CN201544231U - Stacking type handling mechanical hand - Google Patents
Stacking type handling mechanical hand Download PDFInfo
- Publication number
- CN201544231U CN201544231U CN2009202187799U CN200920218779U CN201544231U CN 201544231 U CN201544231 U CN 201544231U CN 2009202187799 U CN2009202187799 U CN 2009202187799U CN 200920218779 U CN200920218779 U CN 200920218779U CN 201544231 U CN201544231 U CN 201544231U
- Authority
- CN
- China
- Prior art keywords
- guide rail
- moving
- transmission device
- synchronous transmission
- rail capable
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a stacking type handling mechanical hand which comprises a rack, a base, a guide rail capable of moving left to right, a guide rail capable of moving from front to back, a pneumatic gripper, a pulley, a steel rope, a direct current motor and the like; the rack is vertically fixed on the horizontal base, and the guide rail capable of moving left to right is connected with the rack through a synchronous transmission device formed by the pulley, the steel rope and the direct current motor and can move up and down in the vertical direction along the rack under the driving action of the synchronous transmission device; the guide rail capable of moving from front to back is connected with the guide rail capable of moving left to right, also through the synchronous transmission device and can make left and right movement in the horizontal direction along the guide rail capable of moving left to right under the driving action of the synchronous transmission device; the pneumatic gripper is connected with the guide rail with capable of moving from front to back also through the synchronous transmission device and can make fore-and-aft movement in the horizontal direction along the guide rail capable of moving from front to back under the driving action of the synchronous transmission device; and the pneumatic gripper can realize gripping of arms through a pneumatic component to pick up the cargoes, and then the cargoes are transported to the destination through a moving guide rail.
Description
Technical field
The utility model relates to a kind of stack type conveying robot.
Background technology
In industries such as stevedoring and mechanical handings, visible everywhere porter's carrying thing back and forth, both lavished labor on and efficient not high.Replace the machinery of manpower to carry stacking though had now, can the general because complexity of structure costs an arm and a leg and operates inconvenience, underaction and cause.
The utility model content
At above-mentioned the deficiencies in the prior art, it is a kind of simple in structure, easy to operate and can realize the stack type conveying robot of big displacement, multi-angle object transport that the utility model provides.
The utility model is achieved through the following technical solutions:
A kind of stack type conveying robot comprises frame, base, move left and right guide rail, moves forward and backward guide rail, compositions such as pneumatic hand is grabbed, pulley, cable wire, direct current generator.Its mid frame is vertically fixed on the horizontal base, and the move left and right guide rail links to each other with frame by the synchronous transmission device of being made up of pulley, cable wire and direct current generator, and the guide rail along frame under the drive of synchronous transmission device can be realized moving up and down of vertical direction.Moving forward and backward guide rail also is to link to each other with the move left and right guide rail by synchronous transmission device, can realize the move left and right of horizontal direction under the drive of synchronous transmission device along the move left and right guide rail.Pneumatic hand grab equally by synchronous transmission device with move forward and backward guide rail and link to each other, under the drive of synchronous transmission device, can realize moving forward and backward of horizontal direction along moving forward and backward guide rail.Pneumatic hand is grabbed by pneumatic element can realize that grabbing of arm close, thereby picks up goods, is transported to the destination by moving guide rail again.
The utility model is simple in structure, easy to operate, and can realize moving of the three-dimensional that pneumatic hand grabs, big displacement, has high efficiency, and the characteristics that usage range is wide all have been widely used at teaching demonstration and articles from the storeroom carrying industry.
Description of drawings
Fig. 1 is the structural principle schematic diagram of stack type manipulator.
Fig. 2 is the guide rail profile of stack type manipulator.
Wherein, 1 base, 2 frames, 3 move left and right guide rails, 4 move forward and backward guide rail, and 5 pneumatic hands are grabbed, 6 cushioning fenders, 7 pulleys, 8 cable wires, 9 cylinders.
The specific embodiment
Among Fig. 1, set up 3 D stereo coordinate system as shown in the figure, form the synchronous driving device by pulley 7, cable wire 8 and direct current generator, drive move left and right guide rail 3 can be implemented in moving on the z direction of principal axis along the guide rail of frame 2, drive moves forward and backward guide rail 4 and can be implemented in moving on the y direction of principal axis along move left and right guide rail 3, drive pneumatic hand and grab 5 and can be implemented in moving on the x direction of principal axis, so just can realize stack type manipulator omnibearing mobile on three-dimensional along moving forward and backward guide rail 4.In the time will transporting goods, thereby at first pneumatic hand is grabbed 5 and is grabbed to close and pick up goods by what cylinder 9 pneumatic elements such as grade provided that power realizes that hand grabs, under the drive of synchronous driving device, pneumatic hand is grabbed along guide rail and is moved on three-dimensional then, arrives the precalculated position at last.
Wherein, Fig. 2 is the profile of guide rail, meshes by mode structure as shown in the figure between guide rail inside groove and the moving member, moves under the drive of synchronous driving device then, thereby reaches firmly, the stable structure characteristics.
Claims (1)
1. stack type conveying robot, main manipulator by frame, base, move left and right guide rail, move forward and backward that guide rail, pneumatic hand are grabbed, pulley, cable wire, direct current generator form; It is characterized in that: frame is vertically fixed on the horizontal base, and the move left and right guide rail moves down in vertical direction, moves forward and backward guide rail along move left and right guide rail move left and right in the horizontal direction, and pneumatic hand is grabbed along moving forward and backward guide rail and moved forward and backward in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202187799U CN201544231U (en) | 2009-11-17 | 2009-11-17 | Stacking type handling mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202187799U CN201544231U (en) | 2009-11-17 | 2009-11-17 | Stacking type handling mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201544231U true CN201544231U (en) | 2010-08-11 |
Family
ID=42599391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202187799U Expired - Fee Related CN201544231U (en) | 2009-11-17 | 2009-11-17 | Stacking type handling mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201544231U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920846A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Truss robot box-sorting control system and method |
| CN101920851A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Single-arm stacker crane |
| CN101920847A (en) * | 2010-09-21 | 2010-12-22 | 广州市万世德包装机械有限公司 | Truss box distribution robot |
| CN101973033A (en) * | 2010-09-07 | 2011-02-16 | 广州市万世德包装机械有限公司 | Single-arm palletizing robot control system and method |
| CN102059690A (en) * | 2009-11-17 | 2011-05-18 | 董志军 | Stacked carrying manipulator |
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN102602707A (en) * | 2012-03-22 | 2012-07-25 | 王庆起 | Hydraulic drive stacker for cement products |
| CN103818732A (en) * | 2014-01-24 | 2014-05-28 | 江南大学 | Packed pesticide stacking manipulator |
| CN104016193A (en) * | 2014-06-13 | 2014-09-03 | 东华大学 | Chemical fiber filament package placing device |
| CN104139997A (en) * | 2014-06-27 | 2014-11-12 | 王敬义 | Automatic fetching and releasing device for mould-cutting machine |
| CN104858868A (en) * | 2015-04-01 | 2015-08-26 | 创美工艺(常熟)有限公司 | Manipulator stroke amplification device with improved structure |
| CN105015825A (en) * | 2014-04-28 | 2015-11-04 | 四川科伦药业股份有限公司 | Full-automatic rail positioning box filling machine |
| CN107813591A (en) * | 2017-10-31 | 2018-03-20 | 深圳市威利特自动化设备有限公司 | Thousand layer frame components and sheet stock printing machine with automatic material arranging function |
| CN108529481A (en) * | 2018-04-14 | 2018-09-14 | 安徽盛美金属科技有限公司 | A kind of mold processing elevating mechanism |
-
2009
- 2009-11-17 CN CN2009202187799U patent/CN201544231U/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102059690A (en) * | 2009-11-17 | 2011-05-18 | 董志军 | Stacked carrying manipulator |
| CN101920851A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Single-arm stacker crane |
| CN101973033A (en) * | 2010-09-07 | 2011-02-16 | 广州市万世德包装机械有限公司 | Single-arm palletizing robot control system and method |
| CN101920846A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Truss robot box-sorting control system and method |
| CN101973033B (en) * | 2010-09-07 | 2012-01-18 | 广州市万世德包装机械有限公司 | Single-arm palletizing robot control system and method |
| CN101920846B (en) * | 2010-09-07 | 2012-06-06 | 广州市万世德包装机械有限公司 | Truss robot box-sorting control system and method |
| CN101920847B (en) * | 2010-09-21 | 2012-07-25 | 广州市万世德包装机械有限公司 | Truss box distribution robot |
| CN101920847A (en) * | 2010-09-21 | 2010-12-22 | 广州市万世德包装机械有限公司 | Truss box distribution robot |
| CN102152964B (en) * | 2010-12-13 | 2013-07-31 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN102602707B (en) * | 2012-03-22 | 2014-04-02 | 王庆起 | Hydraulic drive stacker for cement products |
| CN102602707A (en) * | 2012-03-22 | 2012-07-25 | 王庆起 | Hydraulic drive stacker for cement products |
| CN103818732A (en) * | 2014-01-24 | 2014-05-28 | 江南大学 | Packed pesticide stacking manipulator |
| CN103818732B (en) * | 2014-01-24 | 2015-11-04 | 江南大学 | A kind of case dress agricultural chemicals palletizing mechanical arm |
| CN105015825B (en) * | 2014-04-28 | 2017-02-15 | 四川科伦药业股份有限公司 | Full-automatic rail positioning box filling machine |
| CN105015825A (en) * | 2014-04-28 | 2015-11-04 | 四川科伦药业股份有限公司 | Full-automatic rail positioning box filling machine |
| CN104016193A (en) * | 2014-06-13 | 2014-09-03 | 东华大学 | Chemical fiber filament package placing device |
| CN104139997A (en) * | 2014-06-27 | 2014-11-12 | 王敬义 | Automatic fetching and releasing device for mould-cutting machine |
| CN104858868A (en) * | 2015-04-01 | 2015-08-26 | 创美工艺(常熟)有限公司 | Manipulator stroke amplification device with improved structure |
| CN104858868B (en) * | 2015-04-01 | 2016-11-23 | 创美工艺(常熟)有限公司 | The mechanical hand stroke amplification device that structure is improved |
| CN107813591A (en) * | 2017-10-31 | 2018-03-20 | 深圳市威利特自动化设备有限公司 | Thousand layer frame components and sheet stock printing machine with automatic material arranging function |
| CN107813591B (en) * | 2017-10-31 | 2019-12-17 | 深圳市威利特自动化设备有限公司 | Multi-layer frame assembly with automatic material swinging function and sheet stock printing machine |
| CN108529481A (en) * | 2018-04-14 | 2018-09-14 | 安徽盛美金属科技有限公司 | A kind of mold processing elevating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100811 Termination date: 20101117 |