CN108706334A - Conveying device - Google Patents
Conveying device Download PDFInfo
- Publication number
- CN108706334A CN108706334A CN201810927069.7A CN201810927069A CN108706334A CN 108706334 A CN108706334 A CN 108706334A CN 201810927069 A CN201810927069 A CN 201810927069A CN 108706334 A CN108706334 A CN 108706334A
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- China
- Prior art keywords
- manipulator
- area
- pressure pin
- transfer area
- transition range
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of conveying device, including rack and three manipulators being arranged in rack, rack includes pressure pin, pressure pin includes length direction, and three manipulators are arranged in order along pressure pin length direction, and three manipulators are moved along pressure pin length direction, it is arranged in order by three manipulators and co-operating, enable article rapidly and efficiently be transferred to presumptive area, greatly improve efficiency, and adapt to the transfer needs of different articles.
Description
Technical field
The present invention relates to a kind of conveying devices.
Background technology
In process of production, it is often necessary to some components in production process be captured and be transferred to scheduled position
It sets, generally use, the conveying device of the moveable manipulator mode on guide rail is such as set to complete similar work, but is set
Setting the manipulator on guide rail needs zero load to return to crawl position, and when especially transfer distance is longer, zero load returns to crawl position
The time needed is long, causes conveying device efficiency low, or even drags the production efficiency of slow entire production system.
Invention content
It is necessary to provide a kind of conveying devices for solving above-mentioned technical problem.
A kind of conveying device, including rack and three manipulators being arranged in rack, the rack includes pressure pin, institute
The pressure pin stated includes length direction, and described three manipulators are arranged in order along pressure pin length direction, and three machineries
Hand is moved along pressure pin length direction.
Further, three manipulators include the first manipulator, the second manipulator and third manipulator, in rack
It is provided with and puts area and transition range, at least one transfer area is also provided between the storing area and transition range, at least
One manipulator is moved back and forth between storing area and transfer area and at least one manipulator is between transfer area and transition range
It moves back and forth, the pressure pin includes the first pressure pin and the second pressure pin.
Further, the storing area is separately positioned on the first pressure pin both ends with transition range, and the transfer area includes
First transfer area and the second transfer area, first manipulator moves back and forth between storing area and the first transfer area, described
The second manipulator moved back and forth between the first transfer area and the second transfer area, the third manipulator transfer area with turn
Shifting moves back and forth between area.
Further, the distance between the storing area and the first transfer area, the first transfer area and the second transfer area it
Between distance and the second transfer area it is equal with the distance between transition range, and the first manipulator, the second manipulator and third machinery
Hand is equal along the speed that pressure pin length direction moves.
Further, the storing area includes the first storing area and second puts area, and described first puts Qu Yu
Two storing areas are separately positioned on the first pressure pin both ends, and transition range setting is put first between area and the second storing area,
It is provided with the first transfer area between the first storing area and transition range, second is provided between the second storing area and transition range
Transfer area, first manipulator move back and forth between the first storing area and the first transfer area, the third manipulator
It is moved back and forth between the second storing area and the second transfer area, second manipulator is in the first transfer area and transition range, the
It is moved back and forth between two transfer areas and transition range.
Further, first manipulator and third manipulator crisscross motion.
Further, first manipulator includes the first bearing, and the first bearing both ends are separately positioned on the
On one pressure pin and the second pressure pin, first manipulator includes the first drive component, and first drive component setting exists
On first bearing, tooth that first drive component includes the rack being arranged on the second pressure pin and is arranged on the first bearing
Wheel.
Further, further include the first guider between first bearing and the first pressure pin, described first leads
Include the first guide rail being arranged on the first pressure pin and the first guide holder being arranged on the first bearing to device, described first
Guide holder includes the first guide groove, and first guide rail is placed in first guide groove.
Further, first manipulator includes the first grabbing assembly, first bearing and the first crawl group
It is additionally provided with displacement component between part, the displacement component includes the first displacement component and second displacement component, and described the
For one displacement component for driving the grabbing assembly to be moved along first direction, the second displacement component is described for driving
Grabbing assembly move in a second direction, the first direction is parallel to level side perpendicular to the first pressure pin length direction
To the second direction is parallel to vertical direction perpendicular to the first pressure pin length direction.
Further, first manipulator, the second manipulator and third robot manipulator structure are identical.
Advantageous effect：The present invention provides a kind of conveying device, including rack and three manipulators being arranged in rack, machine
Frame includes pressure pin, and pressure pin includes length direction, and three manipulators are arranged in order along pressure pin length direction, and three machineries
Hand is moved along pressure pin length direction, is arranged in order by three manipulators and co-operating so that article can be rapidly and efficiently
It is transferred to presumptive area, greatly improves efficiency, and adapts to the transfer needs of different articles.
Description of the drawings
Fig. 1 conveying device schematic diagrames provided in an embodiment of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the areas Tu1Zhong A enlarged diagram；
Fig. 4 is the areas Tu1Zhong B enlarged diagram.
Graphical sysmbol explanation：
Rack 10
First pressure pin 11
First guide rail 111
Second pressure pin 12
Rack 120
Second guide rail 121
First manipulator 20
Second manipulator 30
Third manipulator 40
Put area 50
First puts area 60
Second puts area 61
First transfer area 51,62
Second transfer area 52,63
Transition range 53,64
First bearing 21
First guide holder 211
Second guide holder 212
First drive component 22
First displacement component 23,33,43
First slide plate 231
First driving means 232
Second displacement component 24,34,44
Second slide plate 241
Second driving device 242
First grabbing assembly 25
First drag chain 26
Second drive component 32
Second grabbing assembly 35
Second drag chain 36
Third drive component 42
Third grabbing assembly 45.
Specific implementation mode
With reference to embodiment, the present invention will be described in detail.
Unless otherwise defined, the technical term or scientific term used herein should be in disclosure fields and has
The ordinary meaning that the personage of general technical ability is understood.Used in disclosure patent application specification and claims " the
One ", " second " and similar word do not represent the connection of any sequence, quantity or machinery, but indicate exist at least
One." connection " either the similar word such as " connected " is not limited to physics or mechanical connection, but may include
Electrical connection, it is either directly or indirect."upper", "lower", "left", "right" etc. are only used for indicating that relative position is closed
System, after being described the change of object absolute position, then this first also changes position relationship accordingly.
- Fig. 4 is please referred to Fig.1, the embodiment of the present invention provides a kind of conveying device, for capturing and shifting object, such as battery
Battery core etc., other certain suitable objects can apply this conveying device.
Wherein, Fig. 1 shows conveying device stereoscopic schematic diagram provided in an embodiment of the present invention, and Fig. 2 shows the upper of Fig. 1
View, Fig. 3 show that the areas Tu1Zhong A enlarged diagram, Fig. 4 show the areas Tu1Zhong B enlarged diagram, conveying dress
It sets, including rack 10 and three manipulators being successively set in rack 10.
The rack 10, is used to support three manipulators, and the rack 10 includes pressure pin, the pressure pin
Including length direction, described three manipulators are arranged in order along pressure pin length direction, and three manipulators are along pressure pin
Length direction moves.
For more stable support manipulator, the pressure pin includes the first pressure pin 11 and the second pressure pin 12, and described the
One pressure pin 11 and the setting of 12 parallel interval of the second pressure pin, manipulator setting the first pressure pin 11 and the second pressure pin 12 it
Between, and can be moved along 11 and second pressure pin of the first pressure pin, 12 length direction.
Three manipulators are arranged in order along the first pressure pin 11 and 12 length direction of the second pressure pin, specifically, described
Three manipulators be followed successively by the first manipulator 20, the second manipulator 30 and third manipulator 40.
It is used for it should be understood that being additionally provided with below rack 10 and putting area 50 and transition range 53, the storing area 50
Article is put, the transition range 53 is that article needs the target area being transferred to by conveying device, the storing area 50
It is also provided at least one transfer area between transition range 53, is used for transfer article, one in described three manipulators
A manipulator is first transferred to transfer area, another machinery in described three manipulators by will be placed in the article for putting area 50
Hand is again by the item transfer in transfer area to transition range 53, to which article is quickly transferred to transition range 53 from area 50 is put.
It should be understood that the storing area 50, transition range 53 and transfer area are arranged along 11 length direction of the first pressure pin, with
Three manipulators are enable to move to presumptive area, releaser after taking article or the scheduled region of arrival from scheduled region
Product.
Further, three manipulators include the first operational mode, when three manipulators are in the first operation mould
When formula, the storing area 50 and transition range 53 are separately positioned on the both ends of pressure pin length direction, the storing area 50 with turn
It moves between area 53 including the first transfer area 51 and the second transfer area 52, first manipulator 20 is in putting area 50 and first
Turn to move back and forth between area 51, and the item transfer in area 50 will be put to the first transfer area 51, the second manipulator 30 is first
It is moved back and forth between transfer area 51 and the second transfer area 52, by the item transfer in the first transfer area 51 to the second transfer area 52,
Third manipulator 40 moves back and forth between the second transfer area 52 and storing area 50, to turn the article in the second transfer area 52
Transition range 53 is moved to, the cooperative motion of three manipulators is passed through so that article can be faster transferred to from storing area 50
Move area 53.
Further, in the distance between the storing area 50 and the first transfer area 51, the first transfer area 51 and second
It is equal with the distance between transition range 53 to turn the distance between area 52 and the second transfer area 52 so that each robot movement is apart from phase
Move distance Deng, i.e., each manipulator be put distance between area 50 and transition range 53 one third can be realized by article from
It puts area 50 and is transferred to transition range 53, to greatly improve the efficiency of item transfer.
Further, first manipulator 20, the second manipulator 30 and third manipulator 40 are along pressure pin length direction
The speed of movement is equal.
Further, three manipulators include the second operational mode, when three manipulators are the second fortune
When row pattern, there are two the storing areas, and respectively first, which puts area 61 and second, puts area 62, and described first is put
The both ends that area 62 is separately positioned on 11 length direction of the first pressure pin are put in area 61 and second, and the transition range 64 is arranged first
Between putting storing area 61 of area 60 and second, is put between area 60 and transition range 64 first and second puts area 61 and transfer
The first transfer area 62 and the second transfer area 63 are respectively arranged between area 64, first manipulator 20 puts area 60 first
It is moved back and forth between the first transfer area 62, and the item transfer in area 60 will be put to the first transfer area 62, third manipulator
40 move back and forth between the second storing area 61 and the second transfer area 63, and put item transfer in area 61 to second by second
Transfer area 63, second manipulator 30 is between the first transfer area 62 and transition range 64 and the second transfer area 64 and transfer
It is moved back and forth between area 64, and by the item transfer in the first transfer area 62 and the second transfer area 63 to transition range 64, thus will
At least two articles are quickly transferred to transition range 64.
Further, described first the distance between area 60 and the first transfer area 62, the second storing area 61 and the are put
The distance between two transfer areas 63 are equal and the distance between the first transfer area 62 and transition range 64, the second transfer area 63 with
The distance between transition range 64 is equal, so that the movement between each manipulator is easy collaboration, to improve item transfer
Efficiency.
Further, first manipulator 20 along the movement velocity and third manipulator 40 of pressure pin length direction along support
The movement velocity in pole length direction is more than movement velocity of second manipulator 30 along pressure pin length direction.
Further, described first manipulator 20 and 40 crisscross motion of third manipulator, the crisscross motion refer to
When the first manipulator 20 close to 64 direction of transition range to when moving, the third manipulator 40 is transported to far from 64 direction of transition range
Dynamic, when third manipulator 40 close to 64 direction of transition range to when moving, first manipulator 20 is to far from 64 side of transition range
To movement, to avoid the second manipulator 30 that from capable of thering are more times to shift in the first transfer area 62 or the second transfer area 64
Article, while the second manipulator 30 being avoided to be interfered with the first manipulator 20 or third manipulator 40.
Further, 10 lower section of rack is additionally provided with the first workbench（It is not shown）And second workbench（Do not scheme
Show）, first workbench includes putting area 50, and second workbench includes transition range 53.
Further, 10 lower section of rack is additionally provided with third workbench and the 4th workbench, the third work
It includes the first transfer area 51 to make platform, and the 4th workbench includes the second transfer area 52.
Further, further include first conveyer belt under the rack 10, first workbench setting is defeated first
It send and takes.
Further, further include the second conveyer belt under the rack 10, second workbench setting is defeated second
It send and takes.
Further, first manipulator 20, the second manipulator 30 and third manipulator 40 it is selectable be in first
Operational mode and the second operational mode.
Further, the conveying device further includes controller, the controller and the first manipulator 20, the second machine
Tool hand 30 and third manipulator 40 are electrically connected, for being sent out to the first manipulator 20, the second manipulator 30 and third manipulator 40
Control signal is sent, so that first manipulator 20, the second manipulator 30 and third manipulator 40 are in the first operation mould
Formula or the second operational mode.
Further, first manipulator 20 further includes the first drag chain 26, and the second manipulator 30 further includes second dragging
Chain 36, the first drag chain 26 and the interference of the second drag chain 36, first drag chain 26 are respectively set with the second drag chain 36 in order to prevent
In 11 both sides of the first pressure pin, the both sides refer to first pressure pin 11 towards the side of the first manipulator 20 and deviate from
The side of first manipulator 20.
Further, it is provided with first sensor between first manipulator 20 and the second manipulator 30（It is not shown）
And second second sensor between manipulator 30 and third manipulator 40（It is not shown）, for preventing the first manipulator 20 and
Two manipulators 30, the second manipulator 30 collide with third manipulator 40.
Further, the first sensor is arranged in the first manipulator 20 towards the side of the second manipulator 30, institute
The second sensor stated is arranged in the second manipulator 30 towards the side of third manipulator 40, certainly in a further embodiment,
The first sensor, which is arranged, to exist in the second manipulator 30 towards the side of the first manipulator 20 and second sensor setting
Second manipulator 30 is towards the side of 3rd sensor.
The first sensor, second sensor are range sensor, specifically, the range sensor can be
Light eye.
First manipulator 20 includes the first drive component 22 and what is be arranged on the first drive component 22 first grab
Component 25 is taken, first drive component 22 is for making first manipulator 20 be moved along pressure pin length direction, institute
The first grabbing assembly 25 stated is used to capture article from storing area 50 and article is released to the first transfer area 51.
Specifically, first manipulator 20 includes the first bearing 21,21 both ends of the first bearing are respectively set
On the first pressure pin 11 and the second pressure pin 12, first drive component 22 is arranged on the first bearing 21, for driving
The first bearing 21 stated is moved along pressure pin length direction.
Further, first drive component 22 includes that the rack 120 being arranged on the second pressure pin 12 and setting exist
Gear on first bearing 21（It is not shown）, the wheel and rack 120 engages, 120 length direction of rack and the
Two pressure pins, 12 length direction is parallel, and when the gear rotation, first bearing 21 is along 12 length direction of the second pressure pin
Movement, it is possible to understand that, first drive component 22 further includes the first power plant, for driving the gear to turn
It is dynamic.
Optionally, in one embodiment, first drive component 22 is linear motor, including is arranged in the second support
Primary on bar 12 and the secondary being arranged on the first bearing 21, can similarly make the first bearing 21 be grown along the second pressure pin 12
Spend direction movement.
Likewise, the second manipulator 30 includes the second drive component 32 moved along pressure pin length direction, third manipulator
40 include the third drive component 42 moved along pressure pin length direction, it is possible to understand that, second drive component 32, third
Drive component 42 is identical as 22 structure of the first drive component, and details are not described herein.
It should be understood that in the present embodiment, by the way that rack 120 is arranged on the second pressure pin 12 so that the first driving group
Part 22, the second drive component 32 and third drive component 42 can use identical structure, not only make each drive component more
Each manipulator is readily driven to be moved along 12 length direction of the second pressure pin, and since each drive component has identical structure, from
And so that each drive component parts communicate, repair is easy.
Further, in order to preferably the first bearing 21 be made to be moved along 12 length direction of the second pressure pin, described first
Further include the first guider between bearing 21 and the first pressure pin 11, the guider includes being arranged on the first pressure pin 11
The first guide rail 111 and the first guide holder 211 for being arranged on the first bearing 21, first guide holder 211 include first
Guide groove, 111 cross sectional shape of the first guide rail and size match with the first guide groove cross sectional shape, size, and described
One guide rail 111 is placed in first guide groove, and the guide rail includes length direction, the rail length direction and first
11 length direction of pressure pin is parallel, is moved along 11 length direction of the first pressure pin so that the first bearing 21 is more stable.
Further, further include the second guider between first bearing 21 and the second pressure pin 12, described
Two guiders include the second guide rail 121 being arranged on the second pressure pin 12 and the second guide holder being arranged on the first bearing 21
212, the second guide holder 212 includes the second guide groove, it is possible to understand that, the knot of second guider and the first guider
It is identical to be configured shape, so that the 21 more stable length direction along the first pressure pin 11 of the first bearing moves.
It should be understood that first guider and the second guider may be other structures, as guide hole is led
Rod structure, guide wheel structure etc..
First grabbing assembly 25 is arranged on the first bearing 21, when first bearing 21 is along the second pressure pin 12
When length direction moves, first grabbing assembly 25 is moved in company with along 12 length direction of the second pressure pin, to crawl and is turned
Move article.
First grabbing assembly 25 includes the first grabbing device for capturing frame and being arranged on the first crawl frame（Do not scheme
Show）, the grabbing device can be sucker, capture article from storing area 50 by sucker and article is released in first
Turn area 51, optionally, in other embodiments, the grabbing device may be collet, and article is gripped by collet.
Further, in order to enable the first grabbing assembly 25 can more accurately be displaced to article position and adapt to
Different articles is additionally provided with displacement component, the set of displacements between first bearing 21 and the first grabbing assembly 25
Part includes the first displacement component 23 and second displacement component 24, and first displacement component 23 is for driving the crawl group
Part is moved along first direction, and the second displacement component 24 is for driving the grabbing assembly to move in a second direction, institute
The first direction stated is parallel to horizontal direction perpendicular to 11 length direction of the first pressure pin, and second direction is perpendicular to the first pressure pin
11 length directions, and it is parallel to vertical direction so that the first grabbing assembly 25 can be by the first drive component 22 and first
It is arbitrarily moved in the three dimensions that displacement component 23, second displacement component 24 are constituted, to adapt to different article and more accurate
True crawl article.
First displacement component 23 include first driving means 232 and connect with first driving means 232 first
Slide plate 231, the first driving means 232 include the movable end moved along first direction, described second slide plate 241 with should
Movable end connects, and when the activity end motion, first slide plate 231 is moved along first direction.
The second displacement component 24 include the second driving device 242 and connect with the second driving device 242 the
Two slide plates 241, second driving device 242 include the movable end that moves in a second direction, second slide plate 241 with
The movable end connects, and when the activity end motion, second slide plate 241 moves in a second direction.
The first driving means 232 are arranged on the first bearing 21, and second driving device 242 setting is the
On one slide plate 231, first grabbing assembly 25 is arranged on the second slide plate 241, described when the first bearing 21 moves
First grabbing assembly 25 is moved along pressure pin length direction, and when the first slide plate 231 moves, first grabbing assembly 25 is along
One direction moves, and when the second slide plate 241 moves, first grabbing assembly 25 moves in a second direction.
It should be understood that the first driving means, the second driving device can be electric cylinders, cylinder, linear motor, liquid
One kind in the devices such as cylinder pressure, electromagnet.
Likewise, displacement component is also respectively provided on the second manipulator 30 and third manipulator 40, with so that
The third grabbing device 45 on the second grabbing device 35 and third manipulator 40 on two manipulators 30 can be displaced to more
Position, it is possible to understand that, gearshift equally includes the first displacement component 33 and second displacement on second manipulator 30
Component 34, it is described to make the second grabbing device 35 on the second manipulator 30 be moved along first direction, second direction respectively
Gearshift equally includes the first displacement component 43 and second displacement component 44 on third manipulator 40, with respectively so that third machine
Third grabbing device 45 on tool hand 40 is moved along first direction, second direction, it is possible to understand that, second manipulator 30
The first displacement component 33 it is identical as 23 structure of the first displacement component of the first manipulator 20, second manipulator 30
Two displacement components 34 are identical as 24 structure of second displacement component of the first manipulator 20, first the third manipulator 40
Move that component 43 is identical as 23 structure of the first displacement component of the first manipulator 20, second displacement group of the third manipulator 40
Part 44 is identical as 24 structure of second displacement component of the first manipulator 20, and details are not described herein.
Conveying device provided by the invention, is arranged in order and co-operating by three manipulators so that article can be fast
Speed is efficiently transferred to presumptive area, greatly improves efficiency, and adapt to the transfer needs of different articles.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of conveying device, which is characterized in that including rack and three manipulators being arranged in rack, the rack packet
Pressure pin is included, the pressure pin includes length direction, and described three manipulators are arranged in order along pressure pin length direction, and described
Three manipulators are moved along pressure pin length direction.
2. conveying device as described in claim 1, which is characterized in that three manipulators include the first manipulator, the
Two manipulators and third manipulator are provided in rack and put area and transition range, may be used also between the storing area and transition range
To be provided at least one transfer area, at least one manipulator is moved back and forth and at least one between area and transfer area putting
Manipulator moves back and forth between transfer area and transition range, and the pressure pin includes the first pressure pin and the second pressure pin.
3. conveying device as claimed in claim 2, which is characterized in that the storing area is separately positioned on first with transition range
Pressure pin both ends, the transfer area include the first transfer area and the second transfer area, and first manipulator is putting Qu Yu
It is moved back and forth between one transfer area, second manipulator moves back and forth between the first transfer area and the second transfer area, institute
The third manipulator stated moves back and forth between transfer area and transition range.
4. conveying device as claimed in claim 3, which is characterized in that it is described put between area and the first transfer area away from
It is equal with the distance between transition range from the distance between, the first transfer area and second transfer area and the second transfer area, and first
Manipulator, the second manipulator are equal with the speed that third manipulator is moved along pressure pin length direction.
5. conveying device as claimed in claim 2, which is characterized in that the storing area includes that the first storing area and second are set
Put area, the described first storing area and the second storing area are separately positioned on the first pressure pin both ends, and transition range setting is the
One puts between area and the second storing area, is provided with the first transfer area between the described first storing area and transition range, second sets
It puts and is provided with the second transfer area between area and transition range, first manipulator is put first between area and the first transfer area
It moves back and forth, the third manipulator moves back and forth between the second storing area and the second transfer area, the described second machinery
Hand moves back and forth between the first transfer area and transition range, the second transfer area and transition range.
6. conveying device as claimed in claim 5, which is characterized in that first manipulator is staggeredly transported with third manipulator
It is dynamic.
7. the conveying device as described in claim 3 or claim 5, which is characterized in that first manipulator includes the
One bearing, the first bearing both ends are separately positioned on the first pressure pin and the second pressure pin, and first manipulator includes
First drive component, first drive component are arranged on the first bearing, and first drive component includes that setting exists
Rack on second pressure pin and the gear being arranged on the first bearing.
8. conveying device as claimed in claim 7, which is characterized in that further include between first bearing and the first pressure pin
First guider, first guider include the first guide rail being arranged on the first pressure pin and are arranged in the first bearing
On the first guide holder, first guide holder includes the first guide groove, and first guide rail is placed in described first and leads
In slot.
9. conveying device as claimed in claim 8, which is characterized in that first manipulator includes the first grabbing assembly,
Displacement component is additionally provided between first bearing and the first grabbing assembly, the displacement component includes the first set of displacements
Part and second displacement component, first displacement component are described for driving the grabbing assembly to be moved along first direction
Second displacement component for driving the grabbing assembly to move in a second direction, the first direction is perpendicular to the first support
Pole length direction, and it is parallel to horizontal direction, the second direction is parallel to vertically perpendicular to the first pressure pin length direction
Direction.
10. conveying device as claimed in claim 9, which is characterized in that the first manipulator, the second manipulator and the third
Robot manipulator structure is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927069.7A CN108706334A (en) | 2018-08-15 | 2018-08-15 | Conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927069.7A CN108706334A (en) | 2018-08-15 | 2018-08-15 | Conveying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108706334A true CN108706334A (en) | 2018-10-26 |
Family
ID=63874723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810927069.7A Pending CN108706334A (en) | 2018-08-15 | 2018-08-15 | Conveying device |
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| CN (1) | CN108706334A (en) |
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| CN205551862U (en) * | 2015-12-31 | 2016-09-07 | 天津曼科科技有限公司 | Automatic assembling machine |
| CN206537967U (en) * | 2017-03-03 | 2017-10-03 | 重庆摩西机器人有限公司 | A kind of material frame stacking machine |
| CN207052706U (en) * | 2017-08-15 | 2018-02-27 | 深圳市鑫诺涵科技有限公司 | A kind of poly-lithium battery automatically processing device |
| CN208648106U (en) * | 2018-08-15 | 2019-03-26 | 苏州德睿联自动化科技有限公司 | Conveying device |
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