CN206068642U - Automatic transferring equipment - Google Patents
Automatic transferring equipment Download PDFInfo
- Publication number
- CN206068642U CN206068642U CN201621111805.4U CN201621111805U CN206068642U CN 206068642 U CN206068642 U CN 206068642U CN 201621111805 U CN201621111805 U CN 201621111805U CN 206068642 U CN206068642 U CN 206068642U
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- CN
- China
- Prior art keywords
- axis
- connecting gear
- transfer
- slide rail
- pallet fork
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Abstract
The utility model discloses automatic transferring equipment，Comprising shelf、The transfer track that its side is arranged at along shelf length direction and the first transfer dolly being arranged on transfer track and the second transfer dolly，Transfer dolly includes Z axis connecting gear、Y-axis connecting gear and underframe mechanism，Z axis connecting gear is installed in underframe mechanism，Underframe mechanism is placed on transfer track by X-axis slide block，X-axis driver element and X-axis slide block drive connection，Control underframe mechanism moves along a straight line on transfer track，Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion，Y-axis connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis，Y-axis connecting gear is installed in the Z axis slide rail of Z axis connecting gear，The front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.The conveying in tri- direction of product X, Y, Z is realized, can be in Z axis staying at random location.
Description
Technical field
This utility model is related to a kind of automatic transferring equipment.
Background technology
At present, traditional transfer equipment typically can only all carry out X-axis, the conveying of Y-axis both direction, it is impossible to while realizing
The conveying of Z-direction, it is impossible to product is positioned over any one layer of shelf as needed, fails to realize product in Z axis optional position
Stop.
Utility model content
The purpose of this utility model is to overcome the shortcomings of that prior art is present, there is provided a kind of automatic transferring equipment.
The purpose of this utility model is achieved through the following technical solutions：
Automatic transferring equipment, feature is：Be arranged at comprising shelf, along shelf length direction its side transfer track and
The first transfer dolly being arranged on transfer track and the second transfer dolly, the first transfer dolly and the second transfer dolly knot
Structure is identical, and comprising Z axis connecting gear, Y-axis connecting gear and underframe mechanism, Z axis connecting gear is installed in underframe mechanism, bottom
Frame mechanism is placed on transfer track by X-axis slide block, X-axis driver element and X-axis slide block drive connection, and control underframe mechanism is moving
Move along a straight line on carrier rail road, the Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, Y-axis
Connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis, and Y-axis connecting gear is installed on Z axis conveyer
In the Z axis slide rail of structure, the front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.
Further, above-mentioned automatic transferring equipment, wherein, distinguish at the differing heights of the first transfer dolly both sides
It is provided with for detecting the picking sensor of barrier.
Further, above-mentioned automatic transferring equipment, wherein, the differing heights punishment of the second transfer dolly both sides
It is not provided with for detecting the picking sensor of barrier.
Further, above-mentioned automatic transferring equipment, wherein, the upper surface of the long pallet fork and short pallet fork is built-in with very
Empty adsorption mouth.
Further, above-mentioned automatic transferring equipment, wherein, the long pallet fork and short pallet fork are installed on same installation
On plate.
Further, above-mentioned automatic transferring equipment, wherein, the installing plate is provided with drive recorder.
Further, above-mentioned automatic transferring equipment, wherein, use is installed on the Y-axis slide rail of the Y-axis connecting gear
In detection pallet fork deformation to penetrating photoelectric sensor.
Further, above-mentioned automatic transferring equipment, wherein, the first transfer dolly and the second transfer dolly are distinguished
Electrically connect with electric control system.
Yet further, above-mentioned automatic transferring equipment, wherein, the electric control system includes controller and master control PC
Machine, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC is connected with controller by CAN network
Connect, Three Degree Of Freedom transmission servo controller is connected with the first transfer dolly and the second transfer dolly respectively by RS-232 buses,
Control drives X-axis driver element, Y-axis driver element and Z axis driver element.
Yet further, above-mentioned automatic transferring equipment, wherein, the long pallet fork and short pallet fork respectively have 2～4.
The substantive distinguishing features and significant progress that technical solutions of the utility model are projected are mainly reflected in：
Transfer equipment realizes the conveying in tri- direction of product X, Y, Z, and transfer dolly can be conveyed in the X-axis direction, one
2 transfer dollies are designed with bar track, 1 for product is delivered into shelf, in addition 1 for by product from shelf
Take out, product can be positioned over into any one layer of shelf as needed, realize stop of the product in Z axis optional position, shelf point
Into multilamellar, can be used for depositing many pieces of products, improve yield.Drive recorder is installed on the Y-axis connecting gear of transfer dolly
Continuously can monitor, real time record product is put into shelf or is fetched into from shelf whole on transfer dolly by transfer dolly
Individual process, can take out image, quickly searches problem when going wrong, convenient to keep in repair.
Description of the drawings
Fig. 1：The structural representation of this utility model equipment；
Fig. 2：The structural representation of transfer dolly；
Fig. 3：The pallet fork contraction state schematic diagram of Y-axis connecting gear；
Fig. 4：The pallet fork of Y-axis connecting gear stretches out view.
In figure, the implication of each reference see the table below：
Specific embodiment
As shown in figure 1, automatic transferring equipment, is arranged at the transfer track of its side comprising shelf 3, along shelf length direction
1 and the first transfer dolly 2 for being arranged on transfer track and the second transfer dolly 4；Wherein 1 transfer dolly is responsible for product
Deliver in the shelf in track centre position from track side, the product for having detected then is taken out by another transfer dolly to be delivered to
Track other side has waited the position of splicing.Shelf are divided into multilamellar (can need to set the number of plies according to client), are arranged with 3 respectively
Individual shelf, between each shelf, floor height is equal.
First transfer dolly 2 is identical with 4 structure of the second transfer dolly, as shown in Fig. 2 including Z axis connecting gear 21, Y
Axle connecting gear 22 and underframe mechanism 23, Z axis connecting gear 21 are installed in underframe mechanism 23, and underframe mechanism 23 is slided by X-axis
Block is placed on transfer track 1, X-axis driver element and X-axis slide block drive connection, the straight line on transfer track of control underframe mechanism 23
Motion, Z axis connecting gear 21 include the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, and Y-axis connecting gear 22 includes
Y-axis slide rail and the Y-axis driver element of control Y-axis slide rail motion, Y-axis connecting gear 22 are installed on the Z axis of Z axis connecting gear 21 and slide
On rail.
Transfer dolly can carry out X-axis, Y-axis, the conveying in three directions of Z axis.Transfer dolly becomes deformed transfer track 1 is up
When in conveying along X-direction, transfer dolly by Z axis connecting gear 21 and Y-axis connecting gear 22 can by product carry out Y-axis and
The conveying of Z-direction, realizes the conveying to tri- direction of product X, Y, Z.
The front end of the Y-axis slide rail of Y-axis connecting gear 22 is convexly equipped with long pallet fork 221 and short pallet fork 222, as shown in Figure 3, Figure 4,
The upper surface of long pallet fork 221 and short pallet fork 222 is built-in with vacuum holding nozzle, and vacuum is opened, product is adsorbed, and can prevent from moving
During dynamic, product drops.Long pallet fork 221 and short pallet fork 222 respectively have 2～4, are installed on same installing plate, on installing plate
Drive recorder is provided with, monitor can retrieve for examination image with the running of record product when going wrong, easy-to-look-up
Problem, process problem facilitate in time.
It is separately installed with the differing heights of 2 both sides of the first transfer dolly for detecting the picking sensor of barrier.The
It is separately installed with the differing heights of two transfer dollies, 4 both sides for detecting the picking sensor of barrier.When having detected barrier
When hindering thing, transfer dolly can be automatically stopped, and this mode is used to guarantee personal safety.
Y-axis connecting gear 22 can carry out rise and fall campaign with the vertical direction, realize shifting of the product in Z-direction
It is dynamic.When product will enter shelf, long pallet fork 221 and short pallet fork 222 are moved along slide rail simultaneously, realize the shifting of product Y direction
It is dynamic.Be provided with the Y-axis slide rail of Y-axis connecting gear 22 for detect pallet fork deformation to penetrating photoelectric sensor, can be used for inspection
Survey whether long pallet fork 221 and short pallet fork 222 have deformation, it is ensured that product does not fall out, while when ensureing that product enters shelf, will not
Bump against with the gripper shoe in shelf.
First transfer dolly 2 and the second transfer dolly 4 are electrically connected with electric control system respectively, and electric control system includes
Controller and master control PC, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC passes through CAN net
Network is connected with controller, Three Degree Of Freedom transmission servo controller by RS-232 buses respectively with the first transfer dolly 2 and second
Transfer dolly 4 is connected, and control drives X-axis driver element, Y-axis driver element and Z axis driver element.
In sum, this utility model transfer equipment realizes the conveying in tri- direction of product X, Y, Z, and transfer dolly can be in X
Conveyed on direction of principal axis, on a track, be designed with 2 transfer dollies, 1 for product is delivered into shelf, in addition 1
For product is taken out from shelf, product can be positioned over into any one layer of shelf as needed, realize that product is appointed in Z axis
The stop of meaning position, shelf are divided into multilamellar, can be used for depositing many pieces of products, improve yield.The Y-axis connecting gear of transfer dolly
On drive recorder is installed continuously can monitor, real time record product is put into shelf or is taken from shelf by transfer dolly
The whole process gone out on transfer dolly, can take out image, quickly searches problem when going wrong, convenient to keep in repair.
It should be noted that：Preferred implementation of the present utility model is the foregoing is only, is not limited to practical
New interest field；Description more than simultaneously, for the special personage of correlative technology field should understand and implement, therefore its
It should be included in claim without departing from the equivalent change or modification that are completed under the spirit disclosed in this utility model
In.
Claims (10)
1. automatic transferring equipment, it is characterised in that：The transfer track of its side is arranged at comprising shelf, along shelf length direction with
And the first transfer dolly for being arranged on transfer track and the second transfer dolly, the first transfer dolly and the second transfer dolly
Structure is identical, and comprising Z axis connecting gear, Y-axis connecting gear and underframe mechanism, Z axis connecting gear is installed in underframe mechanism,
Underframe mechanism is placed on transfer track by X-axis slide block, X-axis driver element and X-axis slide block drive connection, and control underframe mechanism exists
Move along a straight line on transfer track, the Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, Y
Axle connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis, and Y-axis connecting gear is installed on Z axis transmission
In the Z axis slide rail of mechanism, the front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.
2. automatic transferring equipment according to claim 1, it is characterised in that：The difference of the first transfer dolly both sides is high
It is separately installed with degree for detecting the picking sensor of barrier.
3. automatic transferring equipment according to claim 1, it is characterised in that：The difference of the second transfer dolly both sides is high
It is separately installed with degree for detecting the picking sensor of barrier.
4. automatic transferring equipment according to claim 1, it is characterised in that：In the upper surface of the long pallet fork and short pallet fork
It is equipped with vacuum holding nozzle.
5. the automatic transferring equipment according to claim 1 or 4, it is characterised in that：The long pallet fork and short pallet fork are installed on
On same installing plate.
6. automatic transferring equipment according to claim 5, it is characterised in that：The installing plate is provided with drive recorder.
7. automatic transferring equipment according to claim 1, it is characterised in that：Pacify on the Y-axis slide rail of the Y-axis connecting gear
Equipped with for detect pallet fork deformation to penetrating photoelectric sensor.
8. automatic transferring equipment according to claim 1, it is characterised in that：The first transfer dolly and the second transfer are little
Car is electrically connected with electric control system respectively.
9. automatic transferring equipment according to claim 8, it is characterised in that：The electric control system include controller and
Master control PC, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC is by CAN network and control
Device connect, Three Degree Of Freedom transmission servo controller by RS-232 buses respectively with the first transfer dolly and the second transfer dolly phase
Even, control drives X-axis driver element, Y-axis driver element and Z axis driver element.
10. automatic transferring equipment according to claim 1, it is characterised in that：The long pallet fork and short pallet fork respectively have 2～4
Only.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111805.4U CN206068642U (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111805.4U CN206068642U (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206068642U true CN206068642U (en) | 2017-04-05 |
Family
ID=58441931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621111805.4U Active CN206068642U (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206068642U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477220A (en) * | 2016-10-11 | 2017-03-08 | 苏州优备精密智能装备股份有限公司 | Automatic transferring equipment |
| CN111086869A (en) * | 2018-10-24 | 2020-05-01 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| CN113650998A (en) * | 2020-05-12 | 2021-11-16 | 深圳市海柔创新科技有限公司 | Container taking-out device and method, and transfer robot |
-
2016
- 2016-10-11 CN CN201621111805.4U patent/CN206068642U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477220A (en) * | 2016-10-11 | 2017-03-08 | 苏州优备精密智能装备股份有限公司 | Automatic transferring equipment |
| CN111086869A (en) * | 2018-10-24 | 2020-05-01 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| CN111086869B (en) * | 2018-10-24 | 2021-10-22 | 日本电产三协株式会社 | Hand of industrial robot and industrial robot |
| CN113650998A (en) * | 2020-05-12 | 2021-11-16 | 深圳市海柔创新科技有限公司 | Container taking-out device and method, and transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Dongjing industrial square, No. 8, Dongfu Road, Suzhou Industrial Park, Jiangsu Province Patentee after: SUZHOU YOUBEI PRECISION INTELLIGENT EQUIPMENT Co.,Ltd. Patentee after: Suzhou Huaxing photoelectric display Co.,Ltd. Patentee after: Samsung Display Co.,Ltd. Address before: 215021 Dongjing Industrial Workshop, No. 8 Dongfu Road, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU YOUBEI PRECISION INTELLIGENT EQUIPMENT Co.,Ltd. Patentee before: SUZHOU SAMSUNG DISPLAY Co.,Ltd. Patentee before: Samsung Display Co.,Ltd. |