground base
Seat connector is hinged；Girder 24 passes perpendicularly through the other end of each board-like column 22 being arranged in the same direction side by side and opposite can turn
The other end of dynamic or each board-like column 22 is hinged with girder 24；
Column hydraulic cylinder 221 is corresponded with board-like column 22, and correspondence is hinged to the piston rod of column hydraulic cylinder 221 respectively
The cylinder body in the center of board-like column 22, column hydraulic cylinder 221 is hinged with corresponding ground pedestal connector respectively；
The setting in the same direction side by side of two girder trailing arms 21；Girder 24 passes perpendicularly through the one of the girder trailing arm 21 being arranged in the same direction side by side
Hold and can relatively rotate or one end of girder trailing arm 21 with girder 24 it is hinged, hinged end for main corbel arm 21 rotation
Turn center；The other end of girder trailing arm 21 is tache motorice；
Girder trailing arm hydraulic cylinder 211 is corresponded with girder trailing arm 21, and the piston rod of girder trailing arm hydraulic cylinder 211 is right respectively
The center of girder trailing arm 21 should be hinged to；The cylinder body of girder trailing arm hydraulic cylinder 211 is connect with corresponding ground pedestal respectively
Part is hinged；The support object plane of girder trailing arm 21 is arc；It is provided on the support object plane of the tache motorice of girder trailing arm 21 and pedestal reinforcement plate
The identical jaw slot of 15 bottom shapes, to match clamper sleeve basket with pedestal reinforcement plate 15；
The setting in the same direction side by side of two end trailing arms 23, end trailing arm hydraulic cylinder 231 are corresponded with end trailing arm 23, hold trailing arm hydraulic pressure
The piston rod of cylinder 231 is hinged with one end of corresponding end trailing arm 23 respectively, and the other end of end trailing arm 23 is tache motorice；And girder
24 are hinged also cross 23 middle part of each end trailing arm or with 23 middle part of end trailing arm；The cylinder body of end trailing arm hydraulic cylinder 231 is cut with scissors respectively
Be connected in supporting beam 25, the supporting beam 25 be pass perpendicularly through each board-like column 22 being arranged in the same direction side by side and with board-like column
22 affixed columns or angle bar；It is arc to hold the support object plane of trailing arm 23, and the side of 23 arc support object plane of trailing arm is held to be equipped with
Slope edge；
When loading and unloading empty set, the suspension hook 121 of the U-shaped skeleton opening of arc support basket 12 is hooked in automatic loading and unloading robot
On girder 24, by adjusting the girder trailing arm hydraulic cylinder 211 of automatic loading and unloading robot, column hydraulic cylinder 221 and end trailing arm hydraulic pressure
Cylinder 231 makes the angle of arc support basket 12 change, and empty set is made from side to enter arc support basket 12 or from arc support basket 12
It pours out side；It realizes that sleeve into basket or goes out basket by girder trailing arm 21 and end trailing arm 23 simultaneously, completes handling.
This set empty set handling system is completely instead of uncoiling (or batching) side setting on existing conventional machine alignment
Sleeve storage rack, while can also avoid the operation frequency of overhead traveling crane as possible, can largely use manpower and material resources sparingly and energy
Consumption.It is fully able to realize the handling problem of the ground transport of empty set by this set empty set handling system simultaneously, avoids sky
Sleeve is used in various problems and security risk existing for air transport.
In conjunction with Fig. 7 and Fig. 8, illustrate as follows using the cargo handling process of this set empty set handling system：
A set of automatic loading and unloading robot is set at tunica cylinder storage rack, when needing transport, adjusts automatic loading and unloading robot
The girder trailing arm hydraulic cylinder 211 of hand, column hydraulic cylinder 221 and end trailing arm hydraulic cylinder 231 will when loading and unloading empty set arc support basket
12 suspension hook 121 is hooked on the girder 24 of automatic loading and unloading robot, and girder trailing arm 21 is held outside the arc support basket 12 of sleeve basket
Then side adjusts girder trailing arm hydraulic cylinder 211, column hydraulic cylinder 221, until the plane of sleeve basket open end in perpendicular and
Open end direction is equipped with the carrier loader of empty set or the storing place of empty set, then 231 control terminal of adjustable side trailing arm hydraulic cylinder
Trailing arm 23 lifts empty set, when the empty set on empty set carrier loader or empty set ground is not just aligned with end trailing arm 23, two
During a end trailing arm 23 lifts empty set, one end of empty set can ride over corresponding 23 slope of side trailing arm along upper, due to weight
Power reason, empty set can while rolling along slope along the centres for other side play, reaching two end trailing arms 23；Due to
Hold the structural relation of trailing arm 23, girder trailing arm 21 and girder 24 so that one connection of end trailing arm 23 and the formation of girder trailing arm 21
Curved surface, empty set enter sleeve basket from end trailing arm 23 by girder trailing arm 21.Then girder trailing arm hydraulic cylinder 211, column are adjusted
Hydraulic cylinder 221 and then the plane inclination for adjusting sleeve basket open end, repeat the process that above-mentioned sleeve is packed into sleeve basket；Due to center
It is the cavity 123 being connected between fixes sleeve 13 and U-shaped skeleton, so empty set can fill full set sleeve basket, completes empty set
The loading of cylinder.Then the mode that empty set can be directly transported with the past transports sleeve basket, is needed when sleeve basket arrives at
The process that refer to above-mentioned loading unloads empty set.
Specific implementation mode two：
End trailing arm 23 described in present embodiment is equipped with sensor and sense object sensor in survey.It is small for perceptron alignment
Whether vehicle is loaded into the centre for being located at two end trailing arms 23 by empty set and orders its correct off-position；Being also used for test side trailing arm 23 is
It is no successfully to lift empty set, when empty set is located between two end trailing arms 23, continue 231 control terminal of adjustment end trailing arm hydraulic cylinder
Trailing arm 23 makes end trailing arm 23 and girder trailing arm 21 form the curved surface of a connection, to which empty set to be accurately put into sleeve basket
It is interior.
Other structures are same as the specific embodiment one.
Specific implementation mode three：
Middle and upper part hand basket plate 14 described in present embodiment further includes several small gussets 143；Three connection boards 141
Both sides are equipped with small gusset 143 with the junction of center fixes sleeve, i.e. a side of small gusset 143 connects middle and upper part hand basket
Plate 14, another side connection center fixes sleeve 13 of small gusset 143, in the cambered conduct of third sideband of small gusset 143
The fillet of top hand basket plate 14 and 13 fixing position of center fixes sleeve.It is solid with center that reinforcement middle and upper part hand basket plate 14 can not only be played
Determine the bonding strength of sleeve 13, and fillet can be when loading and unloading empty set, especially 123 portareapiston of cavity is in vertical
When, it plays support and empty set is prevented to be in direct contact collision with middle and upper part hand basket plate 14 or center fixes sleeve 13.
Other structures are the same as one or two specific embodiments.
Specific implementation mode four：
Four pieces of pedestal reinforcement plates 15 described in present embodiment arcuately ask the center line on 12 length direction of basket symmetrically to set
It sets when on the outer surface of 12 bottom of arc support basket, the distance between two pieces of pedestal reinforcement plates 15 per side are unreeled more than machine alignment
The length of saddle so that machine alignment unreel the both ends that saddle can be stuck on sleeve basket length direction pedestal reinforcement plate 15 it
Between, it is unreeled on saddle so that entire sleeve basket is smoothly placed in machine alignment.
Other structures are identical as one of specific implementation mode one to three.
Specific implementation mode five：Illustrate present embodiment in conjunction with Fig. 1, Fig. 2, Fig. 5 and Fig. 6,
The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, including sleeve basket and automatic loading and unloading robot；
The sleeve basket includes two support basket side shields 11, arc support basket 12, center fixes sleeve 13, middle and upper part hand basket
Plate 14 and four pieces of pedestal reinforcement plates 15；
The arc support basket 12 is made of side by side several U-shaped skeletons for being lined with channel steel, and several U for being lined with channel steel
The bottom centre of shape skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons connect
There is securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook 121；
Support basket side shield 11 is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve 13 is cylindrical shape；
The middle and upper part hand basket plate 14 includes that a top connects 142, three connection boards 141 of transverse slat；Described three
A connection board 141 along the surface of 13 central axis of center fixes sleeve centrally disposed fixes sleeve 13 in one line and
Two in three connection boards 141 both ends being located on 13 length direction of center fixes sleeve, one be located at centre, these three
Two sections of gaps between connection board 141 are used to insert for fork truck and take；Three 141 other ends of connection board (connection board and centers
The connection of fixes sleeve 13 while it is opposite while) common contiguous top connects transverse slat 142, and three connection boards 141 connect with top
Connect the axis collinear of transverse slat 142；
The both ends of center fixes sleeve 13, and middle and upper part hand basket plate 14 are separately connected at the center of two support basket side shields 11
Towards the open outer side of U-shaped skeleton；It is the cavity 123 being connected between center fixes sleeve 13 and U-shaped skeleton, cavity 123 is similar to U
The cavity of type pipe；
Four pieces of pedestal reinforcement plates 15 arcuately ask the center line symmetrical setting on 12 length direction of basket in arc support
On the outer surface of 12 bottom of basket, two pieces of pedestal reinforcement plates 15 per side are arranged at the both ends of 12 length direction of arc support basket；Four pieces
The bottom surface of pedestal reinforcement plate 15 forms a plane with 12 outer surface bottom of arc support basket, so as to the cavity inside arc support basket 12
123 can put down it is vertical on the ground；
The automatic loading and unloading robot includes that two 22, two, board-like column girder trailing arms 21, two hold trailing arm 23, master
Beam 24, the girder trailing arm hydraulic cylinder 211 equal with trailing arm quantity, the end trailing arm hydraulic cylinder 231 equal with end trailing arm quantity；
The setting in the same direction side by side of two board-like columns 22, one end of two board-like columns 22 is separately fixed on sleeve rack；It is main
Beam 24 passes perpendicularly through the other end of each board-like column 22 being arranged in the same direction side by side and can relatively rotate or each board-like vertical
The other end of column 22 is hinged with girder 24；
The setting in the same direction side by side of two girder trailing arms 21；Girder 24 passes perpendicularly through the one of the girder trailing arm 21 being arranged in the same direction side by side
Hold and can relatively rotate or one end of girder trailing arm 21 with girder 24 it is hinged, hinged end for main corbel arm 21 rotation
Turn center；The other end of girder trailing arm 21 is tache motorice；
Girder trailing arm hydraulic cylinder 211 is corresponded with girder trailing arm 21, and the piston rod of girder trailing arm hydraulic cylinder 211 is right respectively
The center of girder trailing arm 21 should be hinged to；The cylinder body of girder trailing arm hydraulic cylinder 211 is respectively hinged on sleeve rack；Girder trailing arm 21
Support object plane be arc；Pincers identical with 15 bottom shape of pedestal reinforcement plate are provided on the support object plane of the tache motorice of girder trailing arm 21
Mouth slot, to match clamper sleeve basket with pedestal reinforcement plate 15；
The setting in the same direction side by side of two end trailing arms 23, end trailing arm hydraulic cylinder 231 are corresponded with end trailing arm 23, hold trailing arm hydraulic pressure
The piston rod of cylinder 231 is hinged with one end of corresponding end trailing arm 23 respectively, and the other end of end trailing arm 23 is tache motorice；And girder
24 are hinged also cross 23 middle part of each end trailing arm or with 23 middle part of end trailing arm；The cylinder body of end trailing arm hydraulic cylinder 231 is cut with scissors respectively
It is connected on sleeve rack；It is arc to hold the support object plane of trailing arm 23, and the side of 23 arc support object plane of trailing arm is held to be equipped with slope edge；
When loading and unloading empty set, the suspension hook 121 of the U-shaped skeleton opening of arc support basket 12 is hooked in automatic loading and unloading robot
On girder 24, by adjusting the girder trailing arm hydraulic cylinder 211 of automatic loading and unloading robot, column hydraulic cylinder 221 and end trailing arm hydraulic pressure
Cylinder 231 makes the angle of arc support basket 12 change, and empty set is made from side to enter arc support basket 12 or from arc support basket 12
It pours out side；It realizes that sleeve into basket or goes out basket by girder trailing arm 21 and end trailing arm 23 simultaneously, completes handling.
Since current a lot of workshops are all provided with the old workshop of sleeve rack, when being reconstructed to existing workshop, for
Factory Building is not related to the case where removing sleeve rack, above-mentioned Factory Building situation being directed in this set empty set handling system
Handling system.The operation frequency that this set empty set handling system can avoid as possible, can largely save manpower object
Power and energy consumption.It is fully able to realize the handling problem of the ground transport of empty set by this set empty set handling system simultaneously, keep away
Exempt from empty set and is used in various problems and security risk existing for air transport.
In conjunction with Fig. 9 and Figure 10, illustrate as follows using the cargo handling process of this set empty set handling system：
When needing to take empty set, automatic loading and unloading robot is set by empty set bylinder, when needing transport, adjustment is adjusted
Girder trailing arm hydraulic cylinder 211, column hydraulic cylinder 221 and the end trailing arm hydraulic cylinder 231 of whole automatic loading and unloading robot ought load and unload sky
The suspension hook 121 of arc support basket 12 is hooked on the girder 24 of automatic loading and unloading robot when sleeve, and girder trailing arm 21 is held sleeve basket
The outside of arc support basket 12, girder trailing arm hydraulic cylinder 211, column hydraulic cylinder 221 are then adjusted, until sleeve basket open end is flat
Face is in perpendicular and open end is towards empty set bylinder is equipped with, and then 231 control terminal trailing arm 23 of adjustable side trailing arm hydraulic cylinder is lifted
Empty set, when the empty set in empty set bylinder is not just aligned with end trailing arm 23, two end trailing arms 23 lift the mistake of empty set
Cheng Zhong, one end of empty set can ride over corresponding 23 slope of side trailing arm along upper, and due to gravity, empty set can be in the same of rolling
When along slope along the centres for other side play, reaching two end trailing arms 23；Due to end trailing arm 23, girder trailing arm 21 and girder
24 structural relation so that end trailing arm 23 and girder trailing arm 21 form a connection or curved surface, and empty set is passed through from end trailing arm 23
Girder trailing arm 21 enters basket sleeve basket.Then holder for regulating arm hydraulic cylinder 211, column hydraulic cylinder 221 adjust sleeve basket and open in turn
The plane at mouth end tilts, and repeats the process that above-mentioned sleeve is packed into sleeve basket；Due to being between center fixes sleeve 13 and U-shaped skeleton
The cavity 123 of connection completes the loading of empty set so empty set can fill full set sleeve basket.Then it can use straight in the past
The mode for connecing transport empty set transports sleeve basket, and the process unloading that above-mentioned loading is needed to refer to when sleeve basket arrives at is empty
Sleeve.
Two kinds of automatic loaders and unloaders of specific implementation mode one and present embodiment may be used in actual production process
Tool hand and sleeve basket are used cooperatively, and realize handling and transport for the empty set under various factory's conditions.
Other structures are identical as specific implementation mode five.
Specific implementation mode six：
End trailing arm 23 described in present embodiment is equipped with sensor and sense object sensor in survey.It is small for perceptron alignment
Whether vehicle is loaded into the centre for being located at two end trailing arms 23 by empty set and orders its correct off-position；Being also used for test side trailing arm 23 is
It is no successfully to lift empty set, when empty set is located between two end trailing arms 23, continue 231 control terminal of adjustment end trailing arm hydraulic cylinder
Trailing arm 23 makes end trailing arm 23 and girder trailing arm 21 form the curved surface of a connection, to which empty set to be accurately put into sleeve basket
It is interior.
Other structures are identical as specific implementation mode five.
Specific implementation mode seven：
Middle and upper part hand basket plate 14 described in present embodiment further includes several small gussets 143；Three connection boards 141
Both sides are equipped with small gusset 143 with the junction of center fixes sleeve, i.e. a side of small gusset 143 connects middle and upper part hand basket
Plate 14, another side connection center fixes sleeve 13 of small gusset 143, in the cambered conduct of third sideband of small gusset 143
The fillet of top hand basket plate 14 and 13 fixing position of center fixes sleeve.It is solid with center that reinforcement middle and upper part hand basket plate 14 can not only be played
Determine the bonding strength of sleeve 13, and fillet can be when loading and unloading empty set, especially 123 portareapiston of cavity is in vertical
When, it plays support and empty set is prevented to be in direct contact collision with middle and upper part hand basket plate 14 or center fixes sleeve 13.
Other structures are identical as specific implementation mode five or six.
Specific implementation mode eight：
Four pieces of pedestal reinforcement plates 15 described in present embodiment arcuately ask the center line on 12 length direction of basket symmetrically to set
It sets when on the outer surface of 12 bottom of arc support basket, the distance between two pieces of pedestal reinforcement plates 15 per side are unreeled more than machine alignment
The length of saddle so that machine alignment unreel the both ends that saddle can be stuck on sleeve basket length direction pedestal reinforcement plate 15 it
Between, it is unreeled on saddle so that entire sleeve basket is smoothly placed in machine alignment.
Other structures are identical as one of specific implementation mode five to seven.
Claims (8)
1. the sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, which is characterized in that including sleeve basket and automatic dress
Unload manipulator；
The sleeve basket is carried including two support basket side shields (11), arc support basket (12), center fixes sleeve (13), middle and upper part
Backboard (14) and four pieces of pedestal reinforcement plates (15)；
The arc support basket (12) is made of side by side several U-shaped skeletons for being lined with channel steel, and several U-shapeds for being lined with channel steel
The bottom centre of skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons are connected with
Securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook (121)；
Support basket side shield (11) is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve (13) is cylindrical shape；
The middle and upper part hand basket plate (14) includes that a top connects transverse slat (142), three connection boards (141)；Described
Table of three connection boards (141) along center fixes sleeve (13) central axis centrally disposed fixes sleeve (13) in one line
Two on face and in three connection boards (141) both ends being located on center fixes sleeve (13) length direction, one be located at
It is intermediate；Three connection board (141) other end common contiguous top connection transverse slats (142), and three connection boards (141) and top
Portion connects the axis collinear of transverse slat (142)；
The both ends of center fixes sleeve (13), and middle and upper part hand basket plate are separately connected at the center of two support basket side shields (11)
(14) towards the open outer side of U-shaped skeleton；Cavity (123) between center fixes sleeve (13) and U-shaped skeleton to be connected to；
Four pieces of pedestal reinforcement plates (15) arcuately ask the center line symmetrical setting on basket (12) length direction in arc support
On the outer surface of basket (12) bottom, two pieces of pedestal reinforcement plates (15) per side are arranged the two of arc support basket (12) length direction
End；The bottom surface of four pieces of pedestal reinforcement plates (15) forms a plane with arc support basket (12) outer surface bottom；
The automatic loading and unloading robot include two board-like columns (22), two girder trailing arms (21), two end trailing arms (23),
Girder (24), the column hydraulic cylinder (221) equal with board-like column quantity, the girder trailing arm hydraulic pressure equal with girder trailing arm quantity
Cylinder (211), the end trailing arm hydraulic cylinder (231) equal with end trailing arm quantity；
The setting in the same direction side by side of two board-like columns (22), one end of two board-like columns (22) respectively with corresponding ground base
Seat connector is hinged；Girder (24) passes perpendicularly through the other end of each board-like column (22) being arranged in the same direction side by side and can be opposite
The other end of rotation or each board-like column (22) is hinged with girder (24)；
Column hydraulic cylinder (221) is corresponded with board-like column (22), and the piston rod of column hydraulic cylinder (221) is corresponding hinged respectively
Cylinder body to the center of board-like column (22), column hydraulic cylinder (221) is hinged with corresponding ground pedestal connector respectively；
The setting in the same direction side by side of two girder trailing arms (21)；Girder (24) passes perpendicularly through the girder trailing arm (21) being arranged in the same direction side by side
One end and can relatively rotate or one end of girder trailing arm (21) with girder (24) it is hinged, hinged end is main corbel arm
(21) rotation center；The other end of girder trailing arm (21) is tache motorice；
Girder trailing arm hydraulic cylinder (211) is corresponded with girder trailing arm (21), the piston rod difference of girder trailing arm hydraulic cylinder (211)
The corresponding center for being hinged to girder trailing arm (21)；The cylinder body of girder trailing arm hydraulic cylinder (211) respectively with corresponding ground base
Seat connector is hinged；The support object plane of girder trailing arm (21) is arc；Be provided on the support object plane of the tache motorice of girder trailing arm (21) with
The identical jaw slot of pedestal reinforcement plate (15) bottom shape, to match clamper sleeve basket with pedestal reinforcement plate (15)；
Setting in the same direction, end trailing arm hydraulic cylinder (231) correspond two end trailing arms (23) with end trailing arm (23) side by side, hold trailing arm liquid
The piston rod of cylinder pressure (231) is hinged with one end of corresponding end trailing arm (23) respectively, and the other end of end trailing arm (23) is tache motorice；
And girder (24) is hinged also cross in the middle part of each end trailing arm (23) or with end trailing arm (23) middle part；Hold trailing arm hydraulic cylinder
(231) cylinder body is respectively hinged in supporting beam (25), and the supporting beam (25) passes perpendicularly through each to be arranged in the same direction side by side
Board-like column (22) and the column or angle bar affixed with board-like column (22)；It is arc to hold the support object plane of trailing arm (23), and
The side of trailing arm (23) arc support object plane is held to be equipped with slope edge；
When loading and unloading empty set, the suspension hook (121) of the U-shaped skeleton opening of arc support basket (12) is hooked in automatic loading and unloading robot
On girder (24), by adjusting the girder trailing arm hydraulic cylinder (211) of automatic loading and unloading robot, column hydraulic cylinder (221) and end support
Arm hydraulic cylinder (231) makes the angle of arc support basket (12) change, make empty set from side enter arc support basket (12) or from
It pours out the side of arc support basket (12)；Realize that sleeve into basket or goes out basket by girder trailing arm (21) and end trailing arm (23) simultaneously, it is complete
At handling.
2. the sleeve handling system that a kind of sleeve basket according to claim 1 and manipulator are used cooperatively, which is characterized in that
The end trailing arm (23) is equipped with sensor and sense object sensor in survey.
3. the sleeve handling system that a kind of sleeve basket according to claim 1 or 2 and manipulator are used cooperatively, feature exist
In the middle and upper part hand basket plate (14) further includes several small gussets (143)；The both sides of three connection boards (141), in
The junction of heart fixes sleeve is equipped with small gusset (143), i.e., a side of small gusset (143) connects middle and upper part hand basket plate
(14), another side connection center fixes sleeve (13) of small gusset (143), the third sideband of small gusset (143) are cambered
Fillet as middle and upper part hand basket plate (14) and center fixes sleeve (13) fixing position.
4. the sleeve handling system that a kind of sleeve basket according to claim 3 and manipulator are used cooperatively, which is characterized in that
Four pieces of pedestal reinforcement plates (15) arcuately ask the center line symmetrical setting on basket (12) length direction in arc support basket
(12) on the outer surface of bottom when, the distance between two pieces of pedestal reinforcement plates (15) per side are more than the length that machine alignment unreels saddle
Degree.
5. the sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively, which is characterized in that including sleeve basket and automatic dress
Unload manipulator；
The sleeve basket is carried including two support basket side shields (11), arc support basket (12), center fixes sleeve (13), middle and upper part
Backboard (14) and four pieces of pedestal reinforcement plates (15)；
The arc support basket (12) is made of side by side several U-shaped skeletons for being lined with channel steel, and several U-shapeds for being lined with channel steel
The bottom centre of skeleton is fixedly connected with the "-" type skeleton for being lined with channel steel jointly；The opening both sides of several U-shaped skeletons are connected with
Securing plate；It is equipped on the outside of two edges of U-shaped skeleton opening and automatic loading and unloading robot overlapped suspension hook (121)；
Support basket side shield (11) is respectively equipped on the outside of two U-shaped skeletons at several U-shaped skeleton both ends arranged side by side；
The center fixes sleeve (13) is cylindrical shape；
The middle and upper part hand basket plate (14) includes that a top connects transverse slat (142), three connection boards (141)；Described
Table of three connection boards (141) along center fixes sleeve (13) central axis centrally disposed fixes sleeve (13) in one line
Two on face and in three connection boards (141) both ends being located on center fixes sleeve (13) length direction, one be located at
It is intermediate；Three connection board (141) other end common contiguous top connection transverse slats (142), and three connection boards (141) and top
Portion connects the axis collinear of transverse slat (142)；
The both ends of center fixes sleeve (13), and middle and upper part hand basket plate are separately connected at the center of two support basket side shields (11)
(14) towards the open outer side of U-shaped skeleton；Cavity (123) between center fixes sleeve (13) and U-shaped skeleton to be connected to；
Four pieces of pedestal reinforcement plates (15) arcuately ask the center line symmetrical setting on basket (12) length direction in arc support
On the outer surface of basket (12) bottom, two pieces of pedestal reinforcement plates (15) per side are arranged the two of arc support basket (12) length direction
End；The bottom surface of four pieces of pedestal reinforcement plates (15) forms a plane with arc support basket (12) outer surface bottom；
The automatic loading and unloading robot include two board-like columns (22), two girder trailing arms (21), two end trailing arms (23),
Girder (24), the girder trailing arm hydraulic cylinder (211) equal with trailing arm quantity, the end trailing arm hydraulic cylinder equal with end trailing arm quantity
(231)；
The setting in the same direction side by side of two board-like columns (22), one end of two board-like columns (22) is separately fixed on sleeve rack；It is main
Beam (24) passes perpendicularly through the other end of each board-like column (22) being arranged in the same direction side by side and can relatively rotate or each plate
The other end of formula column (22) is hinged with girder (24)；
The setting in the same direction side by side of two girder trailing arms (21)；Girder (24) passes perpendicularly through the girder trailing arm (21) being arranged in the same direction side by side
One end and can relatively rotate or one end of girder trailing arm (21) with girder (24) it is hinged, hinged end is main corbel arm
(21) rotation center；The other end of girder trailing arm (21) is tache motorice；
Girder trailing arm hydraulic cylinder (211) is corresponded with girder trailing arm (21), the piston rod difference of girder trailing arm hydraulic cylinder (211)
The corresponding center for being hinged to girder trailing arm (21)；The cylinder body of girder trailing arm hydraulic cylinder (211) is respectively hinged on sleeve rack；Girder
The support object plane of trailing arm (21) is arc；It is provided on the support object plane of the tache motorice of girder trailing arm (21) and pedestal reinforcement plate (15) bottom surface
The identical jaw slot of shape, to match clamper sleeve basket with pedestal reinforcement plate (15)；
Setting in the same direction, end trailing arm hydraulic cylinder (231) correspond two end trailing arms (23) with end trailing arm (23) side by side, hold trailing arm liquid
The piston rod of cylinder pressure (231) is hinged with one end of corresponding end trailing arm (23) respectively, and the other end of end trailing arm (23) is tache motorice；
And girder (24) is hinged also cross in the middle part of each end trailing arm (23) or with end trailing arm (23) middle part；Hold trailing arm hydraulic cylinder
(231) cylinder body is respectively hinged on sleeve rack；It is arc to hold the support object plane of trailing arm (23), and holds trailing arm (23) arc support object plane
Side be equipped with slope edge；
When loading and unloading empty set, the suspension hook (121) of the U-shaped skeleton opening of arc support basket (12) is hooked in automatic loading and unloading robot
On girder (24), by adjusting the girder trailing arm hydraulic cylinder (211) of automatic loading and unloading robot, column hydraulic cylinder (221) and end support
Arm hydraulic cylinder (231) makes the angle of arc support basket (12) change, make empty set from side enter arc support basket (12) or from
It pours out the side of arc support basket (12)；Realize that sleeve into basket or goes out basket by girder trailing arm (21) and end trailing arm (23) simultaneously, it is complete
At handling.
6. the sleeve handling system that a kind of sleeve basket according to claim 5 and manipulator are used cooperatively, which is characterized in that
The end trailing arm (23) is equipped with sensor and sense object sensor in survey.
7. the sleeve handling system that a kind of sleeve basket according to claim 5 or 6 and manipulator are used cooperatively, feature exist
In the middle and upper part hand basket plate (14) further includes several small gussets (143)；The both sides of three connection boards (141), in
The junction of heart fixes sleeve is equipped with small gusset (143), i.e., a side of small gusset (143) connects middle and upper part hand basket plate
(14), another side connection center fixes sleeve (13) of small gusset (143), the third sideband of small gusset (143) are cambered
Fillet as middle and upper part hand basket plate (14) and center fixes sleeve (13) fixing position.
8. the sleeve handling system that a kind of sleeve basket according to claim 7 and manipulator are used cooperatively, which is characterized in that
Four pieces of pedestal reinforcement plates (15) arcuately ask the center line symmetrical setting on basket (12) length direction in arc support basket
(12) on the outer surface of bottom when, the distance between two pieces of pedestal reinforcement plates (15) per side are more than the length that machine alignment unreels saddle
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056913.9A CN106629104B (en) | 2017-01-24 | 2017-01-24 | The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056913.9A CN106629104B (en) | 2017-01-24 | 2017-01-24 | The sleeve handling system that a kind of sleeve basket and manipulator are used cooperatively |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106629104A CN106629104A (en) | 2017-05-10 |
| CN106629104B true CN106629104B (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB647449A (en) * | 1948-09-08 | 1950-12-13 | Daily Mirror Newspapers Ltd | Improvements in and relating to the conveying of cylindrical bodies such as reels ofnewsprint by mechanical conveyors and particularly endless belt or band conveyors |
| DE2410531C3 (en) * | 1974-03-06 | 1980-06-04 | Eisenwerk-Gesellschaft Maximilianshuette Mbh, 8458 Sulzbach-Rosenberg | Device for braking and aligning elongated rolling stock and the like |
| US4081093A (en) * | 1976-03-22 | 1978-03-28 | General Battery Corporation | Apparatus for dumping and collecting corrosive substances from automotive batteries |
| CN2492541Y (en) * | 2001-06-20 | 2002-05-22 | 荆昕 | Suspended gravitation-tilter rationing feeder |
| CN203186796U (en) * | 2013-04-26 | 2013-09-11 | 天津忠旺铝业有限公司 | Empty sleeve integrating device convenient to store and transport |
| CN104261242B (en) * | 2014-08-19 | 2016-03-30 | 湖北三江航天红阳机电有限公司 | A kind of gallus-type suspender for level lifting |
| CN205660690U (en) * | 2016-05-31 | 2016-10-26 | 国网四川省电力公司映秀湾水力发电总厂 | Sleeve removes transportation frame |
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2017
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