CN206013723U - A kind of intelligent three-axis robot - Google Patents
A kind of intelligent three-axis robot Download PDFInfo
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- CN206013723U CN206013723U CN201620076236.8U CN201620076236U CN206013723U CN 206013723 U CN206013723 U CN 206013723U CN 201620076236 U CN201620076236 U CN 201620076236U CN 206013723 U CN206013723 U CN 206013723U
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Abstract
The utility model discloses a kind of intelligent three-axis robot, which includes：The motion module that freely can be walked；The folding liftable mechanism of the achievable elevating movement in motion module；Fork mechanism in folding liftable mechanism；RFID read-write module on fork mechanism；For guiding the guiding locating module with positioning to the movement of motion module.Intelligent three-axis robot of the present utility model, the fork mechanism of the motion module for being realized automatically walk based on various guidance technologies and arbitrarily flexible folding liftable mechanism and fork picking thing is combined, realize that three axles of free routing carry transportation function, indicated by remote software instruction, fork mechanism can reach any goods yard of any shelf, and goods yard height is not limited, can quickly access, then be transported to any given position, can walk in narrow, can the left and right sides access goods, the intensive storage of goods minimum unit is realized, access efficiency is high.The motion module that freely can be walked.
Description
Technical field
The utility model is related to technical field of automation, more particularly, to a kind of little chi of transport being applied in less space
The intelligent three-axis robot of very little goods.
Background technology
In factory automation, goods is transported using automatic trailer wagon generally, which is equipped with electromagnetism or optical navigation dress
Put, can travel along the guided path of regulation and goods be transported in the way of carrying on the back camel or draw.But, existing trailer wagon exists
Suffer from the drawback that during use：1st, the goods of height and its similar elevation, to access site higher goods can only be accessed
Helpless；2nd, positioning precision is generally in 10mm or so, it is difficult to realize more accurate positioning；3rd, translational speed is all per minute
30-45 rice or so, conevying efficiency is low；4th, single function, can be only done single transport, itself does not have and enters to accessing goods
Row management and the function of identification；5th, can only work in single scheduling system, not possess and other unmanned machines or system pair
The function of connecing；6th, dispatching platform single function, can only coordinate simply to pick and place and avoid, can not be organic right with upstream and downstream system
Connect, so that its inefficiency.
Content of the invention
The purpose of this utility model is exactly to solve above-mentioned problems of the prior art, there is provided a kind of three axles of intelligence
Robot, its simple structure are easy to use, take up room little, and access efficiency is high, can be accurately positioned, one-to-one automatic conveying
Goods, translational speed are high, and access efficiency is high, and goods can be managed and identification, and realizes organic docking with miscellaneous equipment.
For realizing that above-mentioned purpose of the present utility model, intelligent three-axis robot of the present utility model include：Can be from walking
Motion module, according to external command automatically walk, with being used for being moved to goods yard so as in access goods yard according to external command
The fork mechanism of goods；The RFID for reading and writing unique yard of the goods accessed needed for fork mechanism being arranged in motion module
Module for reading and writing；Be arranged in motion module for the movement of motion module is guided with positioning guiding locating module；
Wherein, motion module guiding locating module guiding under automatically walk to appointed place, fork mechanism is according to the RFID
Unique code of the goods of its required access that module for reading and writing reads moves to goods place goods yard, to deposit to goods
Extract operation.
Further, also include：Information by the motion module, RFID read-write module, guiding locating module and outside
The communication module of center connection, to send the instruction for coming from information centre to the motion module, RFID read-write module
With guiding locating module.
Further, also include：It is arranged in the motion module and the connected confession for providing the energy for which
Electric module；The automatic charging module for being arranged in the motion module and being connected with supply module.
Wherein, the motion module includes：Can walking in a horizontal state translation mechanism；Side by side arrangement is in the edge of translation mechanism both sides
A pair of folding supporting mechanisms of vertical direction stretching motion；Wherein, the fork mechanism is connected respectively with a pair of folding supporting mechanisms
Connect, and can relative translation mechanism along three-dimensional move so as to access goods.
Wherein, the folding supporting mechanism includes：It is fixedly installed in the framework of the walked frame side of translation mechanism；Have
First elevating mechanism of the first slide block being slidably connected with framework；The fixation being fixedly connected with the second slide block of the first elevating mechanism
Arm；There is the second elevating mechanism of the 3rd slide block being slidably connected with fixed arm；Wherein, the fork mechanism with described second liter
The Four-slider of descending mechanism is fixedly connected.
Wherein, first elevating mechanism includes：First carriage；A pair for being parallelly mounted on the first carriage up and down
First gear；First Timing Belt that be connected is engaged with a pair of first gears respectively；It is installed at the top of the first carriage and drives one
The first motor that first gear is rotated；Wherein, first slide block is fixedly installed in the close described of first Timing Belt
On the part of framework side, second slide block is fixedly installed in the portion of the close described fixed arm side of first Timing Belt
On point.
Wherein, the part in the face of first elevating mechanism of the framework arranges the framework guide rail extended along its height,
First slide block is moved up and down along framework guide rail；Second slide block is fixedly connected with the lower end of the fixed arm.
Wherein, second elevating mechanism includes：Second carriage；A pair for being parallelly mounted on the second carriage up and down
Second gear；Second Timing Belt that be connected is engaged with a pair of second gears respectively；It is installed at the top of the first carriage and drives one
The second motor that second gear is rotated；Wherein, the 3rd slide block is fixedly installed in the close described of second Timing Belt
On the part of fixed arm side, the Four-slider is fixedly installed in the portion of the close described fork mechanism side of the Timing Belt
On point.
Wherein, the fixed arm guide rail extended along its short transverse is set on the fixed arm, and the 3rd slide block is along fixed
Arm guide rail is moved up and down；The fork mechanism is fixedly connected with the Four-slider.
Wherein, the fork mechanism includes：The level that its two ends is connected respectively with the pair of folding supporting mechanism respectively
Platform；Be placed on horizontal stand and transverse shifting along horizontal stand transport platform；It is arranged on transport platform and has along transport
The transporting structure of the goods shelf for vertically moving of platform；Wherein, the goods shelf moves longitudinally so as to alignment goods yard and to goods
Goods on position carries out accessing operation.
Compared with prior art, intelligent three-axis robot of the present utility model has the advantage that：
1) intelligent three-axis robot of the present utility model, simple structure, with the fork mechanism for being used for accessing goods, and goods
Fork mechanism is supported by a pair of folding supporting mechanisms of vertically stretching motion, little so as to take up room, and is easy to store, and
Man-to-man accurate, efficient accessing operation can be carried out by unique code of goods to goods, the pipe that becomes more meticulous of goods is realized
Reason；
2) intelligent three-axis robot of the present utility model, motion module can be according to the automatic rows of the guiding of guiding locating module
Walk to appointed place, then fork mechanism is moved at the goods yard of goods place along three-dimensional according to unique code of goods, and right
Goods carries out accessing operation, so as to registration, can participate in the management to goods and identification, and intelligence degree is high, transports effect
Rate is high；
3) intelligent three-axis robot of the present utility model, its folding supporting mechanism are transmitted using Timing Belt, it is possible to achieve with
Double elevating movement is walked, so as to travelling speed is high, efficiency high, and is transmitted using Timing Belt, transmission is steady, accurate, deposits goods
Take more efficient and rational；
4) fork mechanism of the present utility model, its transmission device adopt double-rack-and-pinion drive so that the electricity of transmission device
When machine works, goods shelf respect thereto can be made to produce the movement of double distance along longitudinal direction, transmission is more steady, reliable, and adopts
With alignment pin goods can be accurately positioned again.
Below in conjunction with the accompanying drawings the utility model is described in detail.
Description of the drawings
Fig. 1 is the perspective view of intelligent three-axis robot of the present utility model；
Fig. 2 is that the structural representation when fork mechanism in three axle machine of intelligence of the present utility model is in low level (is removed
After outer cover)；
Fig. 3 is that the structural representation when fork mechanism in three axle machine of intelligence of the present utility model is in high-order (is removed
After outer cover)；
Fig. 4 is the first elevating mechanism of the present utility model and fixed arm and the partial schematic diagram of frame connection part；
Fig. 5 is the partial schematic diagram of fork mechanism of the present utility model and the second elevating mechanism coupling part；
Fig. 6 is the structure diagram of fork mechanism of the present utility model.
Specific embodiment
As shown in Figure 1, Figure 2 and Figure 3, the structural representation of intelligent three-axis robot respectively of the present utility model.
Wherein, intelligent three-axis robot of the present utility model includes：The motion module that can be walked certainly, according to external command certainly
Dynamic walking, with for being moved to goods yard so as to the fork mechanism 15 of the goods in access goods yard according to external command；It is arranged on
The RFID read-write module for reading and writing unique yard of the goods of access needed for fork mechanism 15 in motion module；It is arranged on motion
In module for the movement of motion module is guided with positioning guiding locating module；Wherein, motion module is in guiding
Under the guiding of locating module, automatically walk is to appointed place, fork mechanism 15 read according to RFID read-write module its needed for
Unique code of the goods of access moves to goods place goods yard, to carry out accessing operation to goods.Preferably, guiding positioning mould
Block adopts las er-guidance positioner, and which can adopt the structure of prior art.Additionally, also including：Motion module, RFID are read
The communication module of information centre's connection of writing module, guiding locating module and outside, to come from the instruction of information centre
Send motion module, RFID read-write module and guiding locating module to, it is preferred that the communication module adopts wireless communication mode；
And be arranged in motion module and the connected supply module for providing the energy for which, the supply module adopts electric power storage
Pond 2；The automatic charging module for being arranged in motion module and being connected with supply module.
Specifically, in intelligent three-axis robot of the present utility model, had from information centre in the way of wireless telecommunications
The related data in operation goods place goods yard to be accessed is closed, by extensive computation, goods yard is resolved to three on solid space
Dimension coordinate, motion module are accurate to up to appointed place along instruction path under the guiding of las er-guidance positioner.Motion module
When mobile, it is that stable movement is quick, and horizontal movement velocity is at least at 60 meters per minute in the way of steering wheel drives.When motion mould
When block moves to specified location, its fork mechanism 15 carries out accessing operation to the goods on goods yard.
Specifically, as shown in Figure 2 and Figure 3, motion module of the present utility model includes：Can walking in a horizontal state translation mechanism, tool
There are walked frame 1 and the multiple road wheels being installed on below walked frame；Side by side arrangement is in 1 both sides of walked frame of translation mechanism
And can vertically stretching motion a pair of folding supporting mechanisms；Wherein, fork mechanism 15 and a pair of folding supporting mechanisms
Connect respectively, and can the walked frame of relative translation mechanism move to access the goods on corresponding goods yard along three-dimensional.
Wherein, folding supporting mechanism of the present utility model includes：It is fixedly installed in 1 side of walked frame of translation mechanism
Framework 2；There is the first elevating mechanism of the first slide block 5 being slidably connected with framework 2；The second slide block 7 with the first elevating mechanism
The fixed arm 9 being fixedly connected；There is the second elevating mechanism of the 3rd slide block 10 being slidably connected with fixed arm 9；Wherein, pallet fork machine
Structure 15 is fixedly connected with the Four-slider 13 of the second elevating mechanism.
Wherein, as shown in figure 4, the first elevating mechanism of the present utility model includes：First carriage 4；Parallel installation up and down
A pair of first gears on the first carriage 4；First Timing Belt 6 that be connected is engaged with a pair of first gears respectively；It is installed on
At the top of first carriage 4 and drive the first motor 8 of a pair of first gears rotation；Wherein, the first slide block 5 is fixedly installed in first
On the part of 3 side of close framework of Timing Belt 6, the second slide block 7 is fixedly installed in the close fixed arm 9 one of the first Timing Belt 6
On the part of side.
Wherein, the part in the face of the first elevating mechanism of framework 3 is provided with the framework guide rail extended along its short transverse, the
One slide block 5 is moved up and down along framework guide rail；Second slide block 7 is fixedly connected with the lower end of fixed arm 9.
When the first elevating mechanism is in original state, the first slide block 5 is located at the upper end of 6 side of the first Timing Belt, and the
Two slide blocks 7 are located at the lower end of 6 opposite side of the first Timing Belt.When the first motor 8 works, a pair of first gears are driven along counterclockwise
When direction rotates, the first Timing Belt 6 also corresponding sports in the presence of a pair of first gears for engaging connection, during motion,
Drive the second slide block 7 to be vertically moved upwardly by, drive the first slide block 5 vertically to move down, i.e. make the first slide block 5 along in framework 3
The framework guide rail of setting is moved down, and as fixed arm 9 is fixedly connected with the second slip 7, therefore, fixed arm 9 is slided second
It is moved upwardly by under the drive of block 7, so that the second elevating mechanism being connected with fixed arm 9 is also moved upwardly by, and then makes pallet fork machine
Structure 15 is moved upwardly by accordingly.
Wherein, as shown in figure 5, the second elevating mechanism of the present utility model includes：Second carriage 11；Parallel installation up and down
A pair of second gears on the second carriage 11；Second Timing Belt 12 that be connected is engaged with a pair of second gears respectively；Install
At the top of the first carriage 11 and drive the second motor 14 of a pair of second gears rotation；Wherein, the 3rd slide block 10 is fixedly mounted
On the part of 9 side of close fixed arm of the second Timing Belt 12, Four-slider 13 is fixedly installed in leaning on for the second Timing Belt 12
On the part of nearly 15 side of fork mechanism.
Wherein, the fixed arm guide rail extended along its short transverse is set on fixed arm 9, and the 3rd slide block 10 is along fixed arm guide rail
Move up and down；Fork mechanism 15 is connected to one by dismountable mode with Four-slider 13.
When the second elevating mechanism is in original state, the 3rd slide block 10 is located at the upper end of 12 side of the second Timing Belt, and
Four-slider 13 is located at the lower end of 12 opposite side of the second Timing Belt.When the second motor 14 is worked, drives a pair of second gears along inverse
When clockwise rotates, the second Timing Belt 12 also corresponding sports in the presence of a pair of second gears for engaging connection, fortune
When dynamic, Four-slider 13 is driven vertically to be moved upwardly by, drive the 3rd slide block 10 vertically to move down, i.e. to make 10 edge of the 3rd slide block
The fixed arm guide rail arranged on fixed arm 9 to move down, and 13 be fixedly connected with the 4th slip due to fork mechanism 15, because
This, fork mechanism 15 is moved upwardly by under the drive of the 4th slip 13.
Wherein, as shown in figure 5, fork mechanism of the present utility model 15 includes：Its two ends respectively with a pair of folding support machines
Structure connection horizontal stand 1514, i.e. the two ends of horizontal stand 1514 respectively with the second Timing Belt of a pair second elevating mechanisms on
Four-slider 13 is connected to one by dismountable mode；It is placed on horizontal stand 1514 and the horizontal shifting along horizontal stand
Dynamic transport platform 1512；It is arranged at and transports on platform 1512 and with the transport along the goods shelf for vertically moving for transporting platform
Structure 1507；Wherein, goods shelf moves longitudinally so as to alignment goods yard and carries out accessing operation to the goods on goods yard.
Wherein, fork mechanism of the present utility model 15 can realize what three-dimensional was moved using as shown in Figure 6
The structure (Fig. 6 show the schematic diagram of the fork mechanism 15 of the cover for removing conveyer) of fork mechanism.
Wherein, vertically relative walked frame 1 is up or down in the presence of the second elevating mechanism for horizontal stand 16
Mobile, so that goods shelf 1506 to be transported to the height at goods yard place；And platform 1512 is transported in transversal driving mechanism 1500
Lower relative walked frame 1 is driven along the transverse shifting of horizontal stand 1514, so that goods shelf 1506 is transported at above-mentioned height
The lateral position that goods yard is located；The longitudinally reciprocal movement along the horizontal plane of goods shelf 1506 is simultaneously aligned in above-mentioned lateral position
Goods yard, accessing operation is carried out to the goods on goods yard so as to pallet fork.And goods shelf can be used for the goods on goods yard aligned with it
Box is engaged, so that the goods to depositing in packing box or packing box carries out extract operation and by the goods handling in packing box or packing box
To required goods yard, wherein, the packing box can adopt the rotation packing box of prior art.
Specifically, as shown in fig. 6, conveyer of the present utility model 1507 also includes in addition to goods shelf：It is installed on
Transport the base 1510 on platform 1512；Be placed between base 1510 and goods shelf 1506 and with base 1510 and goods shelf
1506 transmission devices for connecting respectively；Wherein, transmission device is used for driving 1506 respect thereto 1510 of goods shelf along longitudinally reciprocal
Mobile.
Wherein, as shown in Fig. 2 transmission device includes：Motor 1503 and the gear being installed on 1510 output shaft of motor
1509；The first tooth bar 1508 being installed on goods shelf 1506；The second tooth bar 1511 being installed on base 1510；Wherein,
One tooth bar 1508 and the second tooth bar are parallel relative about 1511 and be simultaneously engaged with gear 1509 respectively and be connected.
Further, conveyer 1507 also includes：For guiding the direction of motion of transmission device respect thereto 1510
First guider and the second guider for guiding the direction of motion of 1506 relative transmission device of goods shelf.
Wherein, it is covered with, outside motor 1503, the motor rack 1504 for being secured to connect, and the first guider includes arranging
The first guide rail 1513 on the base 1510 and it is arranged at the first guide groove 1501 of 1504 bottom of motor rack；Second is oriented to dress
Put the second guide rail 1505 including being arranged at 1506 bottom of goods shelf and be arranged at the top of motor rack 1504 for leading with second
The second guide groove that rail 1505 is slidably matched.Wherein, the first guide rail 1513 is slidably matched with the first guide groove 1501, the second guide rail
1505 are slidably matched with the second guide groove, also, the first guide rail 1513 and the second guide rail 1505 are respectively along above-mentioned Longitudinal extending,
First tooth bar 1508 and the second tooth bar 1511 are also along above-mentioned Longitudinal extending.
With reference to Fig. 6, when describing transmission operation, the moving process of goods shelf.
When the motor is energized, output shaft rotation is driven so that the gear being installed on output shaft is also rotated with；In gear
During rotate counterclockwise (as motor is rotated forward), due to gear and the engagement of the second tooth bar so that whole transmission device, goods shelf
Moved relative to base longitudinally forward together, while gear and the second tooth bar engagement, gear and the first tooth bar
Intermeshing is acted on, and then goods shelf also travels forward relative to base, i.e., whole transmission device is on the second guide rail to reach
When moving certain stroke, goods shelf moves forward double stroke relative to base, so as to improve transmission efficiency, when saving
Between.And work as motor turn clockwise (such as motor reversal) when, goods shelf is along above-mentioned rightabout rollback.
Wherein, can be provided with goods shelf 1506 for the goods (or packing box) to transporting thereon positioned many
Individual alignment pin, goods or packing box are directly installed on goods shelf 1506；Or, one can also be fixedly mounted on goods shelf 1506
LOAD CELLS (not shown), and the fork plate for temporary goods putting thing or packing box is placed with LOAD CELLS, and be used for
Multiple alignment pins that the goods or packing box transported by goods shelf is positioned are placed in fork plate.Preferably, of the present utility model
Goods shelf 1506 adopts hollow structure.
Fork mechanism of the present utility model has the advantages that simple structure, takes up room little, and which can be to small size goods
Man-to-man accurate transport is carried out, its transmission device adopts double-rack-and-pinion drive so that when the motor of transmission device works, can
So that goods shelf respect thereto produces the movement of double distance, and stable drive along longitudinal direction, and the alignment pin for adopting can be right
Goods is accurately positioned；Therefore two elevating mechanisms are driven more steady, reliable using toothed belt transmission.
Intelligent three-axis robot of the present utility model, the first elevating mechanism and the second elevating mechanism can rise simultaneously or
Decline, so as to realize synchronous double campaign-styled lifting, fork mechanism liter can be down to goods place goods yard accurately flexibly
Highly locate, and fork mechanism stretches out fork picking thing in the way of the motion of rack-and-pinion Double-stroke, such that it is able to rapidly and efficiently complete
Accessing operation into goods.Additionally, intelligent three-axis robot of the present utility model do not execute access material operation task or
When translation mechanism is in walking states, two elevating mechanisms are in original state, so as to small volume, take up room little, are easy to
Storage, is suitable for the intensive storage in goods yard, and in the process of walking, can walk in slype, when goods access site higher
When, first, second elevating mechanism can be made synchronously to rise, and can achieve three dimensions accessing operation, adaptability scope is wide, greatly
Recruitment cost is reduced, mitigates the labour intensity of operator.And work as after intelligent three-axis robot of the present utility model gets goods,
Goods can be transferred to other accurate unmanned machines, realize Dock With Precision Position.Further, since robot of the present utility model has
RFID reading code functions, therefore can realize unique code management, realize becoming more meticulous in handling of goods and materials, robot is taken in itself to goods
Software systems are carried, its scheduling system is highly docked with whole factory automation system, accesses goods more efficient and rational, if depositing
There is overload condition in picking thing, and robot of the present utility model can be sent out the alarm of protectiveness, so as to use more
Safe and reliable.
Although being explained in detail to the utility model above, the utility model not limited to this, the skill of the art
Art personnel can modify according to principle of the present utility model, therefore, all according to principle of the present utility model carry out various
Modification all should be understood to fall into protection domain of the present utility model.
Claims (10)
1. a kind of intelligent three-axis robot, it is characterised in that include：
Can from walking motion module, with for according to external command be moved to goods yard so as to access goods yard in goods goods
Fork mechanism；
The RFID read-write module for reading and writing unique yard of the goods accessed needed for fork mechanism being arranged in motion module；
Be arranged in motion module for the movement of motion module is guided with positioning guiding locating module；
Wherein, motion module guiding locating module guiding under automatically walk to appointed place, fork mechanism is according to described
Unique code of the goods of its required access that RFID read-write module reads moves to goods place goods yard, to carry out to goods
Accessing operation.
2. intelligent three-axis robot according to claim 1, it is characterised in that also include：
The communication module that the information centre of the motion module, RFID read-write module, guiding locating module and outside is connected, with
Just the instruction for coming from information centre is sent to the motion module, RFID read-write module and guiding locating module.
3. intelligent three-axis robot according to claim 1, it is characterised in that also include：
It is arranged in the motion module and the connected supply module for providing the energy for which；
The automatic charging module for being arranged in the motion module and being connected with supply module.
4. the intelligent three-axis robot according to any one of claim 1-3, it is characterised in that the motion module includes：
Can walking in a horizontal state translation mechanism；
Side by side arrangement is in a pair of folding supporting mechanisms of the vertically stretching motion of translation mechanism both sides；
Wherein, the fork mechanism is connected respectively with a pair of folding supporting mechanisms, and can relative translation mechanism along three-dimensional transport
Move so as to access goods.
5. intelligent three-axis robot according to claim 4, it is characterised in that the folding supporting mechanism includes：
It is fixedly installed in the framework of the walked frame side of translation mechanism；
There is the first elevating mechanism of the first slide block being slidably connected with framework；
The fixed arm being fixedly connected with the second slide block of the first elevating mechanism；
There is the second elevating mechanism of the 3rd slide block being slidably connected with fixed arm；
Wherein, the fork mechanism is fixedly connected with the Four-slider of second elevating mechanism.
6. intelligent three-axis robot according to claim 5, it is characterised in that first elevating mechanism includes：
First carriage；
A pair of first gears being parallelly mounted on the first carriage up and down；
First Timing Belt that be connected is engaged with a pair of first gears respectively；
It is installed at the top of the first carriage and drives the first motor of a pair of first gear rotations；
Wherein, first slide block is fixedly installed on the part of close described framework side of first Timing Belt, described
Second slide block is fixedly installed on the part of close described fixed arm side of first Timing Belt.
7. intelligent three-axis robot according to claim 6, it is characterised in that：
The part in the face of first elevating mechanism of the framework arranges the framework guide rail extended along its height, and described first slides
Block is moved up and down along framework guide rail；
Second slide block is fixedly connected with the lower end of the fixed arm.
8. intelligent three-axis robot according to claim 5, it is characterised in that second elevating mechanism includes：
Second carriage；
A pair of second gears being parallelly mounted on the second carriage up and down；
Second Timing Belt that be connected is engaged with a pair of second gears respectively；
It is installed at the top of the first carriage and drives the second motor of a pair of second gear rotations；
Wherein, the 3rd slide block is fixedly installed on the part of close described fixed arm side of second Timing Belt, institute
State Four-slider to be fixedly installed on the part of close described fork mechanism side of the Timing Belt.
9. intelligent three-axis robot according to claim 8, it is characterised in that：
The fixed arm guide rail extended along its short transverse is set on the fixed arm, and the 3rd slide block is upper and lower along fixed arm guide rail
Mobile；
The fork mechanism is fixedly connected with the Four-slider.
10. intelligent three-axis robot according to claim 4, it is characterised in that the fork mechanism includes：
The horizontal stand that its two ends is connected respectively with the pair of folding supporting mechanism respectively；
Be placed on horizontal stand and transverse shifting along horizontal stand transport platform；
It is arranged at and transports on platform and with the transporting structure along the goods shelf for vertically moving for transporting platform；
Wherein, the goods shelf moves longitudinally so as to alignment goods yard and carries out accessing operation to the goods on goods yard.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620076236.8U CN206013723U (en) | 2016-01-27 | 2016-01-27 | A kind of intelligent three-axis robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620076236.8U CN206013723U (en) | 2016-01-27 | 2016-01-27 | A kind of intelligent three-axis robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883317A (en) * | 2016-01-27 | 2016-08-24 | 滕华 | Intelligent three-axis robot |
| CN107128690A (en) * | 2017-05-24 | 2017-09-05 | 北方工程设计研究院有限公司 | Vacuum glass material buttress is two-way to stretch fork and divides a word with a hyphen at the end of a line car |
| CN107136900A (en) * | 2017-05-03 | 2017-09-08 | 朱明� | A kind of full-automatic steamed rice in clay pot makes processing unit (plant) |
| CN109132395A (en) * | 2018-08-22 | 2019-01-04 | 华晓精密工业(苏州)有限公司 | A kind of times journey translation mechanism |
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN112830140A (en) * | 2020-12-31 | 2021-05-25 | 深圳市海柔创新科技有限公司 | Lifting device and transfer robot |
| CN114291767A (en) * | 2021-12-09 | 2022-04-08 | 苏州市普成机械有限公司 | Full-automatic stacker fork |
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2016
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883317A (en) * | 2016-01-27 | 2016-08-24 | 滕华 | Intelligent three-axis robot |
| CN107136900A (en) * | 2017-05-03 | 2017-09-08 | 朱明� | A kind of full-automatic steamed rice in clay pot makes processing unit (plant) |
| CN107128690A (en) * | 2017-05-24 | 2017-09-05 | 北方工程设计研究院有限公司 | Vacuum glass material buttress is two-way to stretch fork and divides a word with a hyphen at the end of a line car |
| CN109132395A (en) * | 2018-08-22 | 2019-01-04 | 华晓精密工业(苏州)有限公司 | A kind of times journey translation mechanism |
| CN109132395B (en) * | 2018-08-22 | 2023-11-10 | 华晓精密工业(苏州)有限公司 | Stroke doubling translation mechanism |
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN112830140A (en) * | 2020-12-31 | 2021-05-25 | 深圳市海柔创新科技有限公司 | Lifting device and transfer robot |
| CN114291767A (en) * | 2021-12-09 | 2022-04-08 | 苏州市普成机械有限公司 | Full-automatic stacker fork |
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