CN113602792B - Guide rail transfer robot - Google Patents
Guide rail transfer robot Download PDFInfo
- Publication number
- CN113602792B CN113602792B CN202110824231.4A CN202110824231A CN113602792B CN 113602792 B CN113602792 B CN 113602792B CN 202110824231 A CN202110824231 A CN 202110824231A CN 113602792 B CN113602792 B CN 113602792B
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- guide rail
- clamping
- rail
- elevator
- carrying
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
- B66B7/023—Mounting means therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a guide rail transfer robot, which comprises a guide rail storage module and a transfer module which are arranged on a rack, wherein the guide rail storage module comprises a guide rail storage rack arranged on the rack, and a plurality of elevator guide rails are vertically and parallelly arranged on the guide rail storage rack; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping an elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a designated installation position; the clamping mechanism is used for clamping the workpiece; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism. The guide rail carrying robot can drive the elevator guide rail to move to the designated position through a small driving force, and has the advantages of high carrying speed, high carrying precision, safety and stability.
Description
Technical Field
The invention relates to elevator installation equipment, in particular to a guide rail transfer robot.
Background
As a transportation means of modern buildings, elevators are increasingly used as society develops. Elevator installation engineering is a huge industry. The installation of an elevator generally comprises the following: an elevator lifting traction device and a control system are installed in a machine room, an elevator car, a counterweight, guide rails, cables, a stopping control and protection device are installed in a hoistway, and a hoistway door, a displaying and stopping controller and the like are installed at a hoistway door. The construction of an elevator in a hoistway generally requires that four guide rails are installed first, wherein a left main guide rail and a right main guide rail are used for guiding the lifting of an elevator car; the other two auxiliary guide rails are used for guiding the lifting of the elevator balancing weight; then, a plurality of hoistway door sill door sleeves for entering and exiting the elevator are required to be installed; the installation construction of the guide rail and the door pocket needs to make a plumb line lofting in advance, and then a foundation fixing piece is installed by taking the plumb line lofting as a reference, wherein an expansion screw is installed on the wall in an aligned mode for fixing the foundation fixing pieces such as the door pocket, the upper pocket and the small door pocket; the installation of the guide rail needs to be pre-installed with a guide rail bracket, a base fixing piece such as a bottom bracket (usually angle iron, commonly called bottom bracket, the same applies below) which is used for fixing the bracket and is connected with the wall body.
In the installation process of the elevator guide rail, the elevator guide rail which is conveyed up is conveyed to a specific position by a conveying device, and the adjustment of the elevator guide rail in the X-axis, Y-axis and Z-axis directions is realized; but in current handling device, handling device is through fixture to the centre gripping of guide rail for the elevator guide rail hangs handling device is last, and the gravity of elevator guide rail then all acts on handling device is last, makes handling device need great driving force just can the centre gripping and drive elevator guide rail motion, thereby leads to current handling device's transport speed slow, and transport efficiency and transport precision are all not high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the guide rail transfer robot, which can drive the elevator guide rail to move to the designated position through a smaller driving force and has the advantages of high transfer speed, high transfer precision, safety and stability.
The technical scheme for solving the technical problems is as follows:
the guide rail transfer robot comprises a guide rail storage module arranged on a frame and a transfer module used for transferring guide rails in the guide rail storage module to a designated installation position, wherein the guide rail storage module comprises a guide rail storage rack arranged on the frame, and a plurality of elevator guide rails are vertically and parallelly arranged on the guide rail storage rack; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping an elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a designated installation position;
the clamping mechanism is used for clamping the workpiece; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism.
Preferably, the carrying mechanism comprises a carrying seat and a carrying driving mechanism for driving the carrying seat to move, wherein the clamping mechanism is installed on the carrying seat.
Preferably, the clamping mechanism comprises a clamping seat and a clamping piece arranged on the clamping seat, wherein the clamping seat is arranged on the carrying seat, and a clamping groove matched with the elevator guide rail is formed in the clamping piece; when the clamping piece clamps the elevator guide rail, the upper part of the clamping piece supports the guide rail connecting plate arranged on the elevator guide rail.
Preferably, the clamping mechanism further comprises a limiting mechanism for limiting the elevator guide rail, the limiting mechanism comprises a limiting block and a limiting driving mechanism, wherein a limiting groove matched with the elevator guide rail is formed in the limiting block, and the limiting driving mechanism is used for driving the limiting block to move so as to enable the limiting groove to be matched with the elevator guide rail; the limiting driving mechanism comprises a limiting cylinder, the limiting cylinder is mounted on the carrying seat, and a telescopic rod of the limiting cylinder is connected with the limiting block.
Preferably, the supporting mechanism comprises a supporting frame arranged on the frame and a guiding mechanism arranged between the supporting frame and the clamping seat, wherein the supporting frame extends along the carrying direction of the elevator guide rail; the guide piece in the guide mechanism is arranged on the clamping seat; the guide rail in the guide mechanism is arranged on the support frame and extends along the extending direction of the support frame.
Preferably, the guide member is a guide wheel, the guide wheel is mounted on the clamping seat, and the support frame forms the guide rail.
Preferably, the supporting mechanism is further provided with a height adjusting mechanism for driving the supporting frame to do lifting motion, and the height adjusting mechanism drives the supporting frame and the clamping mechanism on the supporting frame to do lifting motion so as to realize that the elevator guide rail on the guide rail storage rack is transferred to the clamping mechanism and the height of the elevator guide rail clamped by the clamping mechanism is adjusted.
Preferably, the height adjusting mechanism comprises an eccentric wheel mechanism and an eccentric driving mechanism for driving the eccentric wheel mechanism to move, wherein one end of the supporting frame is hinged on the frame, and the other end of the supporting frame is connected with the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame and an eccentric wheel arranged in the eccentric wheel frame, wherein the eccentric wheel frame is arranged on the supporting frame, and a groove matched with the eccentric wheel is formed in the eccentric wheel frame; the groove extends along the carrying direction of the elevator guide rail; the clamping seat in the clamping mechanism is connected with the carrying seat through a vertical sliding mechanism, and a sliding block and a sliding rail of the vertical sliding mechanism are respectively installed on the clamping seat and the carrying seat.
Preferably, the guide rail storage rack comprises a limiting rack arranged on the rack and positioned at the upper end and a support bracket positioned at the lower end, wherein a storage groove is formed in the limiting rack and extends along the length direction of the limiting rack; the upper end of the elevator guide rail is positioned in the storage groove, and the lower end of the elevator guide rail is supported on the support bracket.
Preferably, the guide rail storage module further comprises a positioning mechanism arranged on the limiting frame and used for positioning each elevator guide rail on the guide rail storage frame, and when the clamping mechanism clamps the elevator guide rail, the positioning mechanism releases the elevator guide rail.
The working principle of the guide rail transfer robot of the invention is as follows:
when the elevator guide rail storage rack works, the carrying mechanism drives the clamping mechanism to reach the guide rail storage rack, and the clamping mechanism clamps the elevator guide rail positioned in the guide rail storage rack; then, the carrying mechanism drives the clamping mechanism and the elevator guide rail clamped by the clamping mechanism to move to the installation position, in the process, as the clamping mechanism is always supported on the supporting mechanism, the gravity of the elevator guide rail is borne by the supporting mechanism, therefore, the power of the carrying mechanism only needs to drive the clamping mechanism and the elevator guide rail to move, the load of the carrying mechanism can be greatly reduced, the carrying mechanism only needs a small driving force to drive the elevator guide rail to move, and compared with the traditional carrying mode, the carrying speed is faster, the precision is higher, and the safety and stability are better; in addition, because a plurality of elevator guide rails are vertically arranged on the guide rail storage rack in parallel, and the elevator guide rails synchronously lift along with the rack or the elevator car, after the elevator guide rails are installed each time, the carrying module can directly carry the elevator guide rails in the guide rail storage rack without the elevator car falling to the ground for carrying the elevator guide rails, so that the carrying time of the elevator guide rails is reduced, and the installation efficiency is further improved.
Compared with the prior art, the invention has the following beneficial effects:
1. the clamping mechanism is always supported on the supporting mechanism in the moving process, so that the gravity of the elevator guide rail is borne by the supporting mechanism, therefore, the power of the carrying mechanism only needs to drive the clamping mechanism and the elevator guide rail to move, the load of the carrying mechanism can be greatly lightened, the carrying mechanism only needs smaller driving force to drive the elevator guide rail to move, and compared with the traditional carrying mode, the carrying speed is faster, the precision is higher, and the safety and the stability are better;
2. because a plurality of elevator guide rails are vertically arranged on the guide rail storage rack in parallel, and the elevator guide rails synchronously lift along with the rack or the elevator car, after the elevator guide rails are installed each time, the carrying module can directly carry the elevator guide rails in the guide rail storage rack, and the elevator car does not need to fall to the ground to carry the elevator guide rails, so that the carrying time of the elevator guide rails is reduced, and the installation efficiency is further improved.
3. Compared with the traditional conveying mode, the conveying mechanism has the advantages that the driving force is reduced, so that a driving device with smaller power can be adopted, the manufacturing cost of the guide rail conveying robot can be reduced, and the structure is simplified.
Drawings
Fig. 1 is a schematic perspective view of a rail transfer robot according to the present invention.
Fig. 2-4 are schematic perspective views of three different views of the handling module according to the present invention.
Fig. 5 is a schematic perspective view of the height adjusting mechanism.
Fig. 6 is a schematic perspective view of the clamping mechanism.
Fig. 7 is a schematic perspective view of a rail storage module.
Fig. 8-9 are schematic perspective views of the limiting frame.
Fig. 10 to 11 are schematic perspective views of the support bracket.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 11, the rail transfer robot of the present invention includes a rail storage module provided on a frame 14 and a transfer module for transferring an elevator rail 6 in the rail storage module to a designated installation position.
Referring to fig. 1-11, the rail storage module comprises a rail storage rack arranged on a frame 14, and a plurality of elevator rails 6 are vertically placed on the rail storage rack in parallel, wherein the rail storage rack comprises a limit rack 15 arranged on the frame 14 and positioned at the upper end and a support bracket 17 positioned at the lower end, wherein a storage groove is arranged on the limit rack 15, and the storage groove extends along the length direction of the limit rack 15; the upper end of the elevator guide rail 6 is located in the storage tank and the lower end of the elevator guide rail is supported on the support bracket 17.
Referring to fig. 1-11, the handling module gripper mechanism 2 and a handling mechanism for driving the gripper mechanism 2 in motion.
Referring to fig. 1 to 11, the carrying mechanism is used for driving the clamping mechanism 2 to carry the elevator guide rail 6 to a designated installation position, and comprises a carrying seat 1 and a carrying driving mechanism for driving the carrying seat 1 to move, wherein the clamping mechanism 2 is installed on the carrying seat 1; the conveying driving mechanism consists of a conveying motor 8, a speed reducer 10 connected with the conveying motor 8 and a screw rod transmission mechanism connected with the speed reducer 10, or consists of a conveying cylinder; the carrying seat 1 and the clamping mechanism 2 on the carrying seat 1 are driven to move by the carrying driving mechanism, so that the elevator guide rail 6 clamped by the clamping mechanism 2 is carried. In addition, the carrying driving mechanism may be further provided with a carrying guiding mechanism 9, and the carrying guiding mechanism 9 may be composed of a slide rail and a slide block, for guiding the movement of the clamping mechanism 2.
Referring to fig. 1-11, the clamping mechanism 2 is used for clamping the elevator guide rail 6, the clamping mechanism 2 comprises a clamping seat and a clamping piece 201 arranged on the clamping seat, wherein the clamping seat is arranged on the carrying seat 1, and a clamping groove matched with the elevator guide rail 6 is arranged on the clamping piece 201; when the clamping piece 201 clamps the elevator guide rail 6, the upper part of the clamping piece 201 supports a guide rail connecting plate 5 arranged on the elevator guide rail 6;
in this embodiment, the clamping member 201 and the clamping seat are integrally formed;
in order to prevent the phenomenon such as skew appears in elevator guide rail 6 in the handling, still be provided with the stop gear who is used for carrying out spacing to elevator guide rail 6 in fixture 2, stop gear includes stopper 203 and spacing actuating mechanism 202, wherein, be provided with on the stopper 203 with elevator guide rail 6 complex spacing groove, spacing actuating mechanism 202 is used for the drive stopper 203 motion is in order to promote spacing groove with elevator guide rail 6 complex, wherein, spacing actuating mechanism 202 includes spacing cylinder, spacing cylinder is installed on the transport seat 1, and the telescopic link of this spacing cylinder with stopper 203 is connected. In the process of carrying the elevator guide rail 6, the limiting cylinder drives the limiting block 203 to move, so that the limiting groove of the limiting block 203 is matched with the elevator guide rail 6, thus the elevator guide rail 6 can be limited, the elevator guide rail 6 is prevented from shaking or shifting in the carrying process, and the clamping piece 201 can be assisted to carry the elevator guide rail 6.
Referring to fig. 1 to 11, the rail transit robot of the present invention further includes a support mechanism for supporting the clamping mechanism 2; when the carrying mechanism drives the clamping mechanism 2 to move, the clamping mechanism 2 is always supported on the supporting mechanism; the supporting mechanism comprises a supporting frame 3 arranged on the frame 14 and a guiding mechanism arranged between the supporting frame 3 and the carrying seat 1, wherein the supporting frame 3 extends along the carrying direction of the elevator guide rail 6; the guide member of the guide mechanism is mounted on the holder or the clamping member 201, and the guide rail of the guide mechanism is mounted on the support frame 3 and extends along the extending direction of the support frame 3.
In this embodiment, the guide is a guide wheel 13, the guide wheel 13 is mounted on the clamping member 201, and the support frame 3 forms the guide rail; by setting the guide as the guide wheel 13, the friction between the carrying seat 1 and the supporting frame 3 is changed into rolling friction, and the friction resistance is further reduced, so that the carrying speed is faster.
Referring to fig. 1-11, the supporting mechanism is further provided with a height adjusting mechanism 4 for driving the supporting frame to do lifting motion, and the height adjusting mechanism 4 drives the supporting frame 3 and the clamping mechanism 2 on the supporting frame 3 to do lifting motion, so as to transfer the elevator guide rail 6 on the guide rail storage rack into the clamping mechanism 2 and adjust the height of the elevator guide rail 6 clamped by the clamping mechanism 2; for this purpose, the height adjusting mechanism 4 comprises an eccentric wheel mechanism and an eccentric driving mechanism for driving the eccentric wheel mechanism to move, wherein one end of the supporting frame 3 is hinged on the frame 14, and the other end is connected with the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame 401 and an eccentric wheel 404 arranged in the eccentric wheel frame 401, wherein the eccentric wheel frame 401 is arranged on the supporting frame 3, and a groove 402 matched with the eccentric wheel 404 is arranged in the eccentric wheel frame 401; the groove 402 extends along the transport direction of the elevator guide rail 6; the eccentric drive mechanism comprises an eccentric motor 403 arranged on the frame 14, the eccentric motor 403 being connected to the eccentric wheel 404. In this way, the eccentric motor 403 drives the eccentric wheel 404 to rotate, so as to drive the eccentric wheel frame 401 to move between the highest point and the lowest point, and drive the support frame 3 to swing up and down around the hinge point; thereby adjusting the height of the supporting frame 3 and thus the clamping mechanism 2, and thus the height of the elevator guide rail 6; and in order to achieve this, the clamping seat in the clamping mechanism 2 is connected with the carrying seat 1 through a vertical sliding mechanism 204, and a sliding block and a sliding rail of the vertical sliding mechanism 204 are respectively installed on the clamping seat (or the clamping piece 201) and the carrying seat 1. Thus, when the height adjusting mechanism 4 adjusts the supporting frame 3, the clamping seat and the clamping piece 201 arranged on the clamping seat can adaptively perform lifting movement, so that the height of the elevator guide rail 6 on the clamping piece 201 is adjusted; and owing to have the direction of vertical slide mechanism 204 for the grip slipper with the holder 201 can not appear the slope because of the swing of support frame 3, not only can guarantee like this that leading wheel 13 is supported all the time on the support frame 3 for support frame 3 bears the weight of elevator guide rail all the time, can also guarantee by the elevator guide rail 6 of holder 201 centre gripping can not appear the slope because of the swing of support frame 3 moreover, thereby guarantees that elevator guide rail 6 is vertical setting all the time, in order to guarantee its installation accuracy.
In addition, in order to ensure that the clamping piece 201 can bear the lower end of the guide rail connecting plate 5 during material taking, the supporting frame 3 can be driven to vertically swing through the height adjusting mechanism 4, so that the elevator guide rail 6 hung on the guide rail storage rack is transferred into the clamping piece 201.
In addition, the height adjusting mechanism 4 can also be realized by driving the supporting frame to do lifting motion by adopting an air cylinder or an electric push rod.
Referring to fig. 1-11, a height detection mechanism 7 may also be provided in the height adjustment mechanism 4 for detecting the height of the support frame 3, thereby ensuring that the grippers 201 transfer the elevator guide rails 6 in the storage frame into the grippers 201. In this embodiment, the height detecting mechanism 7 may be composed of a detecting sensor and a detecting piece, which are respectively mounted on the frame 14 and the supporting frame 3, and the position of the supporting frame 3 is determined by detecting the detecting piece by the detecting sensor.
Referring to fig. 1-11, the carrying mechanism further includes two sets of position detecting mechanisms 12 for detecting the position of the gripping mechanism 2, where the two sets of position detecting mechanisms 12 are respectively disposed at a start position and an end position of the carrying stroke for detecting whether the gripping mechanism 2 reaches the start position and the end position, in this embodiment, the position detecting mechanisms 12 may be composed of a detecting sensor and a detecting sheet, which are respectively mounted on the carrying base 1 and the frame 14, and the detecting sheet is detected by the detecting sensor to determine whether the gripping mechanism 2 reaches the start position and the end position of the carrying stroke, so as to send the elevator guide rail 6 to a specified mounting position, or return to the initial position for carrying the elevator guide rail 6.
Referring to fig. 1-11, the rail storage module further comprises a positioning mechanism 16 provided on the frame 14 for positioning each elevator rail on the rail storage, the positioning mechanism 16 releasing the elevator rail 6 when the clamping mechanism 2 clamps the elevator rail 6. The positioning mechanism 16 can be implemented with reference to the structure of the limiting mechanism, so that the elevator guide rails 6 in the guide rail storage rack can be prevented from tilting, and the elevator guide rails 6 stored in the guide rail storage rack 16 are always kept in a vertical arrangement state, so that the clamping mechanism 2 can clamp the elevator guide rails.
Referring to fig. 1 to 11, the working principle of the rail transfer robot of the present invention is:
when the elevator guide rail storage rack works, the carrying mechanism drives the clamping mechanism 2 to reach the guide rail storage rack, and the clamping mechanism 2 clamps the elevator guide rail 6 positioned in the guide rail storage rack; then, the carrying mechanism drives the clamping mechanism 2 and the elevator guide rail 6 clamped by the clamping mechanism 2 to move to the installation position, in the process, as the clamping mechanism 2 is always supported on the supporting mechanism, the gravity of the elevator guide rail 6 is borne by the supporting mechanism, therefore, the power of the carrying mechanism only needs to drive the clamping mechanism 2 and the elevator guide rail 6 to move, the load of the carrying mechanism can be greatly reduced, the carrying mechanism only needs a smaller driving force to drive the elevator guide rail 6 to move, and compared with the traditional carrying mode, the carrying speed is faster, and the precision is higher.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as merely providing for the purpose of teaching herein before described various modifications, alternatives, variations and alternatives, as well as variations and alternatives, without departing from the spirit and principles of the invention.
Claims (8)
1. The guide rail transfer robot comprises a guide rail storage module arranged on a frame and a transfer module used for transferring guide rails in the guide rail storage module to a designated installation position, wherein the guide rail storage module comprises a guide rail storage rack arranged on the frame, and a plurality of elevator guide rails are vertically and parallelly arranged on the guide rail storage rack; the carrying module comprises a clamping mechanism and a carrying mechanism for driving the clamping mechanism to move, wherein the clamping mechanism is used for clamping an elevator guide rail on the guide rail storage rack; the carrying mechanism is used for driving the clamping mechanism to carry the elevator guide rail to a designated installation position;
the clamping mechanism is characterized by further comprising a supporting mechanism for supporting the clamping mechanism; when the carrying mechanism drives the clamping mechanism to move, the clamping mechanism is always supported on the supporting mechanism;
the carrying mechanism comprises a carrying seat and a carrying driving mechanism for driving the carrying seat to move, wherein the clamping mechanism is arranged on the carrying seat;
the clamping mechanism comprises a clamping seat and a clamping piece arranged on the clamping seat, wherein the clamping seat is arranged on the carrying seat, and a clamping groove matched with the elevator guide rail is formed in the clamping piece; when the clamping piece clamps the elevator guide rail, the upper part of the clamping piece supports a guide rail connecting plate arranged on the elevator guide rail;
the supporting mechanism comprises a supporting frame arranged on the frame;
the supporting mechanism is also provided with a height adjusting mechanism for driving the supporting frame to do lifting motion, and the height adjusting mechanism drives the supporting frame and a clamping mechanism on the supporting frame to do lifting motion; one end of the supporting frame is hinged to the frame; the clamping seat in the clamping mechanism is connected with the carrying seat through a vertical sliding mechanism.
2. The rail handling robot of claim 1, wherein the clamping mechanism further comprises a limiting mechanism for limiting the elevator rail, the limiting mechanism comprising a limiting block and a limiting drive mechanism, wherein the limiting block is provided with a limiting groove matched with the elevator rail, and the limiting drive mechanism is used for driving the limiting block to move so as to enable the limiting groove to be matched with the elevator rail; the limiting driving mechanism comprises a limiting cylinder, the limiting cylinder is mounted on the carrying seat, and a telescopic rod of the limiting cylinder is connected with the limiting block.
3. The rail transfer robot of claim 2, wherein the support mechanism includes a guide mechanism disposed between the support frame and the grip block, wherein the support frame extends along a transfer direction of the elevator rail; the guide piece in the guide mechanism is arranged on the clamping seat; the guide rail in the guide mechanism is arranged on the support frame and extends along the extending direction of the support frame.
4. A rail handling robot according to claim 3, characterized in that the guide is a guide wheel, which is mounted on the holder, and the support frame constitutes the rail.
5. A rail handling robot according to claim 3, characterized in that the supporting means is further provided with a height adjusting means for driving the supporting frame to move up and down, the height adjusting means driving the supporting frame and the gripping means on the supporting frame to move up and down, thereby realizing the transfer of the elevator rail on the rail storage rack into the gripping means and the adjustment of the height of the elevator rail gripped by the gripping means.
6. The rail transfer robot of claim 5, wherein the height adjusting mechanism comprises an eccentric wheel mechanism and an eccentric driving mechanism for driving the eccentric wheel mechanism to move, wherein one end of the supporting frame is hinged on the frame, and the other end of the supporting frame is connected with the eccentric wheel mechanism; the eccentric wheel mechanism comprises an eccentric wheel frame and an eccentric wheel arranged in the eccentric wheel frame, wherein the eccentric wheel frame is arranged on the supporting frame, and a groove matched with the eccentric wheel is formed in the eccentric wheel frame; the groove extends along the carrying direction of the elevator guide rail; the clamping seat in the clamping mechanism is connected with the carrying seat through a vertical sliding mechanism, and a sliding block and a sliding rail of the vertical sliding mechanism are respectively installed on the clamping seat and the carrying seat.
7. The rail handling robot of claim 1, wherein the rail storage rack comprises a limit rack arranged on the rack and positioned at the upper end and a support bracket positioned at the lower end, wherein a storage groove is arranged on the limit rack, and the storage groove extends along the length direction of the limit rack; the upper end of the elevator guide rail is positioned in the storage groove, and the lower end of the elevator guide rail is supported on the support bracket.
8. The rail handling robot of claim 7, wherein the rail storage module further comprises a positioning mechanism provided on the limit stop for positioning each elevator rail on the rail storage rack, the positioning mechanism releasing an elevator rail when the clamping mechanism clamps the elevator rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110824231.4A CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110824231.4A CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
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| CN113602792A CN113602792A (en) | 2021-11-05 |
| CN113602792B true CN113602792B (en) | 2023-06-06 |
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| CN202110824231.4A Active CN113602792B (en) | 2021-07-21 | 2021-07-21 | Guide rail transfer robot |
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| CN208856422U (en) * | 2018-06-14 | 2019-05-14 | 上海米启尔家具有限公司 | A kind of plate automatic charging device |
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| JP5892111B2 (en) * | 2013-05-29 | 2016-03-23 | 株式会社ダイフク | Goods transport cart |
| CN206306268U (en) * | 2016-10-20 | 2017-07-07 | 青岛高测科技股份有限公司 | A kind of upper and lower rod frock of new silicon rod |
| CN206447282U (en) * | 2017-01-17 | 2017-08-29 | 江苏亚太霍夫曼金属打印科技有限公司 | A kind of transfer robot of bar |
| CN207551347U (en) * | 2017-09-27 | 2018-06-29 | 苏州杰锐思自动化设备有限公司 | One kind takes film device |
| CN107986117A (en) * | 2017-12-13 | 2018-05-04 | 广州明森科技股份有限公司 | A kind of smart card accesses handling device |
| CN210619913U (en) * | 2019-08-27 | 2020-05-26 | 李贤明 | Multifunctional hanging basket with guide rail for carrying |
| CN211594821U (en) * | 2020-02-19 | 2020-09-29 | 宁夏有为信息技术有限公司 | Handling device for operation and maintenance of power equipment |
| CN111573295A (en) * | 2020-05-29 | 2020-08-25 | 佛山市通润热能科技有限公司 | Rod feeding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208856422U (en) * | 2018-06-14 | 2019-05-14 | 上海米启尔家具有限公司 | A kind of plate automatic charging device |
| CN109205445A (en) * | 2018-11-23 | 2019-01-15 | 燕山大学 | It is a kind of for install cage guide from climbing robot |
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