CN108016806A - A kind of high precision small storage robot carried suitable for large space - Google Patents

A kind of high precision small storage robot carried suitable for large space Download PDF

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Publication number
CN108016806A
CN108016806A CN201810029987.8A CN201810029987A CN108016806A CN 108016806 A CN108016806 A CN 108016806A CN 201810029987 A CN201810029987 A CN 201810029987A CN 108016806 A CN108016806 A CN 108016806A
Authority
CN
China
Prior art keywords
turntable
executing agency
transmission
high precision
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810029987.8A
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Chinese (zh)
Inventor
蔡秀珊
孟铃鑫
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Zhejiang Normal University CJNU
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Zhejiang Normal University CJNU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Normal University CJNU filed Critical Zhejiang Normal University CJNU
Priority to CN201810029987.8A priority Critical patent/CN108016806A/en
Publication of CN108016806A publication Critical patent/CN108016806A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Abstract

Present invention mainly discloses a kind of high precision small storage robot carried suitable for large space, including walking mechanism, transmission mechanism and executing agency, the transmission mechanism is connected with walking mechanism and executing agency respectively, the transmission mechanism includes base, turntable and transmission arm, the base is fixed in walking mechanism, the top of the base is equipped with support arm, the upper end of the support arm is rotatablely connected with turntable, lifting gear is equipped with the turntable, the lifting gear is connected with transmission arm, telescopic device is equipped with the transmission arm, the telescopic device is connected with executing agency, rotating device is equipped with the base, the rotating device is connected with turntable, the rotating device drives turntable, transmission arm and executing agency rotate in the horizontal plane.The configuration of the present invention is simple, stabilization, compact, floor space is small, and the free degree is high, rotates flexible, improves kinematic accuracy, expands range of movement, reduces use cost.

Description

A kind of high precision small storage robot carried suitable for large space
Technical field
The present invention relates to robotic technology field, particularly a kind of high precision small storage machine carried suitable for large space Device people.
Background technology
In modern industry, mechanization, the automation of production process become prominent theme.Robot technology is to utilize The memory function of computer, programing function carry out the high-new skill that control operation machine is automatically performed a kind of appointed task of certain in industrial production Art, is one of high-tech content that countries nowadays competitively develop.At present, industrial robot mainly carries welding, spraying, carrying And stacking etc. is repeated and labor intensity greatly works, the development and production of robot have sent out rapidly one that hall is got up Emerging technology.At present robot work and action it is flexible like that not as good as human hand, many positions are unable to reach, work model Enclose small, cause work efficiency not high.And cargo is carried out, it is necessary to according to the requirement of outbound list or distribution plan in storage workshop Sorting, and is classified, is concentrated in a certain way, more demanding, the current single storehouse of this flexibility to robot Robot is stored up, operating flexibility is not high, and efficient working range is smaller, then the overall work time once is with regard to long, according to The machine of multiple robots or large-scale high-precision, although storage picking efficiency can be significantly improved, use cost also can Exponentially increase.
The content of the invention
In view of the deficienciess of the prior art, the present invention provides a kind of high precision small storage carried suitable for large space Robot, simple in structure, stable, compact, floor space is small, and the free degree is high, rotates flexible, raising kinematic accuracy, expansion movement Scope, reduces use cost.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
A kind of high precision small storage robot carried suitable for large space, including walking mechanism, transmission mechanism and hold Row mechanism, the transmission mechanism are connected with walking mechanism and executing agency respectively, the transmission mechanism include base, turntable and Transmission arm, the base are fixed in walking mechanism, and the top of the base is equipped with support arm, the upper end of the support arm and rotation Turntable is rotatablely connected, and is equipped with lifting gear in the turntable, the lifting gear is connected with transmission arm, the lifting gear band Dynamic transmission arm oscilaltion, the transmission arm is interior to be equipped with telescopic device, and the telescopic device is connected with executing agency, described flexible Device drives executing agency or so flexible, is equipped with rotating device in the base, the rotating device is connected with turntable, described Rotating device drives turntable, transmission arm and executing agency to rotate in the horizontal plane.
The present invention allows the robot to be moved in effective working range by walking mechanism, so as to To the working space of bigger, the carrying of material is more advantageous to, by the telescopic device in transmission arm, drives executing agency or so to stretch Contracting, by the lifting gear in turntable, drives transmission arm and executing agency to move up and down, by the rotating device in base, The 360 degree of rotations in the horizontal plane of turntable, transmission arm and executing agency are driven, telescopic device, lifting gear and rotating device are total to With cooperation, executing agency is recycled to grip, put down material so that the use of robot is more flexible, and working range expands significantly Greatly.
The present invention is further arranged to:The rotating device includes electric rotating machine and rotation axis, the electric rotating machine longitudinal direction The inside of base is arranged on, the output shaft of the electric rotating machine is equipped with driving gear, and the lower end of the rotation axis is equipped with passively Gear, the driven gear are meshed with driving gear, and the bottom of upper end through support arm and the turntable of the rotation axis is consolidated Fixed connection.During work, electric rotating machine drives driving gear to rotate, while driving gear drives meshed passive tooth rotation Dynamic, driven gear drives rotation axis to rotate, so as to drive turntable and the transmission arm being connected with turntable and executing agency to be total to With rotation.
The present invention is further arranged to:The lifting gear includes lifting motor, and the lifting motor is horizontally installed on rotation The inside of turntable, the output shaft of the lifting motor are equipped with lifter wheel, and the bottom of the transmission arm, which is equipped with, runs through turntable And the elevating lever of interior of rotating shaft is extended to, the surface side of the elevating lever is equipped with rack, the rack and lifter wheel phase Engagement.During work, lifting motor drives lifter wheel to be rotated on rack, drives elevating lever to move up and down, elevating lever and transmission Arm is fixedly connected, so as to drive transmission arm and executing agency to move up and down.
The present invention is further arranged to:The both sides that the bottom of the transmission arm is located at elevating lever are equipped with sliding bar, described The upper end of sliding bar is fixedly connected with the bottom of transmission arm, and turntable is run through in the lower end of the sliding bar.The sliding bar of setting Transmission arm and the moving stability of executing agency are improved, avoids the occurrence of and rocks, improves manipulation accuracy.
The present invention is further arranged to:The telescopic device includes telescope motor and the first screw, and the telescope motor is horizontal To the inside that is distributed in transmission arm and the first screw is driven, is threaded with the first transmission shaft on first screw, described the One transmission shaft is connected with executing agency.During work, telescope motor drives the first screw to rotate so that is connected with the first wire rod thread The first transmission shaft moved left and right on the first screw, so as to drive the executing agency being fixedly connected with the first transmission shaft also therewith Move left and right.
The present invention is further arranged to:The executing agency includes mounting base and clamping piece, one end of the mounting base with First transmission axis connection, the other end of the mounting base are connected with clamping piece, and clamping device, the folder are equipped with the mounting base Hold the action that device promotes clamping piece to realize clamping.The action for clamping piece promptly and loosen using clamping device, operation Precisely, it is easy to control.
The present invention is further arranged to:The clamping device includes clamping motor and the second screw, and the clamping motor is horizontal To the inside that is distributed in mounting base and the second screw is driven, is threaded with second driving shaft on second screw, described the Two transmission shafts are equipped with the push rod for stretching out mounting base, and the push rod promotes clamping piece to realize holding action.By clamping motor band Dynamic second screw rotates, so as to drive second driving shaft and push rod to be moved along the length direction of the second screw, promotes clamping piece Realize the action unclamped and clamped, reliable operation, ensures that workpiece will not produce loosening or come off.
The present invention is further arranged to:The clamping piece includes the first clamping jaw and the second clamping jaw, first clamping jaw and The first linkage piece and the second linkage piece are respectively articulated with two clamping jaws, the other end of first linkage piece and the second linkage piece is equal Equipped with elongated hole, the end of the push rod is equipped with pivot pin, and the pivot pin passes through elongated hole and the first linkage piece and the second linkage piece Connection.By the setting of the first clamping jaw and the second clamping jaw, promoted using push rod, using flexible, can grabbing workpiece from different perspectives, In addition, to make clamping piece and clamped workpiece keep accurate relative position, phase can be selected according to the shape for being crawled workpiece The first clamping jaw and the shape of the second clamping jaw answered, avoid dropping for clamped workpiece.
The present invention is further arranged to:The walking mechanism includes bottom plate and two Athey wheels, the bottom plate are connected to two Between a Athey wheel, installs case is equipped with above the bottom plate, the base is arranged on the top surface of installs case, and the base plate interior is set It is useful for the driving device of driving Athey wheel.Using the mode of Athey wheel come mobile robot, the heavy burden ability of robot is improved.
The present invention is further arranged to:The driving device includes driving motor, and the driving motor is equipped with belt lace Wheel, the bottom plate are internally provided with retarder, and one end of the retarder is equipped with big belt pulley, the big belt pulley and belt lace Wheel is connected by synchronous band connection, the Athey wheel by axletree with bottom plate, and the other end of the retarder passes through shaft coupling With wheel axis connection.
The present invention has the beneficial effect that:The present invention is allowed the robot in effective working range by walking mechanism Inside moved, so as to obtain the working space of bigger, be more advantageous to the carrying of material, pass through the flexible dress in transmission arm Put, drive executing agency or so flexible, by the lifting gear in turntable, drive transmission arm and executing agency to move up and down, By the rotating device in base, turntable, transmission arm and executing agency is driven to rotate for 360 degree in the horizontal plane, telescopic device, Lifting gear and rotating device cooperate, and recycle executing agency to grip, put down material so that the use of robot is more Flexibly, working range expands significantly.
It is driven using various motors, the light weight of drive system, output power is high, and efficient, reaction speed is fast, energy Enough to carry out continually starting and braking, forward and backward switching is flexible, and offset deviation and velocity deviation are small, securely and reliably, operation and maintenance It is convenient.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of the present invention;
Fig. 2 is the left view of the present invention;
Fig. 3 is the top view of the present invention;
Fig. 4 is the structure diagram of executing agency in the present invention;
Fig. 5 is the connection diagram of Athey wheel and bottom plate in the present invention.
Reference numeral:1st, walking mechanism;11st, bottom plate;12nd, Athey wheel;13rd, installs case;14th, axletree;15th, retarder; 151st, big belt pulley;16th, shaft coupling;17th, motor is driven;171st, small belt pulley;18th, synchronous belt;21st, base;22nd, turntable; 23rd, transmission arm;24th, support arm;3rd, executing agency;31st, mounting base;32nd, clamping piece;33rd, motor is clamped;34th, the second screw; 35th, second driving shaft;36th, push rod;361st, pivot pin;37th, the first clamping jaw;371st, the first linkage piece;38th, the second clamping jaw;381st, Two linkage pieces;382nd, elongated hole;4th, lifting gear;41st, lifting motor;42nd, lifter wheel;43rd, elevating lever;44th, rack;45、 Sliding bar;5th, telescopic device;51st, telescope motor;52nd, the first screw;53rd, the first transmission shaft;6th, rotating device;61st, electric rotating Machine;62nd, rotation axis;63rd, driving gear;64th, driven gear.
Embodiment
With reference to attached drawing, present pre-ferred embodiments are described in further details.
As shown in Figs. 1-5, a kind of high precision small storage robot carried suitable for large space, including walking mechanism 1, Transmission mechanism and executing agency 3, the transmission mechanism are connected with walking mechanism 1 and executing agency 3 respectively, the transmission mechanism bag Base 21, turntable 22 and transmission arm 23 are included, the base 21 is fixed in walking mechanism 1, and the top of the base 21 is equipped with Support arm 24, upper end and the turntable 22 of the support arm 24 are rotatablely connected, and lifting gear 4, institute are equipped with the turntable 22 State lifting gear 4 to be connected with transmission arm 23, the lifting gear 4 drives 23 oscilaltion of transmission arm, sets in the transmission arm 23 There is telescopic device 5, the telescopic device 5 is connected with executing agency 3, and the telescopic device 5 drives executing agency 3 or so flexible, Rotating device 6 is equipped with the base 21, the rotating device 6 is connected with turntable 22, and the rotating device 6 drives turntable 22nd, transmission arm 23 and executing agency 3 rotate in the horizontal plane.
The rotating device 6 includes electric rotating machine 61 and rotation axis 62, and the electric rotating machine 61 is disposed longitudinally on base 21 Inside, the output shaft of the electric rotating machine 61 is equipped with driving gear 63, and the lower end of the rotation axis 62 is equipped with driven gear 64, the driven gear 64 is meshed with driving gear 63, and the upper end of the rotation axis 62 passes through support arm 24 and turntable 22 Bottom be fixedly connected.During work, electric rotating machine 61 drives driving gear 63 to rotate, while driving gear 63 drives and mutually nibbled with it The driven gear 64 of conjunction rotates, driven gear 64 drive rotation axis 62 rotate so that drive turntable 22 and with turntable 22 The transmission arm 23 of connection and executing agency 3 rotate jointly.
The lifting gear 4 includes lifting motor 41, and the lifting motor 41 is horizontally installed on the inside of turntable 22, institute The output shaft for stating lifting motor 41 is equipped with lifter wheel 42, and the bottom of the transmission arm 23 is equipped with through turntable 22 and extends Elevating lever 43 inside to rotation axis 62, the surface side of the elevating lever 43 are equipped with rack 44, the rack 44 and lifting tooth Wheel 42 is meshed.During work, lifting motor 41 drives lifter wheel 42 to be rotated on rack 44, drives and is moved down on elevating lever 43 Dynamic, elevating lever 43 is fixedly connected with transmission arm 23, so as to drive transmission arm 23 and executing agency 3 to move up and down.The transmission The both sides that the bottom of arm 23 is located at elevating lever 43 are equipped with sliding bar 45, the upper end of the sliding bar 45 and the bottom of transmission arm 23 It is fixedly connected, turntable 22 is run through in the lower end of the sliding bar 45.The sliding bar 45 of setting improves transmission arm 23 and performs machine The moving stability of structure 3, avoids the occurrence of and rocks, and improves manipulation accuracy.
The telescopic device 5 includes 51 and first screw 52 of telescope motor, and the telescope motor 51 is laterally distributed in transmission The inside of arm 23 simultaneously drives the first screw 52, the first transmission shaft 53 is threaded with first screw 52, described first passes Moving axis 53 is connected with executing agency 3.During work, telescope motor 51 drives the first screw 52 to rotate so that with 52 spiral shell of the first screw First transmission shaft 53 of line connection moves left and right on the first screw 52, is held so as to drive with what the first transmission shaft 53 was fixedly connected Row mechanism 3 also moves left and right therewith.
The executing agency 3 includes mounting base 31 and clamping piece 32, one end of the mounting base 31 and the first transmission shaft 53 Connection, the other end of the mounting base 31 are connected with clamping piece 32, and clamping device, the clamping dress are equipped with the mounting base 31 Put the action for promoting clamping piece 32 to realize clamping.The action for clamping piece 32 promptly and loosen using clamping device, operation Precisely, it is easy to control.The clamping device includes clamping 33 and second screw 34 of motor, and the clamping motor 33 is laterally distributed in The inside of mounting base 31 simultaneously drives the second screw 34, is threaded with second driving shaft 35 on second screw 34, and described the Two transmission shafts 35 are equipped with the push rod 36 for stretching out mounting base 31, and the push rod 36 promotes clamping piece 32 to realize holding action.Pass through Clamping motor 33 drives the second screw 34 to rotate, so as to drive the length of second driving shaft 35 and push rod 36 along the second screw 34 Direction is moved, and promotes clamping piece 32 to realize the action unclamped and clamped, reliable operation, ensures that workpiece will not produce loosening or de- Fall.The clamping piece 32 includes the first clamping jaw 37 and the second clamping jaw 38, is cut with scissors respectively on 37 and second clamping jaw 38 of the first clamping jaw The first linkage piece 371 and the second linkage piece 381 are connected to, the other end of 371 and second linkage piece 381 of the first linkage piece is all provided with There is elongated hole 382, the end of the push rod 36 is equipped with pivot pin 361, and the pivot pin 361 passes through 382 and first linkage piece of elongated hole 371 and second linkage piece 381 connect.By the setting of the first clamping jaw 37 and the second clamping jaw 38, promoted using push rod 36, use spirit It is living, can grabbing workpiece from different perspectives, can be with addition, to make clamping piece 32 and clamped workpiece keep accurate relative position According to the shape for being crawled workpiece, the shape of corresponding first clamping jaw, 37 and second clamping jaw 38 is selected, avoids clamped workpiece Drop.
The walking mechanism 1 includes bottom plate 11 and two Athey wheels 12, the bottom plate 11 be connected to two Athey wheels 12 it Between, the top of bottom plate 11 is equipped with installs case 13, and the base 21 is arranged on the top surface of installs case 13, is set inside the bottom plate 11 It is useful for the driving device of driving Athey wheel 12.Using the mode of Athey wheel 12 come mobile robot, the heavy burden of robot is improved Ability.The driving device includes driving motor 17, and the driving motor 17 is equipped with small belt pulley 171, the bottom plate 11 Retarder 15 is internally provided with, one end of the retarder 15 is equipped with big belt pulley 151, the big belt pulley 151 and small belt pulley 171 are connected by synchronous belt 18, and the Athey wheel 12 is connected by axletree 14 with bottom plate 11, the other end of the retarder 15 It is connected by shaft coupling 16 with axletree 14.
Install machines to replace manual labor work, effectively complete industrial various operating processes, and manually cannot be complete Into certain operations, mitigate manpower, improve working conditions, avoid due to operation fatigue or carelessness and caused by personal injury, with The degree of automation in production process is improved, so as to raise labour productivity and reduce production cost.The present invention passes through row Walk mechanism 1 to allow the robot to be moved in effective working range, so as to obtain the working space of bigger, more Be conducive to the carrying of material, by the telescopic device 5 in transmission arm 23, drive executing agency 3 or so flexible, pass through turntable 22 Interior lifting gear 4, drives transmission arm 23 and executing agency 3 to move up and down, and by the rotating device 6 in base 21, drives rotation The 360 degree of rotations in the horizontal plane of turntable 22, transmission arm 23 and executing agency 3, telescopic device 5, lifting gear 4 and rotating device 6 Cooperate, recycle executing agency 3 to grip, put down material so that the use of robot is more flexible, and working range is significantly Expand.
Practical operation:When material requirement is carried from rack, robot is moved to place to be handled by walking mechanism 1, Drive executing agency 3 flexible by telescopic device 5, drive executing agency 3 to lift by lifting gear 4, pass through 6 band of rotating device Dynamic executing agency 3 rotates, and adjusts the position of executing agency 3, executing agency 3 is moved at material to be handled, Ran Houzai Drive clamping piece 32 to clamp material using clamping device, then pass through walking mechanism 1, rotating device 6, lifting gear 4 one by one again Executing agency 3 is moved to the position specified with telescopic device 5, clamping piece 32 is unclamped by executive device, material is placed on The position specified, then returns the position of next material to be handled, continues carrying next time, and this completes a thing Expect the cycle carried.
Above-described embodiment is only used for illustrating the inventive concept of the present invention, rather than the restriction to rights protection of the present invention, All changes for carrying out unsubstantiality to the present invention using this design, should all fall into protection scope of the present invention.

Claims (10)

  1. A kind of 1. high precision small storage robot carried suitable for large space, it is characterised in that:Including walking mechanism (1), Transmission mechanism and executing agency (3), the transmission mechanism are connected with walking mechanism (1) and executing agency (3) respectively, the transmission Mechanism includes base (21), turntable (22) and transmission arm (23), and the base (21) is fixed in walking mechanism (1), described The top of base (21) is equipped with support arm (24), and upper end and the turntable (22) of the support arm (24) are rotatablely connected, the rotation Lifting gear (4) is equipped with turntable (22), the lifting gear (4) is connected with transmission arm (23), and the lifting gear (4) drives Transmission arm (23) oscilaltion, the transmission arm (23) is interior to be equipped with telescopic device (5), the telescopic device (5) and executing agency (3) connecting, the telescopic device (5) drives executing agency (3) left and right flexible, and rotating device (6) is equipped with the base (21), The rotating device (6) is connected with turntable (22), and the rotating device (6) drives turntable (22), transmission arm (23) and holds Row mechanism (3) rotates in the horizontal plane.
  2. 2. a kind of high precision small storage robot carried suitable for large space according to claim 1, its feature exist In:The rotating device (6) includes electric rotating machine (61) and rotation axis (62), and the electric rotating machine (61) is disposed longitudinally on base (21) inside, the output shaft of the electric rotating machine (61) are equipped with driving gear (63), and the lower end of the rotation axis (62) is set There is driven gear (64), the driven gear (64) is meshed with driving gear (63), and the upper end of the rotation axis (62) passes through Support arm (24) is fixedly connected with the bottom of turntable (22).
  3. 3. a kind of high precision small storage robot carried suitable for large space according to claim 1, its feature exist In:The lifting gear (4) includes lifting motor (41), and the lifting motor (41) is horizontally installed on the interior of turntable (22) Portion, the output shaft of the lifting motor (41) are equipped with lifter wheel (42), and the bottom of the transmission arm (23) is equipped with through rotation Turntable (22) simultaneously extends to the internal elevating lever (43) of rotation axis (62), and the surface side of the elevating lever (43) is equipped with rack (44), the rack (44) is meshed with lifter wheel (42).
  4. 4. a kind of high precision small storage robot carried suitable for large space according to claim 3, its feature exist In:The both sides that the bottom of the transmission arm (23) is located at elevating lever (43) are equipped with sliding bar (45), the sliding bar (45) Upper end is fixedly connected with the bottom of transmission arm (23), and turntable (22) is run through in the lower end of the sliding bar (45).
  5. 5. a kind of high precision small storage robot carried suitable for large space according to claim 1, its feature exist In:The telescopic device (5) includes telescope motor (51) and the first screw (52), and the telescope motor (51) is laterally distributed in biography The inside of swing arm (23) simultaneously drives the first screw (52), and the first transmission shaft (53) is threaded with first screw (52), First transmission shaft (53) is connected with executing agency (3).
  6. 6. a kind of high precision small storage robot carried suitable for large space according to claim 1, its feature exist In:The executing agency (3) includes mounting base (31) and clamping piece (32), one end and the first transmission shaft of the mounting base (31) (53) connecting, the other end of the mounting base (31) is connected with clamping piece (32), and clamping device is equipped with the mounting base (31), The clamping device promotes clamping piece (32) to realize the action clamped.
  7. 7. a kind of high precision small storage robot carried suitable for large space according to claim 6, its feature exist In:The clamping device includes clamping motor (33) and the second screw (34), and the clamping motor (33) is laterally distributed in installation The inside of seat (31) simultaneously drives the second screw (34), and second driving shaft (35), institute are threaded with second screw (34) State second driving shaft (35) and be equipped with the push rod (36) for stretching out mounting base (31), the push rod (36) promotes clamping piece (32) to realize Holding action.
  8. 8. a kind of high precision small storage robot carried suitable for large space according to claim 7, its feature exist In:The clamping piece (32) includes the first clamping jaw (37) and the second clamping jaw (38), first clamping jaw (37) and the second clamping jaw (38) the first linkage piece (371) and the second linkage piece (381), first linkage piece (371) and second have been respectively articulated with The other end of movable plate (381) is equipped with elongated hole (382), and the end of the push rod (36) is equipped with pivot pin (361), the pivot pin (361) it is connected through elongated hole (382) with the first linkage piece (371) and the second linkage piece (381).
  9. 9. a kind of high precision small storage robot carried suitable for large space according to claim 1, its feature exist In:The walking mechanism (1) includes bottom plate (11) and two Athey wheels (12), and the bottom plate (11) is connected to two Athey wheels (12) between, installs case (13) is equipped with above the bottom plate (11), the base (21) is arranged on the top surface of installs case (13), institute State bottom plate (11) and be internally provided with the driving device for being used for driving Athey wheel (12).
  10. 10. a kind of high precision small storage robot carried suitable for large space according to claim 9, its feature exist In:The driving device includes driving motor (17), and the driving motor (17) is equipped with small belt pulley (171), the bottom plate (11) be internally provided with retarder (15), one end of the retarder (15) is equipped with big belt pulley (151), the big belt pulley (151) connected with small belt pulley (171) by synchronous belt (18), the Athey wheel (12) passes through axletree (14) and bottom plate (11) Connection, the other end of the retarder (15) are connected by shaft coupling (16) with axletree (14).
CN201810029987.8A 2018-01-12 2018-01-12 A kind of high precision small storage robot carried suitable for large space Pending CN108016806A (en)

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CN108858118A (en) * 2018-06-28 2018-11-23 何港港 A kind of crawl humanoid robot
CN108890660A (en) * 2018-07-17 2018-11-27 东莞市奇趣机器人科技有限公司 A kind of service type intelligent robot with delivery function
CN108908374A (en) * 2018-09-20 2018-11-30 安徽理工大学 A kind of express sorter device people and control system
CN109095064A (en) * 2018-06-14 2018-12-28 郑晓燕 It is a kind of to be conveniently adjusted type handling device for logistic storage
CN109093591A (en) * 2018-08-17 2018-12-28 安徽星宇生产力促进中心有限公司 A kind of crawler type pickup robot and its application method
CN109436699A (en) * 2018-10-11 2019-03-08 筑梦高科建筑有限公司 A kind of framework of steel reinforcement forming machine people
CN109733817A (en) * 2018-12-18 2019-05-10 盐城汇金科技信息咨询服务有限公司 A kind of physical-distribution intelligent and the floor truck and implementation method of rotatable movement
CN109773743A (en) * 2019-03-26 2019-05-21 钟发财 A kind of new-type industrial robot grabbing device
CN110000323A (en) * 2019-03-20 2019-07-12 余健亭 A kind of machining forging equipment being convenient for operation
CN110683467A (en) * 2019-10-23 2020-01-14 台州精微顺自动化有限公司 Rotation type cloth raw materials snatchs hoisting frame
CN110733969A (en) * 2019-10-21 2020-01-31 台州精微顺自动化有限公司 cloth raw material grabbing lifting frame
CN110902227A (en) * 2019-11-22 2020-03-24 福建永强力加动力设备有限公司 Clamping device is used in warehouse transportation
CN111570591A (en) * 2020-05-19 2020-08-25 翁金环 Stamping device for machining
CN111942796A (en) * 2020-08-21 2020-11-17 安徽晟东科技有限公司 Intelligent robot is used in protection of food medicine warehouse
CN112850135A (en) * 2021-01-28 2021-05-28 衡阳师范学院 Logistics clamping and holding machine adaptable to carrying of various cargoes
CN113733077A (en) * 2021-09-23 2021-12-03 扬州市聚鑫机械有限公司 Manipulator for cement machinery carrying
WO2022094988A1 (en) * 2020-11-07 2022-05-12 唐山圣因海洋科技有限公司 Clamping means of warehouse transport device

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CN109095064B (en) * 2018-06-14 2020-06-12 陈英岳 A adjustment type handling device of being convenient for logistics storage
CN109095064A (en) * 2018-06-14 2018-12-28 郑晓燕 It is a kind of to be conveniently adjusted type handling device for logistic storage
CN108858118A (en) * 2018-06-28 2018-11-23 何港港 A kind of crawl humanoid robot
CN108890660A (en) * 2018-07-17 2018-11-27 东莞市奇趣机器人科技有限公司 A kind of service type intelligent robot with delivery function
CN109093591A (en) * 2018-08-17 2018-12-28 安徽星宇生产力促进中心有限公司 A kind of crawler type pickup robot and its application method
CN108908374A (en) * 2018-09-20 2018-11-30 安徽理工大学 A kind of express sorter device people and control system
CN109436699A (en) * 2018-10-11 2019-03-08 筑梦高科建筑有限公司 A kind of framework of steel reinforcement forming machine people
CN109733817A (en) * 2018-12-18 2019-05-10 盐城汇金科技信息咨询服务有限公司 A kind of physical-distribution intelligent and the floor truck and implementation method of rotatable movement
CN110000323A (en) * 2019-03-20 2019-07-12 余健亭 A kind of machining forging equipment being convenient for operation
CN109773743A (en) * 2019-03-26 2019-05-21 钟发财 A kind of new-type industrial robot grabbing device
CN110733969A (en) * 2019-10-21 2020-01-31 台州精微顺自动化有限公司 cloth raw material grabbing lifting frame
CN110683467A (en) * 2019-10-23 2020-01-14 台州精微顺自动化有限公司 Rotation type cloth raw materials snatchs hoisting frame
CN110902227A (en) * 2019-11-22 2020-03-24 福建永强力加动力设备有限公司 Clamping device is used in warehouse transportation
CN111570591A (en) * 2020-05-19 2020-08-25 翁金环 Stamping device for machining
CN111942796A (en) * 2020-08-21 2020-11-17 安徽晟东科技有限公司 Intelligent robot is used in protection of food medicine warehouse
WO2022094988A1 (en) * 2020-11-07 2022-05-12 唐山圣因海洋科技有限公司 Clamping means of warehouse transport device
CN112850135A (en) * 2021-01-28 2021-05-28 衡阳师范学院 Logistics clamping and holding machine adaptable to carrying of various cargoes
CN113733077A (en) * 2021-09-23 2021-12-03 扬州市聚鑫机械有限公司 Manipulator for cement machinery carrying

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