CN107689120A - A kind of intelligent electric business access stations and access part method - Google Patents

A kind of intelligent electric business access stations and access part method Download PDF

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Publication number
CN107689120A
CN107689120A CN201710946453.7A CN201710946453A CN107689120A CN 107689120 A CN107689120 A CN 107689120A CN 201710946453 A CN201710946453 A CN 201710946453A CN 107689120 A CN107689120 A CN 107689120A
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CN
China
Prior art keywords
drive
jig arm
intelligent electric
electric business
stock cabinet
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Pending
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CN201710946453.7A
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Chinese (zh)
Inventor
孙亮波
桂慧
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Wuhan Polytechnic University
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Wuhan Polytechnic University
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Priority to CN201710946453.7A priority Critical patent/CN107689120A/en
Publication of CN107689120A publication Critical patent/CN107689120A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F11/00Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16Delivery means
    • G07F11/165Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F11/00Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16Delivery means
    • G07F11/24Rotary or oscillatory members
    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F11/00Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/62Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F17/00Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/10Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property

Abstract

The present invention provides a kind of intelligent electric business access stations and access part method, is related to express delivery technical field.A kind of intelligent electric business access stations, including:Cylindrical body, rotational structure, lifting structure, crawl structure and control system.Cylindrical body includes the multilayer outer ring stock cabinet and multilayer inner ring stock cabinet laterally set.Rotational structure is arranged in cylindrical body, below multilayer outer ring stock cabinet and multilayer inner ring stock cabinet, is placed on the bottom plate of cylindrical body.Lifting structure includes the second drive mechanism, at least one guide and objective table, and the second drive mechanism is placed on the rotating disc of rotational structure.Crawl structure is placed on lifting structure objective table, and crawl structure is scalable to be used to capture object.Control system rotation-controlled structure rotates, lifting structure lifting and the flexible crawl object of crawl structure.It has pickup, posts the characteristics of part facilitates.One kind access part method, is mainly carried out using above-mentioned intelligent electric business access stations.It has the characteristics of efficiency high.

Description

A kind of intelligent electric business access stations and access part method
Technical field
The present invention relates to express delivery technical field, in particular to a kind of intelligent electric business access stations and access part method.
Background technology
Electric business industry development in China's is rapid in recent years, causes express delivery amount drastically to increase.Issued according to Chinese express delivery association Data, 2015, express delivery industry finishing service amount 20,600,000,000, increase by 48% on a year-on-year basis, highest day output is more than 1.6 hundred million;Express delivery Health service revenue completes 276,000,000,000 yuan, increases by 35% on a year-on-year basis.But the express delivery amount of rapid growth also causes express delivery access procedure to go out Problems are showed, have caused user's pickup, post part inconvenience, program is cumbersome.
The content of the invention
It is an object of the invention to provide a kind of intelligent electric business access stations, it has pickup, posts the characteristics of part facilitates.
Another object of the present invention is to provide a kind of access part method, it has the characteristics of efficiency high.
What the present invention was realized in:
A kind of intelligent electric business access stations, including:Cylindrical body, rotational structure, lifting structure, crawl structure and control system System.
Cylindrical body includes the multilayer outer ring stock cabinet and multilayer inner ring stock cabinet that laterally set, multilayer outer ring stock cabinet with Multilayer inner ring stock cabinet is corresponding to be set with layer, and multilayer inner ring stock cabinet offers manhole, and manhole forms a passage, Cylindrical body is provided with opening in position corresponding to the stock cabinet of outer ring.
Rotational structure is arranged in cylindrical body, below multilayer outer ring stock cabinet and multilayer inner ring stock cabinet, juxtaposition In on the bottom plate of cylindrical body, rotational structure includes rotating disc, rotatable parts and the first drive mechanism, and support is provided with bottom plate Part, support member are connected with axis of rotation, and rotating shaft is vertically arranged;Rotating disc is fixedly connected with one end of rotating shaft;Rotatable parts are with turning The edge of Moving plate is connected by multiple connectors, has annular receiving space, rotatable parts face between rotatable parts and support member The side of bottom plate is provided with multiple rotating wheels, multiple rotating wheels can rotate on bottom plate;First drive mechanism is arranged on bottom plate On, and in the annular receiving space, the first drive mechanism can drive shaft rotated along axle.
Lifting structure includes the second drive mechanism, at least one guide and objective table, and the second drive mechanism is placed in rotation On disk;The screw mandrel of power output axis connection first of second drive mechanism, the first screw mandrel are vertically set, and the second drive mechanism can drive Dynamic first screw mandrel rotates along axle;Guide is vertically set;Objective table is slidably connected with guide, objective table and the first screw mandrel spiral shell Line connects, and the first screw mandrel supports objective table to be moved in laterally setting, objective table in passage jointly with guide.
Crawl structure is placed on objective table, and crawl structure is scalable to be used to capture object.
Control system is used to control the first drive mechanism, the operating of the second drive mechanism, and for controlling crawl structure to stretch Contracting, pick-and-place object.
One kind access part method, is mainly carried out using above-mentioned intelligent electric business access stations.
The beneficial effects of the invention are as follows:A kind of intelligent electric business access stations, rotational structure is controlled in cylinder by control system Rotated in main body, rotational structure, which rotates, drives the lifting structure being placed on rotational structure to rotate, and lifting structure can drive crawl to tie Structure lifts in cylindrical body, and it is scalable for capturing object to capture structure.When depositing part, controlled and captured by control system Structure, can be placed on the object crawl of opening, and then crawl structure is flexible is moved to object in cylindrical body.Pass through control again System control lifting structure lifting processed, crawl structure also follow oscilaltion.Control rotational structure to rotate by control system, carry Thing platform is also driven upper rotation at various height.By programming, the angle that can rotate lifting structure reaches fixed angle. The object of crawl can be moved to different inner ring stock cabinets and outer ring stock cabinet.Control crawl structure will by control system Object is moved in no matter storage lattice, or takes out object from specified position.The intelligent electric business access stations, utilize inner ring stock The cooperation of cabinet and outer ring stock cabinet, improves space availability ratio.Object coordinates lifting structure, grabbed from same opening disengaging Structure and rotational structure are taken, the destination of object transfer is stored, or is taken out from destination locations, solves traditional express delivery cabinet The problem of pickup mouth height picks and places part inconvenience caused by differing.
One kind access part method, it is mainly carried out using above-mentioned intelligent electric business access stations.It has the characteristics of efficiency high.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical scheme of embodiment of the present invention Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not to be seen as It is the restriction to scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root Other related accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the intelligent electric business access stations that embodiments of the invention provide;
Fig. 2 is the internal structure schematic diagram for the intelligent electric business access stations that embodiments of the invention provide;
Fig. 3 is the structural representation for the intelligent electric business access stations that embodiments of the invention provide;
Fig. 4 is the outer ring stock cabinet of the embodiment of the present invention and the structural representation of inner ring stock cabinet;
Fig. 5 is the control analogous diagram of the intelligent electric business access stations in inventive embodiments;
Fig. 6 is the structural representation of the rotational structure of the embodiment of the present invention;
Fig. 7 is the structural representation of the rotational structure of the embodiment of the present invention;
Fig. 8 is the rotational structure, lifting structure, the cooperation schematic diagram for capturing structure of the embodiment of the present invention;
Fig. 9 is the structural representation of the crawl structure of the embodiment of the present invention;
Figure 10 is the structural representation of the crawl structure of the embodiment of the present invention;
Figure 11 is double crank slider mechanism provided in an embodiment of the present invention and the first jig arm, the structural representation of the second jig arm Figure;
Figure 12 is the circuit diagram of the second stepper motor provided in an embodiment of the present invention;
Figure 13 is the circuit diagram of the 3rd stepper motor provided in an embodiment of the present invention;
Figure 14 is the circuit diagram of the first stepper motor provided in an embodiment of the present invention;
Figure 15 is the circuit diagram of touch-screen provided in an embodiment of the present invention.
Icon:10- intelligence electric business access stations;100- cylindrical bodies;110- outer rings stock cabinet;120- inner ring stock cabinets; 130- passages;140- is open;150- bottom plates;200- rotational structures;210- rotating discs;211- support members;212- rotating shafts;212a- Second bevel gear;212b- axle sleeves;213- bearings;214- connectors;220- rotatable parts;221- annular receiving spaces;222- turns Driving wheel;The drive mechanisms of 230- first;The stepper motors of 231- second;The worm type of reduction gearings of 232- first;240- first bevel gears; 300- lifting structures;The drive mechanisms of 310- second;The screw mandrels of 311- first;The stepper motors of 312- the 3rd;The worm and gears of 313- second Decelerator;314- shaft couplings;320- guides;321- linear bearings;330- objective tables;331- nuts;400- captures structure; The stepper motors of 410- first;The screw mandrels of 411- second;412- feed screw nut;The corner braces of 413- first;420- scissors mechanisms;421- scissors Part;4211- first ends;The ends of 4212- second;The scissors of 421a- first;The scissors of 421b- second;The scissors of 421c- the 3rd;421d- Four scissors;The scissors brackets of 422- first;The guide grooves of 422a- first;The scissors brackets of 423- second;The guide grooves of 423a- second;430- is captured Part;431- manipulator supports;431a- guide rails;432- actuators;4321- steering wheels;4322- double crank slider mechanisms;432a- Tumbler;The crank connecting links of 432b- first;The crank connecting links of 432c- second;433- manipulators;The jig arm of 4331- first;4331a- One mechanical paw;The guide blocks of 4331b- first;The jig arm of 4332- second;The mechanical paws of 4332a- second;The guide blocks of 4332b- second; 434- retaining pieces;The connecting plates of 435- first;The connecting plates of 436- second;The corner braces of 437- second.
Embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, implement below in conjunction with the present invention Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality The mode of applying is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ability The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention The scope of protection.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement guarantor below The scope of the present invention of shield, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, ability The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention The scope of protection.
In the description of the invention, it is to be understood that term " length ", "left", "right", " interior ", " clockwise ", " inverse The orientation or position relationship of the instructions such as hour hands " are based on orientation shown in the drawings or position relationship, are for only for ease of description originally Invent and simplify description, rather than the equipment or element of instruction or hint meaning there must be specific orientation, with specific side Position construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second ", " the 3rd ", " the 4th " are only used for describing purpose, and it is not intended that instruction or Imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second ", " are defined Three ", one or more this feature can be expressed or be implicitly included to the feature of " the 4th ".In the description of the invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, the term such as term " setting ", " connection ", " fixation " should It is interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally;Can be joined directly together, It can be indirectly connected by intermediary, can be connection or the interaction relationship of two elements of two element internals.It is right For one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Embodiment
The present embodiment provides a kind of intelligent electric business access stations 10, refer to Fig. 1-Fig. 3, including:Cylindrical body 100, rotation Structure 200, lifting structure 300, crawl structure 400 and control system.
Fig. 2 and Fig. 4 are refer to, cylindrical body 100 includes the multilayer outer ring stock cabinet 110 laterally set and multilayer inner ring is deposited Counter 120, the same layer corresponding with multilayer inner ring stock cabinet 120 of multilayer outer ring stock cabinet 110 are set, and multilayer inner ring stock cabinet 120 is equal Manhole is offered, manhole forms a passage 130, and cylindrical body 100 is set in position corresponding to outer ring stock cabinet 110 There is opening 140.
Control system is used to control rotational structure 200 to rotate, control lifting structure 300 to lift, and is captured for controlling Structure 400 is flexible, pick-and-place object.
Rotational structure 200 is controlled to be rotated in cylindrical body 100 by control system, rotational structure 200 rotates drive and put Rotated in the lifting structure 300 on rotational structure 200, lifting structure 300 can drive crawl structure 400 in cylindrical body 100 Lifting, and it is scalable for capturing object to capture structure 400.When depositing part, crawl structure 400 is controlled by control system, can The object crawl being placed at opening 140, then crawl structure 400 is flexible is moved to object in cylindrical body 100.Pass through again Control system control lifting structure 300 lifts, and crawl structure 400 also follows oscilaltion.Rotation knot is controlled by control system Structure 200 rotates, the object of crawl can be moved to different inner ring stock cabinets 120 and outer ring stock cabinet 110, it is necessary to explanation It is that inner ring stock cabinet 120 and outer ring stock cabinet 110 have the multiple matter storage lattices of setting, and control system control captures structure 400 by thing Part is moved in no matter storage lattice.The operation principle of pickup is identical with the operation principle for depositing part, and simply step is in contrast.
In the present embodiment, the control system of intelligent electric business access stations 10 can be analyzed by programming.To intelligence All matter storage lattice positions of electric business access stations 10 are analyzed and encoded, and calculate the time for depositing, withdrawing goods of each matter storage lattice. In actual access procedure, system can calculate optimal access plan according to the actual conditions in intelligent electric business access stations 10, choosing Select suitable stock cabinet and enter line access, save the time of access goods.Control analogous diagram such as Fig. 5 institutes of intelligent electric business access stations 10 Show, after inputting picking code, system can be controlled by optimal case to mechanism, take out corresponding goods.
Intelligent electric business access stations 10 in the present embodiment, because using the structure of cylindrical body 100, and there is provided multilayer outer ring to deposit Counter 110 and multilayer inner ring stock cabinet 120, improve the space availability ratio of intelligent electric business access stations 10.It should be noted that intelligence The overall dimensions of energy electric business access stations 10 oneself can select as needed.In addition, outer ring stock cabinet 110 and inner ring stock cabinet 120 number of plies oneself can select as needed, the number for the matter storage lattice that inner ring stock cabinet 120 and outer ring stock cabinet 110 are set Also oneself can select as needed.Do not limited in embodiments of the invention.
In the present embodiment, it is provided with pressure sensor at opening 140.When object is placed at opening 140, due to pressure The effect of force snesor, the weight for weighing object is fed back into networking client, determined to post part postage by weight information.
Fig. 3, Fig. 6 and Fig. 7 are refer to, further, rotational structure 200 is arranged in cylindrical body 100, outside multilayer Stock cabinet 110 and the lower section of multilayer inner ring stock cabinet 120 are enclosed, is placed on the bottom plate 150 of cylindrical body 100, rotational structure 200 wraps Include rotating disc 210, the drive mechanism 230 of rotatable parts 220 and first.Wherein, the operating of the first drive mechanism 230 is by the first control Module controls.
Fig. 6 and Fig. 7 are refer to, support member 211 is provided with bottom plate 150, support member 211 is rotatablely connected with rotating shaft 212.Its Middle rotating shaft 212 is vertically arranged.Rotating disc 210 is fixedly connected with the upper end of rotating shaft 212.It should be noted that rotating disc 210 Positioned at the top of bottom plate 150.In the present embodiment, support member 211 is bearing block, also, is passed through between rotating shaft 212 and bearing block Bearing 213 is rotatablely connected.
Rotatable parts 220 are connected with the edge of rotating disc 210 by multiple connectors 214, rotatable parts 220 and support member There is annular receiving space 221, the side of rotatable parts 220 towards bottom plate 150 is provided with multiple rotating wheels 222, more between 211 Individual rotating wheel 222 can rotate on bottom plate 150.
First drive mechanism 230 is arranged on bottom plate 150, and in annular receiving space 221, and rotatable parts 220 when rotating, and inwall will not touch the first drive mechanism 230, the first drive mechanism 230 can drive shaft 212 rotated along axle.
Can be rotated by the first drive mechanism 230 with drive shaft 212 relative to support member 211, rotating disc 210 with The upper end of rotating shaft 212 is fixedly connected, and rotating shaft 212, which rotates, can drive rotating disc 210 to rotate.Rotating disc 210 is with being disposed below Rotatable parts 220 connect, rotating disc 210 is rotated, and rotatable parts 220 can be driven to rotate, and rotatable parts 220 are towards bottom plate 150 Side be provided with multiple rotating wheels 222, rotatable parts 220 may be implemented on bottom plate 150 by rotating wheel 222 smoothly to be turned It is dynamic.
In the present embodiment, rotating wheel 222 is multi-directional ball.In other embodiments, rotating wheel 222 is alternatively other, only Smooth rotation of the rotating wheel 222 on bottom plate 150 can be realized.
The edge of rotating disc 210 is connected by multiple connectors 214 with rotatable parts 220, and rotatable parts 220 can be to turning Moving plate 210 realizes preferable supporting role, and multiple connectors 214 have disperseed the effect of the power of rotating disc 210, will not be because of rotating disc The article placed on 210 too weight and hold rotating disc 210 and can't stand.Marginating compartment of multiple connectors 214 along rotating disc 210 is equal Even setting, rotating disc 210 can be avoided to be damaged because of unbalance stress.
In the present embodiment, connector 214 is in shaft-like.In other embodiments, connector 214 can also it is plate-like or its His shape, as long as the supporting role to rotating disc 210 can be realized.
There is annular receiving space 221, the first drive mechanism 230 is located at the ring between rotatable parts 220 and support member 211 In shape receiving space 221, when rotatable parts 220 rotate, the inwall of rotatable parts 220 will not touch the first driving machine Structure 230.By the way that the first drive mechanism 230 is arranged in the annular receiving space 221, the suitable of rotating disc 210 is not only realized Profit rotates, and saves space, improves space availability ratio.
In the present embodiment, rotatable parts 220 are swivel becket.Between swivel becket and support member 211 sky is accommodated for annular Between.In other embodiments, rotatable parts 220 or other structures, as long as meeting that rotatable parts 220 are logical with rotating disc 210 In the case of crossing the connection of connector 214, when rotating disc 210 rotates, rotatable parts 220 can also rotate therewith.Rotate The annular receiving space between ring and support member 211 or side, or other annular receiving spaces 221, as long as ensureing to set It will not be touched in the first drive mechanism 230 in the annular receiving space 221 when rotatable parts 220 rotate.
Continuing with referring to Fig. 7, in the present embodiment, the first drive mechanism 230 includes the second stepper motor 231 and the first snail The input axis connection of worm and gear decelerator 232, the output shaft of the second stepper motor 231 and the first worm type of reduction gearing 232, the The output axis connection first bevel gear 240 of one worm type of reduction gearing 232.The axle of first bevel gear 240 is transversely set, rotating shaft Second bevel gear 212a is provided with 212, second bevel gear 212a engages with first bevel gear 240.It should be noted that second The output shaft of stepper motor 231, the input shaft of the first worm type of reduction gearing 232 and output shaft are laterally set.
The first worm type of reduction gearing 232 is driven to operate by the operating of the second stepper motor 231, the first worm and gear subtracts The output axis connection first bevel gear 240 of fast device 232, second bevel gear 212a is set in rotating shaft 212, passes through first bevel gear 240 engage with second bevel gear 212a, and the lateral rotation of first bevel gear 240 can be converted into the vertical of second bevel gear 212a Rotate, and then drive rotating shaft 212 to rotate.
In the present embodiment, there is gap, rotating shaft 212 bores tooth second between second bevel gear 212a and rotating disc 210 Position between wheel 212a and rotating disc 210 is arranged with axle sleeve 212b.
There is gap between second bevel gear 212a and rotating disc 210, can so avoid second bevel gear 212a from turning Rotating disc 210 is touched when dynamic, has influence on the engagement of second bevel gear 212a and first bevel gear 240, and then has influence on rotating shaft 212 rotation.
Position of the rotating shaft 212 between second bevel gear 212a and rotating disc 210 is arranged with axle sleeve 212b.This is to set Benefit is:It is unstable when rotating by setting axle sleeve 212b to reduce rotating shaft 212, rotating disc 210 when rotating also more Add steady.
Fig. 8 is referred to, further, lifting structure 300 includes:Second drive mechanism 310, at least one guide 320 And objective table 330.
Second drive mechanism 310 is placed on rotating disc 210, and guide 320 is connected with rotating disc 210.In rotational structure 200 In the presence of, lifting structure 300 can realize the lifting in different azimuth.
The first screw mandrel of power output axis connection 311 of second drive mechanism 310, the first screw mandrel 311 are vertically set, and second Drive mechanism 310 can drive the first screw mandrel 311 to be rotated along axle.
In addition, guide 320 is also vertically set, guide 320 be arranged in parallel with the first screw mandrel 311.
Objective table 330 is slidably connected with guide 320, and objective table 330 is threadedly coupled with the first screw mandrel 311, the first screw mandrel 311 support objective table 330 to be set in horizontal jointly with guide 320, and in the present embodiment, objective table 330 is horizontally disposed. In other embodiment, objective table 330 can be tilted somewhat, as long as the article for not influenceing to be placed on objective table 330 is fallen down .
The first screw mandrel 311 is driven to be rotated along axle by the second drive mechanism 310, the screw thread of 330 and first screw mandrel of objective table 311 Connection, the rotation of the first screw mandrel 311 can be converted into short transverse of the objective table 330 along the first screw mandrel 311 and move.Guide 320 Vertically arranged, while be also slidably connected with objective table 330, objective table 330 and one end that the first screw mandrel 311 is threadedly coupled are along first When the short transverse of screw mandrel 311 moves, one end that objective table 330 is slidably connected with guide 320 can also be slided along guide 320 Dynamic, now, objective table 330 can integrally be moved up or down in passage 130.The article being positioned on objective table 330 It can move up and down, it is possible to achieve the pickup of different height, put part.
In addition, the bottom of inner ring stock cabinet 120 is provided with the first block (not shown), the edge of objective table 330 is set The second block (not shown) is equipped with, the cooperation of the second block (not shown) and the first block (not shown) can use Rotated in inner ring stock cabinet 120 together with objective table 330, inner ring stock cabinet 120 is slidably connected with outer ring stock cabinet 110.Work as rotation When the rotating disc 210 of rotation structure 200 rotates, lifting structure 300 is overall can be with rotation, and now, objective table 330 can also turn therewith Dynamic, objective table 330 is during rotation, when the first block (not shown) and the second block (not shown) coordinate, Inner ring stock cabinet 120 can be driven to be rotated relative to outer ring stock cabinet 110.By programming, the angle that lifting structure 300 can be rotated Fixed angle is reached, so that object is placed into suitable position, or object is taken out from specified position.
It should be noted that the rotation direction by controlling the first screw mandrel 311, then can realize the rising of objective table 330 Or decline, the rotation direction of the first screw mandrel 311 can be controlled by the rotation direction of the second drive mechanism 310.
In addition, in the present embodiment, objective table 330 is threadedly coupled with the first screw mandrel 311 by nut 331.331 sets of nut It is located on the first screw mandrel 311, and be connected with objective table 330.When the second drive mechanism 310 drives the first screw mandrel 311 to rotate, spiral shell Female 331 one end are fixed, it is impossible to are rotated, but realized in the height side of the first screw mandrel 311 with the rotation of the first screw mandrel 311 To movement, and then the short transverse with dynamic object stage 330 in the first screw mandrel 311 moves.
It should be noted that in the present embodiment, objective table 330 is arranged on the top of the second drive mechanism 310.Objective table 330 can move up and down in the top of the second drive mechanism 310.
In the present embodiment, guide 320 is that section is the shaft-like of circle, and linear bearing is arranged with guide 320 213, linear bearing 213 is fixed with objective table 330.
When one end movement that objective table 330 is connected with the first screw mandrel 311, objective table 330 is slidably connected with guide 320 One end can also be slided along guide 320.It is arranged to section by being directed to part 320 as the shaft-like of circle, in guide 320 On be arranged linear bearing 213, and linear bearing 213 is also fixed with objective table 330, and objective table 330 slides with guide 320 to be connected The one end connect can swimmingly be slided on guide 320, and objective table 330 is overall when moving up and down, being capable of preferably keep level State.The article being positioned on objective table 330 can be more steady, to be unlikely to fall down.
In addition, in the present embodiment, the second drive mechanism 310 includes the 3rd stepper motor 312 and the second worm and gear subtracts Fast device 313, the output shaft of the 3rd stepper motor 312 are connected with the input shaft of the second worm type of reduction gearing 313, the 3rd stepping electricity The input shaft of the output shaft of machine 312 and the second worm type of reduction gearing 313 is laterally set, the second worm type of reduction gearing 313 Output end connect the first screw mandrel 311.
The second worm type of reduction gearing 313 is driven to operate by the 3rd stepper motor 312, the second worm type of reduction gearing 313 output shaft is connected with the first screw mandrel 311, and then drives the first screw mandrel 311 to be rotated along axle.The 3rd stepping electricity of lateral rotation The output shaft of machine 312, the vertical rotating of the first screw mandrel 311 is converted into by the second worm type of reduction gearing 313.
In the present embodiment, the input shaft of the output shaft of the 3rd stepper motor 312 and the second worm type of reduction gearing 313 leads to Shaft coupling 314 is crossed to be connected.
The output shaft and second worm type of reduction gearing 313 of the 3rd stepper motor 312 are enabled to by shaft coupling 314 Input shaft synchronous axial system.The speed reducing ratio of the second worm type of reduction gearing 313 in the present embodiment is 1:5-6.
Fig. 8-10 are referred to, further, crawl structure 400 is placed on objective table 330.Crawl structure 400 includes:First Stepper motor 410, scissors mechanism 420 and gripper components 430.
Objective table 330 moves up and down in the presence of the second drive mechanism 310 along the first screw mandrel 311 and guide 320 When, the crawl structure 400 being placed on objective table 330 also and then moves up and down together, and crawl structure 400 can capture object, In the presence of lifting structure 300, then it can realize and object is captured or placed on different height.In conjunction with rotational structure 200th, the effect of lifting structure 300, it is possible to achieve different azimuth, different height pickup, put part work, it is easy to use, effect Rate is high.
Drive scissors mechanism 420 flexible by the first stepper motor 410, controllable gripper components 430 reach different positions Put, recycle gripper components 430, object can be grasped.Then the first stepper motor 410 is recycled to drive scissors mechanism 420 It is flexible, gripper components 430 can be moved again, the object grasped also moves.So as to realize pickup or put part Function.
The output end of first stepper motor 410 connects the second screw mandrel 411, and feed screw nut is socketed with the second screw mandrel 411 412。
Scissors mechanism 420 includes scissor part 421, the first scissors bracket 422, the second scissors bracket 423.Scissor part 421 wraps The end 4212 of first end 4211 and second along the direction of motion is included, first end 4211 includes be hinged the first scissor 421a and second and cut 421b is pitched, the first scissor 421a one end and feed screw nut 412 are be hinged, the second scissor 421b one end and the first scissors bracket 422 is be hinged, and the first scissors bracket 422 is connected with the first stepper motor 410.Second end 4212 includes the 3rd be hinged scissor 421c With the 4th scissor 421d, the 3rd scissor 421c one end, the 4th scissor 421d one end are slided with the second scissors bracket 423 to be connected Connect.
The output end of first stepper motor 410 is connected with the second screw mandrel 411, by controlling the first stepper motor 410 controllable Make the rotation of the second screw mandrel 411.Feed screw nut 412, the first scissor 421a one end and feed screw nut are socketed on second screw mandrel 411 412 is be hinged, and feed screw nut 412 can not rotate with the rotation of the second screw mandrel 411, and convert the rotation of the second screw mandrel 411 Moved along a straight line for feed screw nut 412 along the second screw mandrel 411.Because one end of feed screw nut 412 and the first scissor 421a are hinged, silk The linear motion of stem nut 412 can also drive length direction of the first scissor 421a one end along the second screw mandrel 411 to move.
Second scissor 421b one end and the first scissors bracket 422 are be hinged, and the first scissors bracket 422 is by with first Stepper motor 410 is connected and fixed.When in the first scissor 421a one end, the length direction along the second screw mandrel 411 moves, second Scissor 421b one end rotates relative to the first scissors bracket 422, and the first scissor 421a occurs to turn relative to feed screw nut 412 It is dynamic.Meanwhile the 3rd scissor 421c and the 4th scissor 421d positioned at the second end 4212 can also occur in the second scissors bracket 423 Relative to slide, the 3rd scissor 421c one end and the 4th scissor 421d one end are close to each other, and relative to the second scissor branch Frame 423 rotates.Now, whole scissor part 421 drives the second scissors bracket 423 to extend.It should be noted that pass through control first The steering of stepper motor 410 can control the elongation of the second scissors bracket 423 and shrink.
Fig. 9 and Figure 10 are referred to, in the present embodiment, feed screw nut 412 is connected with the first corner brace 413, the first corner brace 413 It is hinged with the first scissor 421a one end by screw.Also, the first scissors bracket 422 is additionally provided with the first guide groove 422a, When length direction of the feed screw nut 412 along the second screw mandrel 411 moves, screw can slide along the first guide groove 422a.
Lead in addition, the second scissors bracket 423 is provided with the second guide groove 423a, the 3rd scissor 421c and the 4th scissor 421d Cross screw and the second scissors bracket 423 is be hinged, and can be slided by screw in the second guide groove 423a.
Gripper components 430 include manipulator support 431, actuator 432 and manipulator 433, manipulator support 431 and second Scissors bracket 423 connects, and manipulator 433 is slidably connected with manipulator support 431, and manipulator 433 includes the He of the first jig arm 4331 Second jig arm 4332, actuator 432 are used to drive the first jig arm 4331 and the second jig arm 4332 close to each other or remote.
Fig. 9 and Figure 11 are referred to, manipulator support 431 is connected with the second scissors bracket 423, and the second scissors bracket 423 is stretched In long process can driving mechanical hand support 431 move.Then the first jig arm 4331 and the second folder can be driven by actuator 432 Arm 4332 is slided in manipulator support 431, and the first jig arm 4331 and the second jig arm 4332 are mutually leaned in the presence of actuator 432 Close or remote from.By controlling the close to each other of the first jig arm 4331 and the second jig arm 4332, object can be clamped;Pass through control Make the first jig arm 4331 and the second jig arm 4332 is located remotely from each other, object can be unclamped.In the present embodiment, the He of the first jig arm 4331 Second jig arm 4332 is provided with pressure sensor (not shown), and the size of chucking power can be sensed by pressure sensor, System be under pressure sensor feedback signal can control actuator 432 clamp object using suitable example.In addition, in this implementation In example, manipulator support 431 is connected with the second scissors bracket 423 by the second corner brace 437.
Further, in the present embodiment, actuator 432 includes steering wheel 4321 and double crank slider mechanism 4322, hyperbolic Handle slide block mechanism 4322 includes tumbler 432a, the first crank connecting link 432b and the second crank connecting link 432c, the first crank connecting link The both ends of 432b, the second crank connecting link 432c respectively with tumbler 432a are hinged, and steering wheel 4321 is used to control tumbler 432a to turn Dynamic, the first crank connecting link 432b other end and the first jig arm 4331 are be hinged, the second crank connecting link 432c other end and second Jig arm 4332 is be hinged.
Control tumbler 432a to rotate by steering wheel 4321, tumbler 432a both ends respectively with the first crank connecting link 432b, the second crank connecting link 432c are hinged, and tumbler 432a rotation can drive the first crank connecting link 432b and the second crank to connect Bar 432c rotates, and then drives the first jig arm 4331 and the second jig arm 4332 close to each other or remote.Such as Fig. 3 tumbler 432a position, when tumbler 432a is rotated clockwise, the first crank connecting link 432b and the second crank connecting link 432c relative to Tumbler 432a is rotated, and the first jig arm 4331 exists in the presence of the first crank connecting link 432b to left movement, the second jig arm 4332 Moved right in the presence of second crank connecting link 432c, the first jig arm 4331 and the second jig arm 4332 are located remotely from each other.Similarly, when turn When moving part 432a is rotated counterclockwise, the first jig arm 4331 and the second jig arm 4332 are close to each other.
In the present embodiment, the first jig arm 4331 includes the first mechanical paw 4331a and the first guide block 4331b of connection, Second jig arm 4332 includes the second mechanical paw 4332a and the second guide block 4332b of connection, manipulator support 431 towards first One end of the jig arm 4332 of jig arm 4331 and second is provided with guide rail 431a, the first guide block 4331b and the second guide block 4332b and can led Rail 431a is slided.
First jig arm 4331 and the second jig arm 4332 mainly pass through the first guide block in process close to each other or remote 4331b and the second guide block 4332b is slided to realize on the guide rail 431a of manipulator support 431.
In addition, in the present embodiment, the first mechanical paw 4331a and the first guide block 4331b are connected by the first connecting plate 435 Connect, the second mechanical paw 4332a and the second guide block 4332b are connected by the second connecting plate 436.The benefit so set is, can By the effect of the first connecting plate 435 and the second connecting plate 436, to grasp more steady by object.
Moreover, in the present embodiment, it is provided with the first mechanical paw 4331a and the second mechanical paw 4332a anti-skidding Projection, available for anti-skidding when clamping object.It should be noted that the anti-skid bulge can be rectangular preiection or trapezoidal convex Rise, as long as anti-skidding effect can be played.
Continuing with referring to Fig. 8, in the present embodiment, manipulator support 431 is towards the first jig arm 4331 and the second jig arm 4332 one end is provided with retaining piece 434, and retaining piece 434 blocks the portion end surface of manipulator support 431, retaining piece 434 and machine Tool hand support 431 forms guide rail 431a.It should be noted that retaining piece 434 blocks the end that manipulator support 431 is located at edge Face, the guide rail 431a that retaining piece 434 is formed with manipulator support 431 are located at manipulator support 431 towards the first jig arm 4,331 1 The centre position at end.
The operation principle of intelligent electric business access stations 10:Rotational structure 200 is controlled in cylindrical body 100 by control system Rotate, rotational structure 200, which rotates, drives the lifting structure 300 being placed on rotational structure 200 to rotate, and lifting structure 300 can drive Capture structure 400 to lift in cylindrical body 100, and it is scalable for capturing object to capture structure 400.When depositing part, pass through Control system control crawl structure 400, the object crawl that can be placed at opening 140, it is flexible by object then to capture structure 400 It is moved in cylindrical body 100.Lifting structure 300 is controlled to lift by control system again, crawl structure 400 also and then rises up and down Drop.Rotational structure 200 is controlled to rotate by control system, objective table 330 is also driven upper rotation at various height, objective table 330 during rotation, when the first block (not shown) and the second block (not shown) coordinate, can drive inner ring Stock cabinet 120 rotates relative to outer ring stock cabinet 110.The object of crawl can be moved to the different Hes of inner ring stock cabinet 120 Outer ring stock cabinet 110.By programming, the angle that lifting structure 300 rotates can be reached fixed angle.Pass through control system control Object is moved in no matter storage lattice by system crawl structure 400, or takes out object from specified position.The intelligent electric business access Stand 10, using the cooperation of inner ring stock cabinet 120 and outer ring stock cabinet 110, improve space availability ratio.Object is from same opening 140 disengaging, and coordinate lifting structure 300, crawl structure 400 and rotational structure 200, the destination of object transfer is stored, or It is to be taken out from destination locations, solves the problems, such as that traditional express delivery cabinet pickup mouth height picks and places part inconvenience caused by differing.Object Disengaging all completed by a set of control system, saved cost.
The present embodiment also provides a kind of access part method, and it is mainly carried out using above-mentioned intelligent electric business access stations 10.Its The characteristics of with efficiency high.
Intelligent electric business access stations 10 are programmed by centering control chip, to reach Automated condtrol purpose, control system As shown in figs. 12-15, control circuit is more existing technology to circuit diagram, be will not be repeated here.Realized by touch-screen man-machine Interaction.Take the process of express delivery as follows:User clicks on respective selection by touch-screen, and after picking code is correctly entered, touch-screen leads to Cross serial ports and send one section of code to MCU, MCU understands code to code according to pre-set mode, and passes through control system The first stepper motor 410, the second stepper motor 231 and the 3rd stepper motor 312 is controlled to operate, so as to control rotational structure 200 Rotated, the oscilaltion of lifting structure 300 and the crawl telescopic moving of structure 400 are taken out to correspondence position, and by goods.
It is as follows to send process by special delivery:User clicks on respective selection by touch-screen, and touch-screen sends one section by serial ports to MCU Code, now MCU by control driving opening 140 at corresponding to door motor, door to be opened, after express delivery is put into by user, MCU will The quality of the express delivery at opening 140 is read, and calculates corresponding expense, user can be paid the bill with barcode scanning, MCU control crawl structures 400th, lifting structure 300 and rotational structure 200.After goods is sent into specified location, deposits express delivery process and terminate.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for this area For technical staff, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made is any Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (10)

  1. A kind of 1. intelligent electric business access stations, it is characterised in that including:
    Cylindrical body, the cylindrical body include the multilayer outer ring stock cabinet and multilayer inner ring stock cabinet laterally set, multilayer institute State outer ring stock cabinet same layer corresponding with inner ring stock cabinet described in multilayer to set, inner ring stock cabinet described in multilayer offers circular logical Hole forms a passage, and the cylindrical body is provided with opening in position corresponding to the outer ring stock cabinet;
    Rotational structure, the rotational structure are arranged in the cylindrical body, in the multilayer outer ring stock cabinet and multilayer Enclose below stock cabinet, be placed on the bottom plate of the cylindrical body, the rotational structure includes rotating disc, rotatable parts and first Drive mechanism, support member is provided with the bottom plate, the support member is connected with axis of rotation, and the rotating shaft is vertically arranged;Institute One end that rotating disc is stated with the rotating shaft is fixedly connected;The edge of the rotatable parts and the rotating disc passes through multiple connectors Connection, has an annular receiving space between the rotatable parts and the support member, the rotatable parts are towards the bottom plate Side is provided with multiple rotating wheels, and multiple rotating wheels can rotate on the bottom plate;First drive mechanism is arranged on On the bottom plate, and in the annular receiving space, first drive mechanism can drive shaft rotated along axle;
    Lifting structure, the lifting structure include the second drive mechanism, at least one guide and objective table, second driving Mechanism is placed on the rotating disc;The screw mandrel of power output axis connection first of second drive mechanism, the first screw mandrel edge Vertically arranged, second drive mechanism can drive the first screw mandrel to be rotated along axle;The guide is vertically set;The loading Platform is slidably connected with the guide, and the objective table is connected with first wire rod thread, and first screw mandrel is led with described Supporting the objective table jointly to part, the objective table can move in the passage in laterally setting;
    Structure is captured, the crawl structure is placed on the objective table, and the crawl structure is scalable to be used to capture object;And
    Control system, the control system are used to control first drive mechanism, second drive mechanism operating, Yi Jiyong In controlling, the crawl structure is flexible, pick-and-place object.
  2. 2. intelligent electric business access stations according to claim 1, it is characterised in that the bottom of the inner ring stock cabinet is provided with First block, the loading edge of table are provided with the second block, and the cooperation of the second block and the first block can be used in described Circle stock cabinet rotates together with the objective table, and the inner ring stock cabinet is slidably connected with the outer ring stock cabinet.
  3. 3. intelligent electric business access stations according to claim 1, it is characterised in that the crawl structure includes:
    First stepper motor, the screw mandrel of output axis connection second of first stepper motor, silk is socketed with second screw mandrel Stem nut;
    Scissors mechanism, the scissors mechanism include scissor part, the first scissors bracket, the second scissors bracket, and the scissor part includes First end and the second end along the direction of motion, the first end include be hinged the first scissor and the second scissor, and described first cuts One end of fork is hinged with the feed screw nut, and one end of second scissor is hinged with first scissors bracket, and described first Scissors bracket is connected with the stepper motor;Second end includes be hinged the 3rd scissor and the 4th scissor, and the described 3rd cuts One end of fork, one end of the 4th scissor are slidably connected with second scissors bracket;And
    Gripper components, the gripper components include manipulator support, actuator and manipulator, the manipulator support and described the Two scissors brackets connect, and the manipulator is slidably connected with the manipulator support, and the manipulator includes the first jig arm and the Two jig arm, the actuator are used to drive first jig arm and second jig arm close to each other or remote.
  4. 4. intelligent electric business access stations crawl structure according to claim 3, it is characterised in that the actuator includes steering wheel And double crank slider mechanism, the double crank slider mechanism includes tumbler, the first crank connecting link and the second crank connecting link, described The both ends of first crank connecting link, second crank connecting link respectively with the tumbler are hinged, and the steering wheel, which is used to control, to be rotated Part rotates, and the other end of first crank connecting link is hinged with first jig arm, the other end of second crank connecting link and Second jig arm is hinged.
  5. 5. intelligent electric business access stations according to claim 4, it is characterised in that first jig arm includes the first of connection Mechanical paw and the first guide block, second jig arm include the second mechanical paw and the second guide block of connection, the manipulator branch Frame is provided with guide rail towards one end of the first jig arm and the second jig arm, and first guide block and second guide block can be led described Rail slides.
  6. 6. intelligent electric business access stations according to claim 5, it is characterised in that the manipulator support is towards described first One end of jig arm and second jig arm is provided with retaining piece, and the retaining piece blocks the portion end surface of the manipulator support, The retaining piece forms the guide rail with the manipulator support.
  7. 7. intelligent electric business access stations according to claim 5, it is characterised in that first mechanical paw and the first guide block Connected by the first connecting plate, second mechanical paw is connected with second guide block by the second connecting plate.
  8. 8. intelligent electric business access stations according to claim 1, it is characterised in that first drive mechanism includes second step Stepper motor and the first worm type of reduction gearing, the output shaft of second stepper motor and the input of the worm type of reduction gearing Axis connection, the output axis connection first bevel gear of the worm type of reduction gearing, the axle of the first bevel gear are transversely set, Second bevel gear is provided with the rotating shaft, the second bevel gear engages with the first bevel gear.
  9. 9. intelligent electric business access stations according to claim 1, it is characterised in that second drive mechanism includes the 3rd step Stepper motor and the second worm type of reduction gearing, output shaft and second worm type of reduction gearing of the 3rd stepper motor Input shaft is connected, and the output shaft of the 3rd stepper motor is laterally set with the input shaft of second worm type of reduction gearing Put, the output end of second worm type of reduction gearing connects first screw mandrel.
  10. 10. one kind access part method, it is characterised in that the main intelligent electric business using as described in claim any one of 1-9 is deposited Station is taken to carry out.
CN201710946453.7A 2017-09-30 2017-09-30 A kind of intelligent electric business access stations and access part method Pending CN107689120A (en)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710946453.7A CN107689120A (en) 2017-09-30 2017-09-30 A kind of intelligent electric business access stations and access part method

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CN107689120A true CN107689120A (en) 2018-02-13

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110197552A (en) * 2019-05-06 2019-09-03 石翊鹏 A kind of transmission device suitable for being assemblied in mechanical electronic equipment
CN110363914A (en) * 2019-07-19 2019-10-22 黄裕生 A kind of intelligent selling apparatus and method of unmanned vending machine
CN111710100A (en) * 2020-07-17 2020-09-25 平湖市华晟精密机械有限公司 Automatic vending machine and using method thereof
CN111882750A (en) * 2020-07-17 2020-11-03 平湖市华晟精密机械有限公司 Vending machine with display function and use method thereof
CN112242022A (en) * 2019-07-19 2021-01-19 威海新北洋数码科技有限公司 Get goods device and automatic vending machine
CN112489291A (en) * 2020-11-23 2021-03-12 天津瑞宝客环保科技有限公司 Automatic vending device
CN112707078A (en) * 2021-03-29 2021-04-27 皇宇智能物流设备(南京)有限公司 Intelligent logistics system based on Internet of things

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110197552A (en) * 2019-05-06 2019-09-03 石翊鹏 A kind of transmission device suitable for being assemblied in mechanical electronic equipment
CN110363914A (en) * 2019-07-19 2019-10-22 黄裕生 A kind of intelligent selling apparatus and method of unmanned vending machine
CN112242022A (en) * 2019-07-19 2021-01-19 威海新北洋数码科技有限公司 Get goods device and automatic vending machine
CN111710100A (en) * 2020-07-17 2020-09-25 平湖市华晟精密机械有限公司 Automatic vending machine and using method thereof
CN111882750A (en) * 2020-07-17 2020-11-03 平湖市华晟精密机械有限公司 Vending machine with display function and use method thereof
CN111882750B (en) * 2020-07-17 2021-12-28 平湖市华晟精密机械有限公司 Vending machine with display function and use method thereof
CN111710100B (en) * 2020-07-17 2022-05-06 平湖市华晟精密机械股份有限公司 Automatic vending machine and using method thereof
CN112489291A (en) * 2020-11-23 2021-03-12 天津瑞宝客环保科技有限公司 Automatic vending device
CN112707078A (en) * 2021-03-29 2021-04-27 皇宇智能物流设备(南京)有限公司 Intelligent logistics system based on Internet of things
CN112707078B (en) * 2021-03-29 2021-07-13 江西电信信息产业有限公司 Intelligent logistics system based on Internet of things

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