CN206123626U - Multi -functional shipment machine people of 6 -degree of freedom - Google Patents
Multi -functional shipment machine people of 6 -degree of freedom Download PDFInfo
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- CN206123626U CN206123626U CN201620742154.2U CN201620742154U CN206123626U CN 206123626 U CN206123626 U CN 206123626U CN 201620742154 U CN201620742154 U CN 201620742154U CN 206123626 U CN206123626 U CN 206123626U
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Abstract
The utility model discloses a multi -functional shipment machine people of 6 -degree of freedom, including removing chassis, prevent overtum equipment, adjustable brace seat, slewer, motion execution arm, grabber and electronic air pump. The prevent overtum equipment who installs removing the chassis below is used for preventing the utility model discloses take place to topple when carrying out the shipment task, the adjustable brace seat can be used to adjust the height and the front and back horizontal displacement of grabber, and slewer is used for the turn right or left who realizes the grabber to adjust, and the task that snatchs that task, grabber accessible mechanical type centre gripping or the absorbent mode of negative pressure execution material were lifted by crane and transferred in the execution of arm mainly used is carried out in the motion. The utility model discloses the material that can be used to among commodity circulation or the industrial production moves operations such as transport, loading and unloading, has motion flexibility height, strong adaptability, prevents advantages such as overturning moment is big, and advantages such as still having compact structure, save storage space, the regulation control is convenient can be overcome and has the technical defect who loads and transports the machine people now, more is applicable to the popularization.
Description
Technical field
This utility model is related to the robot in a kind of automated arm field, more particularly to a kind of packaged type six is freely
Spend multi-functional shipment robot.
Background technology
With the rise of the price of labour power, " demographic dividend " of Chinese manufacturing constantly disappears.International economic situation
It is complicated and changeable, the adjustment of World Economics depth, developed country's propulsion " reindustrialization " and " manufacturing industry recurrence ", global manufacturing is high-end
Change Competitive Trend increasingly apparent.The robot density of Chinese manufacturing far below global average level, Robot industry have compared with
Big development space.The technical merit of industrial robot determines precision, accuracy and the efficiency that manufacturing industry is produced, the depth of its application
Degree becomes the important symbol for weighing a national manufacturing industry level and scientific and technological level with range.However, the manufacturing industry of China is certainly
All there is very big deficiency in the field such as material that dynamicization technology is related to and critical component, be limited by foreign technology.To modernize, automatically
The equipment of change lifts conventional industries, promotes technology bonus to substitute demographic dividend, becomes made in China industrial upgrading and optimization and economy
The choosing of the certainty of sustainable growth.Machine substitute human labor becomes an important act for promoting traditional manufacture to realize industrial transformation upgrading
Arrange, conventional industries are lifted with the equipment of modernization, automatization, promote technology bonus to substitute demographic dividend, the industry for becoming new is excellent
Change the power source of upgrading and sustained economic growth, to technological progress, lift labor quality, improve enterprises production efficiency, promote
Enter industry restructuring, propulsion industry transform the mode of development etc. it is all significant.
Shipment robot is the industrial robot for moving the operations such as carrying, handling for automatization, by changing or can be selected
Different end effectors are selected to complete workpiece handling, the loading and unloading of various different shapes and state, work is significantly reduced
Intensity, has been widely used in lathe loading and unloading, stamping machine automatic production line, automatic assembly line, Palletised carry, packaging
The occasion of case etc. is used to replace human labour, is also widely used for the automated production of the industries such as light industry, medicine, food and electronics
In line, the operation such as sorting, packaging, encapsulation generally requires end effector carries out in space shipment operation, but is mostly
Fixed installation formula, degree of freedom is little, and kinematic dexterity is not also high.With the development of industrial level, the user of all trades and professions is to shipment
Machine Man's Demands more and more extensive, performance requirement more and more higher.Systems in Certain Developed Countries has made the maximum limit of artificial shipment
Degree, what is gone beyond the limit must be completed by transfer robot.Shipment robot has become in modern mechanical manufacturing production system
One important component part.
At present major part logistics company causes labour force big for the handling and transhipment of object are using the method for a dead lift
And it is time-consuming the shortcomings of, although there are one's own conveying robot in some larger companies, its specific aim compared with
By force, the object of solid shape can only be typically captured, and expensive, very flexible, it is difficult to meet general logistics operator or big
The cheap practical demand in type market.Therefore for general logistics operator or market, in the urgent need to a kind of economical and
Commodity shipment robot with carrying difference goods.
With regard to shipping machine man-based development, many technology implementation schemes are it is also proposed in domestic existing patent documentation.Such as Shen
Number " a kind of Mecanum wheel Omni-mobile transfer robot " please be disclosed for 201610005259.4 Chinese patent, with six
Free degree manipulator, but grasping end is more single, and adaptability is poor；The Chinese patent of Application No. 201510545829.4 is disclosed
A kind of " robot palletizer ", its gyro black assembly is complex with the structure of swing arm unit, high cost, and being not suitable for small business makes
With；The Chinese patent of Application No. 201510593885.5 discloses " a kind of dynamic support Three Degree Of Freedom transfer robot ", structure
It is relatively simple, using the degree of freedom of parallelogram theorem confinement end actuator, efficiently solve robot architecture stupid
The problem that weight and the rigidity of structure and intensity are not enough, but robot degree of freedom is less, and it is irremovable, limitation is larger；Application number
Chinese patent for 201310405360.5 is disclosed " a kind of five degree of freedom series-parallel connection industrial robot ", and its work space is big, tool
There are high degree of flexibility and flexible structure compact, be capable of achieving to carry, spraying, the various engineering operation such as assembling, but it is irremovable, it is only suitable
For fixing production line, it is impossible to arbitrarily change working condition；The Chinese patent of Application No. 201610028781.4 discloses " base
In the transfer robot of mobile mechanical arm ", will be combined together with hydraulic manipulator based on the portable car body of Mecanum wheel,
Have the advantages that mobile flexible, power density is big, but operative orientation is more single, and working range is little.To sum up, existing industry dress
The structure of fortune robot still has improvable space, and working range is little, and control is loaded down with trivial details, and structural stability is poor, and grappling fixture shape list
One, can only be designed for specific product, the bad adaptability to actual condition, it is impossible to enough to change use environment easily.
The multi-functional shipment robot of six degree of freedom that this utility model is related to, can be used to solve little logistics operator and market
Handling, transshipment cargo need the problems such as expending a large amount of manpower and materials, increase great amount of cost, realize the machine of maximum possible for people,
Improve efficiency；The material handling operation in commercial production is can also be used for, sandbox, the core material movement such as in foundry is removed
Fortune, lifting and lower core operation etc., substitute manual work.Design that this utility model overturn-preventing wheelbase is adjustable can according to weight weight,
Position and the spacing of two lateral support wheels are adjusted, the safety of material transfer is improve, meanwhile, this utility model freedom of motion
Many, motion is flexible, regulation, convenient storage, meets little logistics operator and market demand, and saving uses space, can overcome existing
The technological deficiency of shipment robot, is more suitable for promoting.
The content of the invention
The purpose of this utility model is for the deficiencies in the prior art, there is provided a kind of multi-functional shipment machine of six degree of freedom
People, makes shipment robot have preferable dynamic performance and job stabilization, can preferably meet wanting for material shipment operation
Ask, the defect of prior art can be overcome.Technical problem to be solved in the utility model employs the following technical solutions to realize.
A kind of multi-functional shipment robot of six degree of freedom, including mobile chassis, Overthrow preventing device, adjustable support seat, revolution
Device, Motor execution arm, grabber and electric air pump.Wherein, described Overthrow preventing device is arranged on the lower section of mobile chassis, uses
Topple when shipment tasks are performed in this utility model is prevented；Described adjustable support seat is located at mobile chassis with revolution dress
Between putting, can be used to adjusting height and the anterior-posterior horizontal displacement of grabber, the upper and lower ends of described adjustable support seat respectively with
Slewing equipment, mobile chassis are fixedly connected with by screw；The bottom of described Motor execution arm is fixedly mounted on slewing equipment, main
It is used to perform lifting and decentralization task；Described grabber be arranged on Motor execution arm front end, and with Motor execution arm
By rotating parafacies connection, for performing the crawl task of material；Described slewing equipment is used to realize Motor execution arm and grabs
The axis of rotation that device is taken around slewing equipment is rotated；Described electric air pump is fixedly mounted in the revolution mounting seat of slewing equipment,
And it is located at turn around the rear end of mounting seat, for double in for grabber and Overthrow preventing device, adjustable support seat or Motor execution arm
Active cylinder provides pressure gas source.
Include vehicle frame, self-driven wheel and pedal for performing mobile chassis that are mobile and loading walking task.Described
Vehicle frame takes the shape of the letter U structure, and rectangle technique hole and circular fabrication hole are provided with vehicle frame, and driving electricity is provided with the middle of the afterbody of vehicle frame
Source, for providing power supply for the electric pushrod in electric air pump and Overthrow preventing device, adjustable support seat or Motor execution arm；It is described
Self-driven wheel have four groups, the bottom of vehicle frame is symmetrically mounted on by screw；For providing standing place for operator
Pedal is located at the rear end of vehicle frame, and is connected by hinge and torsion spring between vehicle frame, makes pedal keep folding in inoperative
State.
Described self-driven wheel is made up of road wheel, reducing motor and wheel stand.Described wheel stand passes through spiral shell
Nail is fixedly mounted on the bottom of vehicle frame, and described reducing motor is fixedly mounted on wheel stand by screw, for walk
Wheel provides power；Described road wheel is fixedly mounted on the output shaft of reducing motor, and is passed through with the output shaft of reducing motor
Flat key is connected.
Described Overthrow preventing device includes sliding crossbeam, guide rail, electronic adjustable side leg and translation push rod.Wherein, it is described
Guide rail the lower section of vehicle frame is fixedly mounted on by screw, described sliding crossbeam is connected by slide block with guide rail, and flat
Moving under the driving of push rod can be movable along guide rail, and then drives electronic adjustable side leg to move forward and backward；It is described it is electronic can
Side stand is adjusted to be made up of flat reducing motor, side connecting rod and universal brake caster, one end of described side connecting rod passes through flat
Formula reducing motor is connected with the outboard end of sliding crossbeam, the other end of described universal brake caster in installation side connecting rod；Institute
The front end of the translation push rod stated is connected with sliding crossbeam by hinge, and the rear end of described translation push rod passes through hinge with vehicle frame
It is connected.Described flat reducing motor is used to adjust the angle between side connecting rod and sliding crossbeam, and then adjusts overturn-preventing
The overturn-preventing torque of device.
Described adjustable support seat includes front support rod, back support rod and adjusts push rod.Wherein, described front support rod
Lower end is connected with vehicle frame by first connection ear mount, and the described upper end of front support rod leads to the revolution mounting seat of slewing equipment
Cross the second connection ear mount to be connected；The lower end of described back support rod is connected by the 3rd connection ear mount with vehicle frame, back support rod
Upper end by the 4th connection ear mount with turn round mounting seat be connected；The front end of described regulation push rod is by the 5th connection ear mount
It is connected with vehicle frame, the rear end of described regulation push rod is connected with back support rod by hinge；First connection ear mount, the 3rd connect
Lug seat and the 5th connection ear mount are fixed on vehicle frame by the way that screw is parallel, and the second connection ear mount, the 4th connection ear mount are led to
Cross the parallel lower section for being fixed on revolution mounting seat of screw.Described front support rod, back support rod, first connection ear mount, the second company
Lug seat, the 3rd connection ear mount, the 4th connection ear mount and vehicle frame, revolution mounting seat together constitute a space parallelogram
Mechanism.
Described slewing equipment include revolution mounting seat, rotary decelerating motor, driving gear, driven gear shaft, bearing block,
Journal bearing, thrust bearing and end cap.Wherein, described rotary decelerating motor is fixedly mounted on the lower section of revolution mounting seat, is
Driving gear provides power；Described driving gear is located at turn around the top of mounting seat, and described driving gear is arranged on revolution
On the output shaft of reducing motor, and it is connected by flat key with the output shaft of rotary decelerating motor；Described driven gear shaft
Driven gear is located at turn around the top of mounting seat, and described driven gear shaft passes through bearing block, journal bearing, thrust bearing and returns
Turn mounting seat to be connected；Described bearing seat in driven gear shaft driven gear and revolution mounting seat between, and with revolution
Mounting seat is connected by screw；Described end cap is located at the lower section of driven gear shaft, and is fixedly mounted on revolution by screw
The lower section of mounting seat；Described driving gear is meshed with the driven gear of driven gear shaft.In described revolution mounting seat
Rear end is provided with handrail.
Described Motor execution arm includes U-shaped support, main counter-jib, lifting boom, counter weight device, forearm and suspention joint.
Wherein, the bottom of described U-shaped support is connected by screw with the driven gear of driven gear shaft；Described main counter-jib is flat
Row quadrilateral connecting rod mechanism, the middle part of main counter-jib is connected with the top of U-shaped support by the hinge of two diameter parallels；Institute
The counter weight device stated is located at the rear end of main counter-jib, and is fixedly connected with main counter-jib.Described counter weight device includes T-shaped frame, matches somebody with somebody
Pouring weight and jam nut.The front end of described T-shaped frame is fixedly connected with the afterbody of main counter-jib；Described balancing weight is symmetrically sleeved on
On T-shaped frame, and the quantity of balancing weight on T-shaped frame can be adjusted according to the gravity of running material；Described jam nut is arranged on T-shaped
The rear end of frame and it is connected by screw thread with T-shaped frame, for preventing balancing weight from coming off from T-shaped frame.Under described lifting boom
End is connected with the bottom of U-shaped support by hinge, and the upper end of lifting boom is connected with main counter-jib by hinge, and lifting boom is used
Flexion-extension oscillation adjustment is carried out in main counter-jib.Described forearm is located at the front end of main counter-jib, and with main counter-jib by vertical
Hinge is connected；Described suspention joint is located at the front end of forearm, and is connected by falling hinger with forearm.Described master puts down
Weighing apparatus arm includes upper equalizer bar, lower equalizer bar, parallel rod and connecting seat, and described upper equalizer bar, lower equalizer bar are installed in parallel in U
On type support, and it is connected by hinge with U-shaped support, parallel rod, connecting seat.Main counter-jib is used to ensure forearm in work
All the time horizontality is in when making.Suspention joint for connecting grabber and forearm includes upper hanger, universal joint and T-shaped axle,
Described upper hanger is located at the upper end of universal joint, and is connected with universal joint, and described upper hanger passes through level with the front end of forearm
Hinge is connected；Described T-shaped axle position is connected with universal joint in the lower end of universal joint by bearing pin, described T-shaped axle with
Grabber is connected by bearing, bearing gland.
Described grabber includes that crawl seat, lateral driver device, longitudinal driving device, horizontal handling module and longitudinal direction are grabbed
Delivery block.The top of described crawl seat is connected with the T-shaped axle in suspention joint by bearing, bearing gland.Laterally driven dress
Put including cross motor and horizontal leading screw, cross motor is fixedly mounted on the lower section of crawl seat by screw, and by laterally connection
Axle device is connected with horizontal leading screw, and for horizontal leading screw rotary power is provided；The two ends of described horizontal leading screw pass through horizontal bearing
Seat is fixedly mounted on the lower section of crawl seat.Described longitudinal driving device includes longitudinal motor and longitudinal leadscrew, and longitudinal motor is led to
Cross screw and be fixedly mounted on the lower section of crawl seat, and be connected with longitudinal leadscrew by longitudinal shaft coupling, provide for longitudinal leadscrew
Rotary power；The two ends of described longitudinal leadscrew are fixedly mounted on the lower section of crawl seat by longitudinal bearing block.Described is horizontal
Handling module is located at the lower section of lateral driver device, and is connected by screw thread with horizontal leading screw.Described longitudinal handling module
Positioned at the lower section of longitudinal driving device, and it is connected by screw thread with longitudinal leadscrew.The knot of longitudinal shaft coupling and horizontal shaft coupling
Structure is identical.
Described horizontal handling module include transverse slider nut, horizontal gripper cylinder, horizontal jaw, horizontal suction cup carrier and
Horizontal sucker.Wherein, described transverse slider nut is sleeved in horizontal leading screw, and is connected by screw thread with horizontal leading screw；
The upper end of described horizontal gripper cylinder is connected with transverse slider nut, and described horizontal jaw is fixedly mounted on laterally clamping gas
The lower end of cylinder, described horizontal suction cup carrier is located at the outside of horizontal jaw, and passes through the first rotational pin and first with horizontal jaw
Bulb plunger is connected.The horizontal sucker being fixedly mounted in horizontal suction cup carrier can be rotated around the first rotational pin, to change work
Make state.Elongation of the described horizontal gripper cylinder for horizontal jaw in vertical direction provides power with shortening, and described is horizontal
Jaw is used in laterally clamping or captures material, and described horizontal sucker is shipped material for absorption.
Described longitudinal handling module include longitudinal sliding block nut, longitudinal gripper cylinder, longitudinal jaw, longitudinal suction cup carrier and
Longitudinal sucker.Wherein, described longitudinal sliding block nut is sleeved on longitudinal leadscrew, and is connected by screw thread with longitudinal leadscrew；
The upper end of described longitudinal gripper cylinder is connected with longitudinal sliding block nut, and described longitudinal jaw is fixedly mounted on longitudinal direction clamping gas
The lower end of cylinder, described longitudinal suction cup carrier is located at the outside of longitudinal jaw, and passes through the second rotational pin and second with longitudinal jaw
Bulb plunger is connected.The longitudinal sucker being fixedly mounted in longitudinal suction cup carrier can be rotated around the second rotational pin, to change work
Make state.Elongation of the described longitudinal gripper cylinder for longitudinal jaw in vertical direction provides power, described longitudinal direction with shortening
Jaw is used in longitudinally clamping or captures material, and described longitudinal sucker is shipped material for absorption.
Described horizontal leading screw, longitudinal leadscrew are Double helix leading screw, for realizing the synchronization of horizontal jaw, longitudinal jaw
Reverse movement.Described regulation push rod, translation push rod and lifting boom are using electric pushrod or double-acting cylinder.
Before operation, the specification and quantity of balancing weight can be determined according to actually used needs and the weight of carrying material, be subtracted
Speed motor makes this utility model be moved to job position.Maximum tilting moment when then capturing material according to grabber, drives flat
Move push rod and adjust relative position of the sliding crossbeam on vehicle frame.Then, start flat reducing motor, adjust side connecting rod and sliding
Angle between crossbeam steps on the brake of universal brake caster to proper angle, completes to adjust accurate before shipment of the present utility model
It is standby.
When performing shipment job task, need according to crawled object or the characteristic of material outer package, select mechanical type folder
Hold the mode of mode or negative-pressure adsorption crawl.Select mechanical type method of clamping only to need to use horizontal jaw and longitudinal jaw, make horizontal stroke
Sucker mouth to sucker and longitudinal sucker is placed upward；When negative-pressure adsorption Grasp Modes are selected, need to stir horizontal suction cup carrier
Horizontal sucker and the sucker mouth down of longitudinal sucker are placed with longitudinal suction cup carrier, crawled material is directed at.By adjusting two groups
Horizontal spacing of the longitudinal handling module of spacing and two groups of the handling module in horizontal leading screw on longitudinal leadscrew, with adapt to by
The shape and size of crawl material；By the impulse stroke for adjusting horizontal gripper cylinder and longitudinal gripper cylinder, to adapt to be grabbed
Take the height of material.Adjust push rod and elongate or shorten by driving, adjust the height and in front and back of revolution mounting seat relative frame
Displacement；Can pass through to drive elongating or shortening for lifting boom, make Motor execution arm perform decentralization and lifting task；By rotary decelerating
Motor drive driving gear and driven gear shaft are rotated, and the axis for being capable of achieving Motor execution arm and grabber around driven gear shaft turns
It is dynamic.In work, operator can stand on pedal, hands grasping handrail.In off working state, forearm can be around itself and connecting seat
Between vertical hinge axis reverse fold to vehicle frame surface, with save space.
Overthrow preventing device and adjustable support seat design in this utility model, can to a great extent improve shipment machine
People is lifting by crane and is carrying the resistance to capsizing in walking process, enhances the stationarity of shipment robot motion.
The beneficial effects of the utility model are that compared with prior art, body of the present utility model is tied using series parallel type
Structure, has the advantages that rigidity is high, bearing capacity is strong, kinematic accuracy is high and working space is big；In can be used for logistics or commercial production
Material movement carry, handling etc. operation, have the advantages that kinematic dexterity height, strong adaptability, overturn-preventing torque are big.Additionally,
This utility model also has the advantages that compact conformation, saving memory space, regulation control are convenient, can overcome existing shipment robot
Technological deficiency, be more suitable for promote.
Description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of mobile chassis of the present utility model and Overthrow preventing device；
Fig. 3 is the structural representation of slewing equipment of the present utility model；
Fig. 4 is the structural representation of grabber of the present utility model；
Fig. 5 is the structural representation in suspention joint of the present utility model；
Fig. 6 is the structural representation of horizontal handling module of the present utility model；
Fig. 7 is the structural representation of longitudinal handling module of the present utility model.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that this utility model is realized are easy to understand,
With reference to specific embodiment and diagram, this utility model is expanded on further.
It is as shown in figure 1, a kind of multi-functional shipment robot of six degree of freedom including mobile chassis 1, Overthrow preventing device 2, adjustable
Support base 3, slewing equipment 4, Motor execution arm 5, grabber 6 and electric air pump 7.Wherein, described Overthrow preventing device 2 is arranged on
The lower section of mobile chassis 1, for preventing this utility model from toppling when shipment tasks are performed；Described adjustable support seat 3
Between mobile chassis 1 and slewing equipment 4, can be used to adjust height and the anterior-posterior horizontal displacement of grabber 6, described is adjustable
The upper and lower ends of support base 3 are fixedly connected with respectively with slewing equipment 4, mobile chassis 1 by screw；Described Motor execution arm 5
Bottom is fixedly mounted on slewing equipment 4, is mainly used in performing lifting and decentralization task；Described grabber 6 is arranged on motion
The front end of arm 5 is performed, and is connected by rotating parafacies with Motor execution arm 5, for performing the crawl task of material；Described
Slewing equipment 4 is used to realize that Motor execution arm 5 and grabber 6 are rotated around the axis of rotation of slewing equipment 4；Described electric air pump
7 are fixedly mounted in the revolution mounting seat 41 of slewing equipment 4, and are located at turn around the rear end of mounting seat 41, for for the He of grabber 6
Double-acting cylinder in Overthrow preventing device 2, adjustable support seat 3 or Motor execution arm 5 provides pressure gas source.
As depicted in figs. 1 and 2, vehicle frame 11, self-driven is included for performing mobile chassis 1 that are mobile and loading walking task
Wheel 12 and pedal 13.Described vehicle frame 11 takes the shape of the letter U structure, and rectangle technique hole 111 and circular technique are provided with vehicle frame 11
Hole 112, is provided with driving power supply 14 in the middle of the afterbody of vehicle frame 11, for for electric air pump 7 and Overthrow preventing device 2, adjustable supports
Electric pushrod in seat 3 or Motor execution arm 5 provides power supply；Described self-driven wheel 12 has four groups, symmetrical by screw
Installed in the bottom of vehicle frame 11；Pedal 13 for providing standing place for operator is located at the rear end of vehicle frame 11, and and vehicle frame
It is connected with torsion spring by hinge between 11, makes pedal 13 keep folded state in inoperative.
As depicted in figs. 1 and 2, described self-driven wheel 12 is by road wheel 121, reducing motor 122 and wheel stand 123
Composition.Described wheel stand 123 is fixedly mounted on the bottom of vehicle frame 11 by screw, and described reducing motor 122 passes through spiral shell
Nail is fixedly mounted on wheel stand 123, for providing power for road wheel 121；Described road wheel 121 is fixedly mounted on and subtracts
On the output shaft of speed motor 122, and it is connected by flat key with the output shaft of reducing motor 122.
As depicted in figs. 1 and 2, described Overthrow preventing device 2 includes sliding crossbeam 21, guide rail 22, electronic adjustable side leg
23 and translation push rod 24.Wherein, described guide rail 22 is fixedly mounted on the lower section of vehicle frame 11, described sliding crossbeam by screw
21 are connected by slide block 25 with guide rail 22, and can be movable along guide rail 22 under the driving of translation push rod 24, and then are driven
Galvanic electricity moves adjustable side leg 23 and moves forward and backward；Described electronic adjustable side stand 23 is by flat reducing motor 231, side connecting rod
232 and universal brake caster 233 constitute, one end of described side connecting rod 232 is by flat reducing motor 231 and sliding crossbeam
21 outboard end is connected, the other end of described universal brake caster 233 in installation side connecting rod 232；Described translation push rod
24 front end is connected with sliding crossbeam 21 by hinge, and the rear end of described translation push rod 24 is connected with vehicle frame 11 by hinge
Connect.Described flat reducing motor 231 is used to adjust the angle between side connecting rod 232 and sliding crossbeam 21, and then adjusts anti-
Topple the overturn-preventing torque of device 2.
As shown in figure 1, described adjustable support seat 3 includes front support rod 31, back support rod 32 and adjusts push rod 33.Its
In, the lower end of described front support rod 31 is connected with vehicle frame 11 by first connection ear mount 34, described front support rod 31
Upper end is connected ear mount 35 and is connected with the revolution mounting seat 41 of slewing equipment 4 by second；The lower end of described back support rod 32 leads to
Cross the 3rd connection ear mount 36 to be connected with vehicle frame 11, the upper end of back support rod 32 is by the 4th connection ear mount 37 and revolution mounting seat
41 are connected；The front end of described regulation push rod 33 is connected by the 5th connection ear mount 38 with vehicle frame 11, and described regulation is pushed away
The rear end of bar 33 is connected with back support rod 32 by hinge；The connection ear mount 36 and the 5th of first connection ear mount the 34, the 3rd connects
Ear mount 38 is fixed on vehicle frame 11 by the way that screw is parallel, and the second connection connection ear mount 37 of ear mount the 35, the 4th is flat by screw
Row is fixed on the lower section of revolution mounting seat 41.Described front support rod 31, back support rod 32, the company of first connection ear mount 34, second
Connection ear mount the 36, the 4th connection ear mount 37 of lug seat the 35, the 3rd together constitutes a space with vehicle frame 11, revolution mounting seat 41
Parallel-crank mechanism.
As shown in figures 1 and 3, described slewing equipment 4 includes revolution mounting seat 41, rotary decelerating motor 42, driving tooth
Wheel 43, driven gear shaft 44, bearing block 45, journal bearing 46, thrust bearing 47 and end cap 48.Wherein, described rotary decelerating
Motor 42 is fixedly mounted on the lower section of revolution mounting seat 41, is that driving gear 43 provides power；Described driving gear 43 is located at
The top of revolution mounting seat 41, described driving gear 43 is arranged on the output shaft of rotary decelerating motor 42, and is subtracted with revolution
The output shaft of speed motor 42 is connected by flat key；The driven gear of described driven gear shaft 44 is located at turn around mounting seat 41
Top, described driven gear shaft 44 is connected by bearing block 45, journal bearing 46, thrust bearing 47 with revolution mounting seat 41
Connect；Described bearing block 45 be located at driven gear shaft 44 driven gear and revolution mounting seat 41 between, and with revolution mounting seat
41 are connected by screw；Described end cap 48 is located at the lower section of driven gear shaft 44, and is fixedly mounted on revolution by screw
The lower section of mounting seat 41；Described driving gear 43 is meshed with the driven gear of driven gear shaft 44.Pacify in described revolution
The rear end of dress seat 41 is provided with handrail 49.
As shown in Figure 1 and Figure 5, described Motor execution arm 5 includes U-shaped support 51, main counter-jib 52, lifting boom 53, matches somebody with somebody
54, forearm 55 and suspention joint 56 are put in refitting.Wherein, the bottom of described U-shaped support 51 is by screw and driven gear shaft 44
Driven gear be connected；Described main counter-jib 52 is parallelogram linkage, the middle part of main counter-jib 52 and U-shaped support
51 top is connected by the hinge of two diameter parallels；Described counter weight device 54 is located at the rear end of main counter-jib 52, and
It is fixedly connected with main counter-jib 52.Described counter weight device 54 includes T-shaped frame 541, balancing weight 542 and jam nut 543.Described
The front end of T-shaped frame 541 is fixedly connected with the afterbody of main counter-jib 52；Described balancing weight 542 is symmetrically sleeved on T-shaped frame 541, and
The quantity of balancing weight 542 on T-shaped frame 541 can be adjusted according to the gravity of running material；Described jam nut 543 is arranged on T-shaped
The rear end of frame 541 and it is connected by screw thread with T-shaped frame 541, for preventing balancing weight 542 from coming off from T-shaped frame 541.It is described
The lower end of lifting boom 53 be connected by hinge with the bottom of U-shaped support 51, the upper end of lifting boom 53 is logical with main counter-jib 52
Cross hinge to be connected, lifting boom 53 carries out flexion-extension oscillation adjustment for main counter-jib 52.Described forearm 55 is located at main counter-jib
52 front end, and be connected by vertical hinge with main counter-jib 52；Described suspention joint 56 is located at the front end of forearm 55, and
It is connected by falling hinger with forearm 55.Described main counter-jib 52 includes upper equalizer bar 521, lower equalizer bar 522, parallel company
Bar 523 and connecting seat 524, described upper equalizer bar 521, lower equalizer bar 522 are installed in parallel on U-shaped support 51, and with U-shaped
Frame 51, parallel rod 523, connecting seat 524 are connected by hinge.Main counter-jib 52 is used to ensure that forearm 55 operationally begins
Horizontality is in eventually.Suspention joint 56 for connecting grabber 6 and forearm 55 includes upper hanger 561, universal joint 562 and T
Profile shaft 563, described upper hanger 561 is located at the upper end of universal joint 562, and is connected with universal joint 562, described upper hanger 561
It is connected by falling hinger with the front end of forearm 55；Described T-shaped axle 563 is located at the lower end of universal joint 562, and and universal joint
562 are connected by bearing pin, and described T-shaped axle 563 is connected with grabber 6 by bearing 564, bearing gland 565.
As shown in Figure 1 and Figure 4, described grabber 6 includes crawl seat 61, lateral driver device 62, longitudinal driving device
63rd, horizontal handling module 64 and longitudinal handling module 65.Wherein, the top of described crawl seat 61 is T-shaped with suspention joint 56
Axle 563 is connected by bearing 564, bearing gland 565.Described lateral driver device 62 is including cross motor 621 and laterally
Leading screw 622, described cross motor 621 is fixedly mounted on the lower section of crawl seat 61 by screw, and by horizontal shaft coupling 623
It is connected with horizontal leading screw 622, is that horizontal leading screw 622 provides rotary power；The two ends of described horizontal leading screw 622 are by horizontal
Bearing block 624 is fixedly mounted on the lower section of crawl seat 61.Described longitudinal driving device 63 includes longitudinal motor 631 and longitudinal silk
Thick stick 632.Described longitudinal motor 631 by screw be fixedly mounted on crawl seat 61 lower section, and by longitudinal shaft coupling 633 with
Longitudinal leadscrew 632 is connected, and is that longitudinal leadscrew 632 provides rotary power；The two ends of described longitudinal leadscrew 632 pass through longitudinal axiss
Bearing 634 is fixedly mounted on the lower section of crawl seat 61.Described horizontal handling module 64 is located at the lower section of lateral driver device 62,
And be connected by screw thread with horizontal leading screw 622.Described longitudinal handling module 65 is located at the lower section of longitudinal driving device 63, and
It is connected by screw thread with longitudinal leadscrew 632.
As shown in Fig. 1, Fig. 4 and Fig. 6, described horizontal handling module 64 includes transverse slider nut 641, laterally clamps gas
Cylinder 642, horizontal jaw 643, horizontal suction cup carrier 644 and horizontal sucker 645.Wherein, described transverse slider nut 641 is sleeved on
In horizontal leading screw 622, and it is connected by screw thread with horizontal leading screw 622；The upper end of described horizontal gripper cylinder 642 with it is horizontal
Slider nut 641 is connected, and described horizontal jaw 643 is fixedly mounted on the lower end of horizontal gripper cylinder 642, described horizontal suction
Plate rail 644 is located at the outside of horizontal jaw 643, and with horizontal jaw 643 by the first rotational pin 646 and the first bulb plunger
647 are connected.The horizontal sucker 645 being fixedly mounted in horizontal suction cup carrier 644 can be rotated around the first rotational pin 646, to change
Become working condition.Elongation of the described horizontal gripper cylinder 642 for horizontal jaw 643 in vertical direction provides power with shortening,
Described horizontal jaw 643 is used in laterally clamping or captures material, and described horizontal sucker 645 is shipped thing for absorption
Material.
As shown in Fig. 1, Fig. 4 and Fig. 7, described longitudinal handling module 65 includes longitudinal sliding block nut 651, longitudinal direction clamping gas
Cylinder 652, longitudinal jaw 653, longitudinal suction cup carrier 654 and longitudinal sucker 655.Wherein, described longitudinal sliding block nut 651 is sleeved on
On longitudinal leadscrew 632, and it is connected by screw thread with longitudinal leadscrew 632；The upper end and longitudinal direction of described longitudinal gripper cylinder 652
Slider nut 651 is connected, and described longitudinal jaw 653 is fixedly mounted on the lower end of longitudinal gripper cylinder 652, described longitudinal direction suction
Plate rail 654 is located at the outside of longitudinal jaw 653, and with longitudinal jaw 653 by the second rotational pin 656 and the second bulb plunger
657 are connected.The longitudinal sucker 655 being fixedly mounted in longitudinal suction cup carrier 654 can be rotated around the second rotational pin 656, to change
Become working condition.Elongation of the described longitudinal gripper cylinder 652 for longitudinal jaw 653 in vertical direction provides power with shortening,
Described longitudinal jaw 653 is used in longitudinally clamping or captures material, and described longitudinal sucker 655 is shipped thing for absorption
Material.
As shown in Figure 1 and Figure 4, described horizontal leading screw 622, longitudinal leadscrew 632 are Double helix leading screw, for realizing horizontal stroke
To jaw 643, the synchronous backward movement of longitudinal jaw 653.
As depicted in figs. 1 and 2, described regulation push rod 33, translation push rod 24 and lifting boom 53 adopt electric pushrod or double
Active cylinder.
Before operation, the specification sum of balancing weight 542 can be determined according to actually used needs and the weight of carrying material
Amount, reducing motor 122 makes this utility model be moved to job position.Maximum is toppled power when then capturing material according to grabber 6
Square, drives translation push rod 24 to adjust relative position of the sliding crossbeam 21 on vehicle frame 11.Then, flat reducing motor is started
231, the angle between side connecting rod 232 and sliding crossbeam 21 is adjusted to proper angle, the brake of universal brake caster 233 is stepped on,
Complete to be adjusted before shipment of the present utility model and prepare.
When performing shipment job task, need according to crawled object or the characteristic of material outer package, select mechanical type folder
Hold the mode of mode or negative-pressure adsorption crawl.Mechanical type method of clamping is selected only to need to use horizontal jaw 643 and longitudinal jaw
653, horizontal sucker 645 and the sucker mouth of longitudinal sucker 655 is placed upward；When negative-pressure adsorption Grasp Modes are selected, need
Stirring horizontal suction cup carrier 644 and longitudinal suction cup carrier 654 places horizontal sucker 645 and the sucker mouth down of longitudinal sucker 655, right
Accurate crawled material.By adjusting spacing and two group longitudinal direction crawls of two groups of horizontal handling modules 64 in horizontal leading screw 622
Spacing of the module 65 on longitudinal leadscrew 632, to adapt to the shape and size of crawled material；By adjusting horizontal gripper cylinder
642 and the impulse stroke of longitudinal gripper cylinder 652, to adapt to the height of crawled material.Stretching for push rod 33 is adjusted by driving
Long or shortening, adjusts the height of the revolution relative frame 11 of mounting seat 41 and moves forward and backward；The elongation for driving lifting boom 53 can be passed through
Or shorten, make Motor execution arm 5 perform decentralization and lifting task；Driving gear 43 and driven is driven by rotary decelerating motor 42
Gear shaft 44 is rotated, and the axis for being capable of achieving Motor execution arm 5 and grabber 6 around driven gear shaft 44 is rotated.In work, operator
Can stand on pedal 13, hands grasping handrail 49.In off working state, forearm 55 can be around it between connecting seat 524
The surface of the axis reverse fold of vertical hinge to vehicle frame 11, with save space.Pedal 13 remains folding in inoperative
Overlapping state.
Ultimate principle of the present utility model, principal character and advantage has been shown and described above.The technical staff of the industry
It should be appreciated that this utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description is originally
The principle of utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change
And improvement, these changes and improvements are both fallen within the claimed scope of this utility model.This utility model claims scope
By appending claims and its equivalent thereof.
Claims (4)
1. a kind of multi-functional shipment robot of six degree of freedom, including mobile chassis, Overthrow preventing device, adjustable support seat, revolution dress
Put, Motor execution arm, grabber and electric air pump, it is characterised in that：Described Overthrow preventing device is arranged under mobile chassis
Side；Described adjustable support seat is located between mobile chassis and slewing equipment, its upper and lower ends respectively with slewing equipment, mobile bottom
Disk is fixedly connected with by screw；The bottom of described Motor execution arm is fixedly mounted on slewing equipment；Described grabber is installed
In the front end of Motor execution arm, and it is connected by rotating parafacies with Motor execution arm；Described electric air pump is fixedly mounted on
In the revolution mounting seat of slewing equipment；
Described mobile chassis include vehicle frame, self-driven wheel and pedal, and described vehicle frame takes the shape of the letter U structure, and sets on vehicle frame
There are rectangle technique hole and circular fabrication hole, in the middle of the afterbody of vehicle frame driving power supply is provided with；Described self-driven wheel has four groups,
The bottom of vehicle frame is symmetrically mounted on by screw；Described pedal is located at the rear end of vehicle frame, and passes through hinge between vehicle frame
It is connected with torsion spring；
Described self-driven wheel is made up of road wheel, reducing motor and wheel stand, and described wheel stand is solid by screw
Dingan County is mounted in the bottom of vehicle frame, and described reducing motor is fixedly mounted on wheel stand by screw, and described road wheel is consolidated
Dingan County is mounted on the output shaft of reducing motor；
Described Overthrow preventing device includes sliding crossbeam, guide rail, electronic adjustable side leg and translation push rod, and described guide rail passes through
Screw is fixedly mounted on the lower section of vehicle frame, and described sliding crossbeam is connected by slide block with guide rail；Described electronic adjustable side
Support is made up of flat reducing motor, side connecting rod and universal brake caster, and one end of described side connecting rod is subtracted by flat
Speed motor is connected with the outboard end of sliding crossbeam, the other end of described universal brake caster in installation side connecting rod；Described
The front end of translation push rod is connected with sliding crossbeam by hinge, and the rear end of described translation push rod is connected with vehicle frame by hinge
Connect；
Described adjustable support seat includes front support rod, back support rod and adjusts push rod, the lower end of described front support rod and car
Frame is connected by first connection ear mount, and the described upper end of front support rod connects with the revolution mounting seat of slewing equipment by second
Lug seat is connected；The lower end of described back support rod is connected by the 3rd connection ear mount with vehicle frame, and the upper end of back support rod leads to
Cross the 4th connection ear mount to be connected with revolution mounting seat；The front end of described regulation push rod is by the 5th connection ear mount and vehicle frame phase
Connection, the rear end of described regulation push rod is connected with back support rod by hinge；First connection ear mount, the 3rd connection ear mount and
5th connection ear mount is fixed on vehicle frame by the way that screw is parallel, and the second connection ear mount, the 4th connection ear mount are flat by screw
Row is fixed on the lower section of revolution mounting seat；
Described slewing equipment includes revolution mounting seat, rotary decelerating motor, driving gear, driven gear shaft, bearing block, radial direction
Bearing, thrust bearing and end cap, described rotary decelerating motor is fixedly mounted on the lower section of revolution mounting seat；Described driving tooth
Wheel is located at turn around the top of mounting seat on the output shaft of rotary decelerating motor；Described driven gear shaft passes through axle
Bearing, journal bearing, thrust bearing are connected with revolution mounting seat；Described bearing seat is in the driven gear of driven gear shaft
Between revolution mounting seat, and it is connected by screw with revolution mounting seat；Described end cap is fixedly mounted on back by screw
Turn the lower section of mounting seat；Described driving gear is meshed with the driven gear of driven gear shaft；
Described Motor execution arm includes U-shaped support, main counter-jib, lifting boom, counter weight device, forearm and suspention joint, described
The bottom of U-shaped support be connected by the driven gear of screw and driven gear shaft；Described main counter-jib is parallelogram
Linkage, the middle part of main counter-jib is connected with the top of U-shaped support by the hinge of two diameter parallels；Described counterweight
Device is located at the rear end of main counter-jib, and is fixedly connected with main counter-jib；Described counter weight device includes T-shaped frame, balancing weight and peace
Full nut, the front end of described T-shaped frame is fixedly connected with the afterbody of main counter-jib, and described balancing weight is symmetrically sleeved on T-shaped frame,
Described jam nut is arranged on the rear end of T-shaped frame and is connected by screw thread with T-shaped frame；The lower end of described lifting boom and U
The bottom of type support is connected by hinge, and the upper end of lifting boom is connected with main counter-jib by hinge；Described forearm position
In the front end of main counter-jib, and it is connected by vertical hinge with main counter-jib；Described suspention joint is located at the front end of forearm,
And be connected by falling hinger with forearm；
Described main counter-jib includes upper equalizer bar, lower equalizer bar, parallel rod and connecting seat, described upper equalizer bar, lower flat
Heng Liang is installed in parallel on U-shaped support, and is connected by hinge with U-shaped support, parallel rod, connecting seat；
Described suspention joint includes upper hanger, universal joint and T-shaped axle, and described upper hanger is located at the upper end of universal joint, and with
Universal joint is connected, and described upper hanger is connected with the front end of forearm by falling hinger；Described T-shaped axle position is in universal joint
Lower end, and be connected by bearing pin with universal joint, described T-shaped axle is connected with grabber by bearing, bearing gland.
2. the multi-functional shipment robot of a kind of six degree of freedom according to claim 1, it is characterised in that：Described grabber
Including crawl seat, lateral driver device, longitudinal driving device, horizontal handling module and longitudinal handling module, described crawl seat
Top with suspention joint T-shaped axle be connected by bearing, bearing gland；Described lateral driver device includes cross motor
And horizontal leading screw, described cross motor is fixedly mounted on the lower section of crawl seat by screw, and passes through horizontal with horizontal leading screw
Shaft coupling is connected, and the two ends of described horizontal leading screw are fixedly mounted on the lower section of crawl seat by horizontal bearing block；Described
Longitudinal driving device includes longitudinal motor and longitudinal leadscrew, and described longitudinal motor is fixedly mounted under crawl seat by screw
Side, and be connected by longitudinal shaft coupling with longitudinal leadscrew, peace is fixed in the two ends of described longitudinal leadscrew by longitudinal bearing block
It is mounted in the lower section of crawl seat；Described horizontal handling module is located at the lower section of lateral driver device, and passes through spiral shell with horizontal leading screw
Stricture of vagina is connected；Described longitudinal handling module is located at the lower section of longitudinal driving device, and is connected by screw thread with longitudinal leadscrew；
Described horizontal handling module includes transverse slider nut, horizontal gripper cylinder, horizontal jaw, horizontal suction cup carrier and laterally
Sucker, described transverse slider nut is sleeved in horizontal leading screw, and is connected by screw thread with horizontal leading screw；Described is horizontal
The upper end of gripper cylinder is connected with transverse slider nut, and described horizontal jaw is fixedly mounted on the lower end of horizontal gripper cylinder,
Described horizontal suction cup carrier is located at the outside of horizontal jaw, and with horizontal jaw by the first rotational pin and the first bulb plunger phase
Connection；Described horizontal sucker is fixedly mounted in horizontal suction cup carrier；
Described longitudinal handling module includes longitudinal sliding block nut, longitudinal gripper cylinder, longitudinal jaw, longitudinal suction cup carrier and longitudinal direction
Sucker, described longitudinal sliding block nut is sleeved on longitudinal leadscrew, and is connected by screw thread with longitudinal leadscrew；Described longitudinal direction
The upper end of gripper cylinder is connected with longitudinal sliding block nut, and described longitudinal jaw is fixedly mounted on the lower end of longitudinal gripper cylinder,
Described longitudinal suction cup carrier is located at the outside of longitudinal jaw, and with longitudinal jaw by the second rotational pin and the second bulb plunger phase
Connection；Described longitudinal sucker is fixedly mounted in longitudinal suction cup carrier.
3. the multi-functional shipment robot of a kind of six degree of freedom according to claim 1, it is characterised in that：Described regulation is pushed away
Bar, translation push rod and lifting boom are using electric pushrod or double-acting cylinder.
4. the multi-functional shipment robot of a kind of six degree of freedom according to claim 2, it is characterised in that：Described transverse wire
Thick stick, longitudinal leadscrew are Double helix leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620742154.2U CN206123626U (en) | 2016-07-04 | 2016-07-04 | Multi -functional shipment machine people of 6 -degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620742154.2U CN206123626U (en) | 2016-07-04 | 2016-07-04 | Multi -functional shipment machine people of 6 -degree of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123626U true CN206123626U (en) | 2017-04-26 |
Family
ID=58560145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620742154.2U Withdrawn - After Issue CN206123626U (en) | 2016-07-04 | 2016-07-04 | Multi -functional shipment machine people of 6 -degree of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123626U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| CN107399348A (en) * | 2017-08-01 | 2017-11-28 | 上汽大众汽车有限公司 | A kind of handbarrow of automobile batteries |
| CN107555160A (en) * | 2017-09-12 | 2018-01-09 | 连雪芳 | Mechanical arm type Omni-mobile grasp handling machine |
| CN109037141A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | Grabbing device is used in a kind of transport of semiconductor substrate |
| WO2019080347A1 (en) * | 2017-10-24 | 2019-05-02 | 惠科股份有限公司 | Adhesion device, adhesion system and conveying equipment |
| DE102017219757A1 (en) | 2017-11-07 | 2019-05-09 | Kuka Deutschland Gmbh | Gripping device and robot arm with such a gripping device |
| CN110424748A (en) * | 2019-07-26 | 2019-11-08 | 深圳中物智建科技有限公司 | A kind of construction robot steadily grabbed |
| CN110834315A (en) * | 2019-09-06 | 2020-02-25 | 合肥道一动力科技有限公司 | New forms of energy motor stator shrink fit assembly robot |
| CN111846929A (en) * | 2020-07-22 | 2020-10-30 | 何勇 | Material taking mechanism |
| CN111872960A (en) * | 2020-06-18 | 2020-11-03 | 上海电气集团上海电机厂有限公司 | Stator coil gripping device with adjustable size |
| CN112091929A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for passing nuclear emergency robot in narrow space |
| CN112091928A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for improving operation stability of nuclear emergency robot |
| US10889006B2 (en) | 2017-10-24 | 2021-01-12 | HKC Corporation Limited | Suction device, suction system and handling equipment |
| CN112758213A (en) * | 2019-11-06 | 2021-05-07 | 江苏华章物流科技股份有限公司 | AGV device suitable for sorting flexible articles |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
| CN113028889A (en) * | 2021-02-19 | 2021-06-25 | 安徽理工大学 | Movable condenser cleaning robot based on series-parallel mechanism |
| CN115287945A (en) * | 2022-07-25 | 2022-11-04 | 永发（江苏）模塑包装科技有限公司 | Microwave reinforced dehydration equipment for pulp molding and application process |
| CN115533952A (en) * | 2022-10-25 | 2022-12-30 | 哈尔滨工业大学（威海） | SMA driven electrostatic adsorption type soft gripper and clamping device with gripper |
-
2016
- 2016-07-04 CN CN201620742154.2U patent/CN206123626U/en not_active Withdrawn - After Issue
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112999A (en) * | 2016-07-04 | 2016-11-16 | 安徽理工大学 | Six degree of freedom multi-functional shipment robot |
| CN107399348B (en) * | 2017-08-01 | 2023-08-11 | 上汽大众汽车有限公司 | Handling tool for automobile battery |
| CN107399348A (en) * | 2017-08-01 | 2017-11-28 | 上汽大众汽车有限公司 | A kind of handbarrow of automobile batteries |
| CN107555160A (en) * | 2017-09-12 | 2018-01-09 | 连雪芳 | Mechanical arm type Omni-mobile grasp handling machine |
| WO2019080347A1 (en) * | 2017-10-24 | 2019-05-02 | 惠科股份有限公司 | Adhesion device, adhesion system and conveying equipment |
| US10889006B2 (en) | 2017-10-24 | 2021-01-12 | HKC Corporation Limited | Suction device, suction system and handling equipment |
| DE102017219757A1 (en) | 2017-11-07 | 2019-05-09 | Kuka Deutschland Gmbh | Gripping device and robot arm with such a gripping device |
| WO2019091803A1 (en) | 2017-11-07 | 2019-05-16 | Kuka Deutschland Gmbh | Gripping device and robot arm comprising such a gripping device |
| CN109037141A (en) * | 2018-08-17 | 2018-12-18 | 浙江雅市晶科技有限公司 | Grabbing device is used in a kind of transport of semiconductor substrate |
| CN110424748A (en) * | 2019-07-26 | 2019-11-08 | 深圳中物智建科技有限公司 | A kind of construction robot steadily grabbed |
| CN110834315A (en) * | 2019-09-06 | 2020-02-25 | 合肥道一动力科技有限公司 | New forms of energy motor stator shrink fit assembly robot |
| CN110834315B (en) * | 2019-09-06 | 2021-07-27 | 合肥道一动力科技有限公司 | New forms of energy motor stator shrink fit assembly robot |
| CN112758213A (en) * | 2019-11-06 | 2021-05-07 | 江苏华章物流科技股份有限公司 | AGV device suitable for sorting flexible articles |
| CN111872960A (en) * | 2020-06-18 | 2020-11-03 | 上海电气集团上海电机厂有限公司 | Stator coil gripping device with adjustable size |
| CN111846929A (en) * | 2020-07-22 | 2020-10-30 | 何勇 | Material taking mechanism |
| CN111846929B (en) * | 2020-07-22 | 2022-01-21 | 湖北共享钢板加工有限公司 | Material taking mechanism |
| CN112091928A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for improving operation stability of nuclear emergency robot |
| CN112091928B (en) * | 2020-09-09 | 2021-09-21 | 南华大学 | Method for improving operation stability of nuclear emergency robot |
| CN112091929A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for passing nuclear emergency robot in narrow space |
| CN113028889A (en) * | 2021-02-19 | 2021-06-25 | 安徽理工大学 | Movable condenser cleaning robot based on series-parallel mechanism |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
| CN115287945A (en) * | 2022-07-25 | 2022-11-04 | 永发（江苏）模塑包装科技有限公司 | Microwave reinforced dehydration equipment for pulp molding and application process |
| CN115533952A (en) * | 2022-10-25 | 2022-12-30 | 哈尔滨工业大学（威海） | SMA driven electrostatic adsorption type soft gripper and clamping device with gripper |
| CN115533952B (en) * | 2022-10-25 | 2024-01-23 | 哈尔滨工业大学（威海） | SMA driven electrostatic adsorption type soft gripper and clamping device with same |
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