CN207568277U - A kind of separate mechanical hand - Google Patents
A kind of separate mechanical hand Download PDFInfo
- Publication number
- CN207568277U CN207568277U CN201721610415.6U CN201721610415U CN207568277U CN 207568277 U CN207568277 U CN 207568277U CN 201721610415 U CN201721610415 U CN 201721610415U CN 207568277 U CN207568277 U CN 207568277U
- Authority
- CN
- China
- Prior art keywords
- clamp arm
- frame body
- mechanical hand
- motor
- separate mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of separate mechanical hands, frame body including rectangle and clamp arm system, running gear and control system on frame body, the running gear includes one or more groups of driving wheels and the driven wheel for being separately mounted to frame body quadrangle, every group of driving wheel are matched with movable motor respectively；The clamp arm system includes two pairs of clamp arm, and clamp arm motor has been separately configured in every clamp arm, and two pairs of clamp arm are arranged in opposite sides on frame body direction of travel, with the both sides for being located at the power-section to clamp arm and corresponding clamp arm motor；The super capacitor for the power supply that is connected with movable motor, clamp arm motor and control system is additionally provided with through circuit on frame body, super capacitor is mounted on the both sides of power-section.Separate mechanical hand provided by the utility model, size is small, and flexibility is good, versatile.
Description
Technical field
The utility model is related to stereo garage technical fields, and in particular to a kind of separate mechanical hand.
Background technology
In the prior art, in the stereo garage for using manipulator Transport Vehicle, generally use integrated mechanical hand, integral type
Manipulator is primarily present following defect：
(1) front and back wheel clamp arm spacing adjustable range is limited, it is difficult to meet certain extra-long wheelbases or ultrashort wheelbase on the market
Special vehicle；
(2) manipulator is powered using cable cooperation reel, leading to the stroke range of manipulator, to be limited to cable long
Degree；
(3) in order to meet the needs of most of vehicle, structure entire length is longer, and is difficult to adjust length according to actual needs
Degree；
(4) whole height is usually in more than 100mm, and there are the risks on larger scratch chassis.
Utility model content
The utility model provides a kind of separate mechanical hand, before gripping vehicle respectively by two separate mechanical hands
Trailing wheel carries out the carrying of vehicle, improves versatility；Size, connection relation and layout are carried out to each component of separate mechanical hand
Optimization reduces the overall dimensions of separate mechanical hand；It is powered using super capacitor, expands the movable model of separate mechanical hand
It encloses.
A kind of separate mechanical hand, the frame body including rectangle and the clamp arm system on frame body, Running System
System and control system, the running gear include one or more groups of driving wheels and are separately mounted to the driven of frame body quadrangle
Wheel, every group of driving wheel include one or more driving wheels, and every group of driving wheel is matched with movable motor respectively, and the frame body is expert at
It is power-section into the middle part on direction, each movable motor and driving wheel are installed in the power-section；
The clamp arm system includes two pairs of clamp arm, and clamp arm motor has been separately configured in every clamp arm, and two pairs of clamp arm distinguish cloth
The opposite sides on frame body direction of travel is put, with the both sides for being located at the power-section to clamp arm and corresponding clamp arm motor；
Each movable motor, each clamp arm motor are respectively connected to and are controlled by the control system；
The super electricity for the power supply that is connected with movable motor, clamp arm motor and control system is additionally provided with through circuit on frame body
Hold, super capacitor is mounted on the both sides of power-section.
In the prior art, one motor of clamp arm system generally use is driven, and power demand of motors is larger, motor volume
Also it is larger, in the utility model, clamp arm motor is individually matched for every clamp arm, the power demand of clamp arm motor is smaller, volume
Also corresponding to reduce, the height of clamp arm motor also reduces, to ensure that the whole height of separate mechanical hand reduces.
The frame body is simultaneously non-critical for rectangle, in order to which containing component locally slightly can be extended or be shunk.
In the utility model, separate mechanical hand is powered using super capacitor, eliminates the limitation of cable length,
The mobility of separate mechanical hand is stronger.
The power section of the separate mechanical hand is located at the central area of frame body, and the setting of the quadrangle of frame body from
Driving wheel improves traveling comfort.
During Transport Vehicle, two whole spacing of separate mechanical hand adjustment to adapt to the vehicle of different wheelbases, then simultaneously into
Enter under-vehicle, clamp arm motor drives the corresponding clamp arm respectively corresponding front wheels and rear wheels for gripping vehicle, movable motor driving master
Driving wheel is advanced, and completes the carrying of vehicle, time saving, efficient.
Preferably, the main shaft extending direction of the movable motor is vertical with frame body direction of travel, two movable motors
At main shaft on the same axis, the main shaft output terminal of each movable motor is towards one group of driving wheel of corresponding side.
Preferably, the driving wheel quantity in every group of driving wheel is two, and pass through transmission mechanism and corresponding movable motor
Main shaft output terminal be connected.Various forms, such as gear drive may be used in the transmission mechanism.
Preferably, the super capacitor is two groups, it is in the both sides of power-section respectively, with group super capacitor Fen Liangge areas
Domain is installed, the wire casing between two regions to be arranged along frame body direction of travel.
Preferably, frame body is equipped with spaced apart supporting plate, the super capacitor in each region is fixedly mounted on accordingly
On supporting plate.The quantity and power of super capacitor are designed according to actual needs.
Preferably, two groups of super capacitors are serially connected on circuit, it is additionally provided with that be connected to super capacitor defeated on frame body
The voltage-stablizer of outlet and the power-supply controller of electric of the management super capacitor and voltage-stablizer, super capacitor is via voltage-stablizer to folder
Arm motor, movable motor and control system power supply.
Voltage-stablizer is for stablizing voltage fluctuation of the super capacitor in discharge process, to meet clamp arm motor and walking electricity
Machine is powered.Power-supply controller of electric further includes electric quantity display device, shows super capacitor remaining capacity.
Preferably, the installation site of each clamp arm motor is in the frame body edge of driven clamp arm place side, each clamp arm
The main shaft of motor is arranged along frame body direction of travel and is linked by worm gear mechanism with corresponding clamp arm.
The corresponding clamp arm motor coaxle line arrangement of two a pair of clamp arm is belonged to, each parallel to the length direction of frame body.
Preferably, each clamp arm is mounted on by vertical shaft on frame body, with same with frame body is sticked on to clamp arm
The folding state of side and the working condition being arranged side by side perpendicular to the side and two clamp arm.
Clamp arm is rotated around vertical shaft, to realize the switching in folding state and working condition, under working condition, two armed levers
It is arranged side by side, under folding state, two armed levers recline the edge of frame body long side.
Under clamp arm folding state, of length no more than 2200mm of the separate mechanical hand, width is no more than 820mm, high
Degree is no more than 90mm, and separate mechanical hand realizes the free shuttling of vehicle.
Preferably, the clamp arm includes the swing seat being connected with the vertical shaft and is hinged by horizontal rotating shaft
Armed lever in swing seat, the armed lever is equipped with auxiliary weight bearing roller wheels in one end far from vertical shaft, with the armed lever to clamp arm
Opposite side in the operating condition is the work edge contacted with wheel, and each armed lever is equipped with what is be engaged with wheel at work edge
Rotating roller.
Under working condition, by frame body load-bearing, the other end ensures carrying by auxiliary weight bearing roller wheels load-bearing for one end of armed lever
Steadily, it is matched by rotating roller with wheel, reduces the frictional force between armed lever and wheel.
Preferably, the periphery of swing seat is toothed around, the worm gear mechanism includes same with the main shaft of clamp arm motor
The worm screw of axis docking and the worm gear also served as by the swing seat.
The driving worm screw rotation of clamp arm motor, worm screw drive worm gear namely swing seat rotation, and swing seat band semaphore is rotated, made
Armed lever switches between working condition and folding state.
In order to reduce the size of armed lever, meanwhile, ensureing the effect of load-bearing, it is preferable that there are two the auxiliary weight bearing roller wheels,
And the shaft dislocation arrangement of the two.
Preferably, the armed lever is equipped with lightening hole.The lightening hole is used to mitigate the dead weight of clamp arm, is opening up loss of weight
While hole, need to ensure the intensity of armed lever itself.
It is cooperated using two separate mechanical hands and carries a vehicles, wherein one is master manipulator, Ling Yitai
For from manipulator, carrying vehicle method includes the following steps：
Vehicle detects wheel base when entering garage port, obtain wheelspan data；
It is equipped with sensing and the range unit of master manipulator spacing on hand from machinery, is wirelessly obtained from manipulator described
Wheelspan data, and according to the measurement result adjust automatically of range unit and the spacing of master manipulator until meeting the wheelspan number
According to；
Master manipulator and from manipulator synchronization marching to vehicle bottom passes through respective clamp arm system and grips corresponding vehicle
With vehicle；
Master manipulator and from manipulator synchronization marching carrying vehicle to designated position.
The utility model additionally provides a kind of vehicle conveying system applied to stereo garage, the level including carrying vehicle
Two foregoing separate mechanical hands of transport device and mutual cooperation vehicle front wheels and rear wheels, wherein one
For master manipulator, another is from manipulator.
In use, master manipulator and the front wheels and rear wheels from manipulator difference vehicle, the common transport for completing vehicle.
Preferably, the horizontal transporter be equipped with horizontal transporter controller and with the horizontal transporter
The wireless main website that controller is connected, the control system of each manipulator include：
Manipulator Controller；
The secondary radio station for being connected with the Manipulator Controller and being in communication with each other with the wireless main website；
The movable motor driver for being connected with the Manipulator Controller and connecting one to one with each movable motor；
The clamp arm motor driver for being connected with the Manipulator Controller and connecting one to one with each clamp arm motor.
Master manipulator and be respectively equipped with corresponding secondary radio station from manipulator, wireless main website and two secondary radio stations it
Between carry out 1 pair 2 of wireless telecommunications.
Manipulator Controller controls corresponding movable motor and clamp arm motor action, completes the gripping of mobile and vehicle, host
Tool hand and from the action between manipulator by horizontal transporter controller coordinate.
The range unit accesses the Manipulator Controller from manipulator and provides from the whole opposite master manipulator of mechanical hand adjustment
The reference signal of position.
Before accessing vehicle, according to the wheelspan of vehicle, the spacing between manipulator and master manipulator is adjusted, until ranging fills
The distance signal for putting feedback meets the wheelspan requirement of vehicle, and master manipulator enters with from manipulator is synchronous below vehicle chassis, into
The carrying of driving.
Preferably, the horizontal transporter is equipped with guide rail, the frame body bottom of each manipulator is equipped with leads with described
The matched guide roller of rail.
The shaft of the guide roller is arranged in a vertical direction, and the guide rail has the guide groove of accommodating guide roller, machine
Tool hand limits path in the process of running, by the cooperation of guide rail and guide roller.
Compared with prior art, separate mechanical hand provided by the utility model has the following advantages：
(1) it being cooperated jointly using two separate mechanical hands and carries an automobile, two separate mechanical hand spacing are adjustable,
To adapt to the vehicle of different wheelbases；
(2) separate mechanical hand is powered using super capacitor, the movement travel of separate mechanical hand is no longer limited
In cable length, run more flexible；
(3) of length no more than 2200mm of separate mechanical hand, width are no more than 820mm, highly no more than 90mm, do not deposit
Risk on scratch chassis, use are safer.
Description of the drawings
Fig. 1 is the schematic diagram that the utility model separate mechanical hand is applied in stereo garage；
Fig. 2 is the schematic diagram under the utility model separate mechanical hand working condition；
Fig. 3 is the schematic diagram under the utility model separate mechanical hand folding state；
Fig. 4 is the schematic diagram of clamp arm working state of system in the utility model separate mechanical hand；
Fig. 5 is the schematic diagram of clamp arm system folding state in the utility model separate mechanical hand；
Fig. 6 is the schematic diagram of clamp arm in the utility model separate mechanical hand；
Fig. 7 is the side view of clamp arm in the utility model separate mechanical hand；
Fig. 8 is the schematic diagram of the utility model separate mechanical hand, omits clamp arm system；
Fig. 9 is the sectional view along A-A in Fig. 8；
Figure 10 is the utility model separate mechanical hand and the schematic diagram of guide rail cooperation；
Figure 11 a are the schematic diagram that power-supply controller of electric is installed in the utility model separate mechanical hand；
Figure 11 b are the B-B direction sectional view in Figure 11 a；
Figure 12 is the schematic diagram that voltage-stablizer is installed in the utility model separate mechanical hand；
Figure 13 is Principle of Communication schematic diagram in the utility model vehicle conveying system.
In figure：1st, vertical transferring apparatus；2nd, horizontal transporter；3rd, separate mechanical hand；4th, clamp arm motor；5th, clamp arm；
51st, weight bearing roller wheels are assisted；52nd, rotating roller；53rd, armed lever；54th, swing seat；55th, vertical shaft；56th, horizontal rotating shaft；6th, driven wheel；
7th, super capacitor；8th, frame body；9th, worm screw；10th, driving wheel；11st, movable motor；12nd, voltage-stablizer；13rd, supporting plate；13a, side wall；
14th, guide rail；15th, guide roller；16a, vertical portion；16b, horizontal part；17th, power-supply controller of electric；18th, supporting rack.
Specific embodiment
Below in conjunction with the accompanying drawings, the side to the utility model separate mechanical hand and using the separate mechanical hand carrying vehicle
Method is described in detail.
Embodiment 1
As shown in Figure 1, a kind of stereo garage handling system includes：Vertical transferring apparatus 1 in vertical direction haulage vehicle,
The separate mechanical hand 3 of the horizontal transporter 2 of haulage vehicle and transfer vehicle in the horizontal direction.
Separate mechanical hand 3 is two, wherein one is master manipulator, another be from manipulator, master manipulator with from
Manipulator distinguishes the front wheels and rear wheels of vehicle, the common transport for completing vehicle.
During bicycle parking, vehicle is transferred to vertical transferring apparatus 1, vertical transport dress by separate mechanical hand 3 by garage entrance
1 is put by after vehicles drive to corresponding floor height, vehicle is transferred to horizontal transporter 2, horizontal transport by separate mechanical hand 3
Vehicle is transferred on corresponding parking stall by device 2 by vehicle transport to corresponding parking stall entrance by separate mechanical hand 3, is picked up the car
When, flow reverse operating.
Master manipulator and structure from manipulator are essentially identical, and as shown in Figure 2 and Figure 3, separate mechanical hand 3 includes rectangle
Frame body 8 and clamp arm system, running gear and control system on frame body 8.
As shown in Figure 2 and Figure 3, clamp arm system includes four clamp arm 5, and clamp arm motor 4 has been separately configured in every clamp arm 5.
It is two pairs that four clamp arm 5, which are divided to, and each pair of clamp arm 5 grips a wheel of a vehicle.It is long that two pairs of clamp arm 5 are located at rectangle
The central region in direction is spent, the main shaft of each clamp arm motor 4 is arranged, and clamp arm motor 4 is grown close to frame body 8 along rectangle length direction
Side.
With the same long side that frame body 8 is arranged in clamp arm 5, each clamp arm 5 is mounted on frame body 8 by vertical shaft 55
On.As shown in figure 3, the folding state of 8 same long side of frame body is sticked on having to clamp arm 5, as shown in Fig. 2, with to folder
Arm 5 also has the working condition being arranged side by side perpendicular to same long side and two clamp arm 5.
As shown in Figure 4, Figure 5, clamp arm 5 includes the swing seat 54 being connected with vertical shaft 55 and by horizontal rotating shaft 56
The armed lever 53 being hinged in swing seat 54, armed lever 53 are equipped with lightening hole.Clamp arm motor 4 by worm gear mechanism with it is corresponding
Clamp arm 5 links, and the periphery of swing seat 54 is toothed around, and worm gear mechanism includes docking with the main shaft coaxial line of clamp arm motor 4
Worm screw 9 and the worm gear that is also served as by swing seat 54, worm screw 9 connect with the main shaft of clamp arm motor 4 by shaft coupling.
Clamp arm motor 4 drives worm screw 9 to rotate, and swing seat 54 is rotated with the rotation of worm screw 9 around vertical shaft 55, swing seat 54
Upper hinged armed lever 53 is rotated to working condition as shown in Figure 2 or folding state as shown in Figure 3.
As shown in fig. 6, be the work edge contacted with wheel with the opposite side of the armed lever 53 to clamp arm 5 in the operating condition,
Each armed lever 53 is equipped with the rotating roller 52 being engaged with wheel at work edge.Rotating roller 52 is a long roller or coaxially arranged
Multiple short rollers.As shown in fig. 7, the upper surface of armed lever 53 is arc corresponding with wheel periphery, rotating roller 52 is rotatably installed in arc
The lowest part of shape.
As shown in fig. 6, armed lever 53 is equipped with auxiliary weight bearing roller wheels 51 in one end far from vertical shaft 55, weight bearing roller wheels are assisted
51 be two, for compact in design, the shaft dislocation arrangement of two auxiliary weight bearing roller wheels 51.
In the present embodiment, under clamp arm folding state, of length no more than 2200mm of separate mechanical hand, width is no more than
820mm highly no more than 90mm, realizes the free shuttling of vehicle.
As shown in Figure 2 and Figure 3, running gear includes：Two groups of driving wheels 10 and be separately mounted to 8 four jiaos of frame body from
Driving wheel 6, every group of driving wheel 10 are matched respectively there are one movable motor 11.Middle part of the frame body 8 on direction of travel is power-section,
Each movable motor 11 and driving wheel 10 are installed in power-section.
The main shaft arranged direction of movable motor 11 is vertical with 8 direction of travel of frame body, at the main shaft of two movable motors 11
In on same axis, the main shaft output terminal of each movable motor 11 is towards one group of driving wheel 10 of corresponding side.
10 quantity of driving wheel of every group of driving wheel 10 is two, and passes through transmission mechanism and the main shaft of corresponding movable motor 11
Output terminal is connected.Transmission mechanism includes the driving gear being set on 11 main shaft of movable motor and is engaged simultaneously with driving gear
The corresponding driven gear being set on each 10 wheel shaft of driving wheel, movable motor 11 drive driving gear rotation, and driven gear is with master
Moving gear rotates.
As shown in Fig. 2, Fig. 3, Fig. 8, it is additionally provided on frame body 8 through circuit and movable motor 11, clamp arm motor 4 and control
System processed is connected the super capacitor 7 of power supply.
As shown in figure 8, it is two groups that super capacitor 7, which is divided to, it is in power-section both sides respectively, with 7 Fen Liangge areas of group super capacitor
Domain is installed, the wire casing between two regions to be arranged along 8 direction of travel of frame body.
As shown in Figure 8, Figure 9, frame body 8 is equipped with spaced apart supporting plate 13, and the super capacitor 7 in each region is fixedly mounted
On corresponding supporting plate 13.13 both sides of supporting plate have side wall 13a positioned opposite, by running through the bolt of side wall 13a, by supporting plate
13 are fixed on frame body 8.The super capacitor 7 in each region is located in the region that supporting plate 13 and side wall 13a are surrounded.
Each super capacitor 7 is serially connected on circuit, is additionally provided on frame body 8 and is connected to the steady of 7 output terminal of super capacitor
Depressor 12 and the power-supply controller of electric 17 of management super capacitor 7 and voltage-stablizer 12, super capacitor 7 is via voltage-stablizer 12 to walking
System power supply.Voltage-stablizer 12 and power-supply controller of electric 17 set the region indicated by arrow C in fig. 8, the region indicated by arrow C
Symmetrical four pieces are shared in 8 central area of frame body, any one region can set voltage-stablizer 12 and/or power supply control
Device 17 processed.
As shown in Figure 11 a, Figure 11 b, the mounting bracket on frame body 8, bracket includes the mounting means of power-supply controller of electric 17
Horizontal part 16b and vertical portion 16a, vertical portion 16a are bolted on frame body 8, and fixed power source is placed on horizontal part 16b
Controller 17.
The mounting means of voltage-stablizer 12 is as shown in figure 12, and spaced apart supporting rack 18, Mei Gezhi is set on frame body 8
Support 18 includes bottom plate and vertically-arranged is on bottom plate and positioned opposite two blocks of side plates, two blocks of side plates are bolted on respectively
On frame body 8, the placement of voltage-stablizer 12 is fixed on bottom plate.
As shown in Figure 10, guide roller 15 is equipped in 8 bottom of frame body of separate mechanical hand 3, guide roller 15 turns
Axis arranges that vertical transferring apparatus 1 and horizontal transporter 2 are equipped with and 15 matched guide rail 14 of guide roller vertically.
Horizontal transporter 2, master manipulator and, horizontal transporter 2 as shown in figure 13 from the Principle of Communication of manipulator
It is equipped with horizontal transporter controller and the wireless main website being connected with horizontal transporter controller, horizontal transporter 2
It is communicated between the control system of stereo garage.
The control system of each manipulator includes：Manipulator Controller, be connected with Manipulator Controller and with wireless main website phase
The secondary radio station of mutual communication, the movable motor for being connected with Manipulator Controller and connecting one to one with each movable motor 11 drive
Device, the clamp arm motor driver for being connected with Manipulator Controller and connecting one to one with each clamp arm motor 4.
Wirelessly using wireless industrial ethernet communication between main website and secondary radio station, secondary radio station and Manipulator Controller it
Between use Ethernet wired connection.
Manipulator Controller controls corresponding movable motor and clamp arm motor action, completes the gripping of mobile and vehicle, host
Tool hand and from the action between manipulator by horizontal transporter controller coordinate.
From the difference is that only for manipulator and master manipulator, ranging is also associated with from the Manipulator Controller of manipulator
Device, range unit measure the distance from manipulator and master manipulator, to provide from the whole opposite master manipulator position of mechanical hand adjustment
Reference signal.
Embodiment 2
A kind of vehicle conveying method of the separate mechanical hand provided based on embodiment 1, is included the following steps：
When vehicle enters garage port, using wheel exterior feature detection light curtain crawl vehicle outline data, controlled by stereo garage
The conversion of system obtains wheelspan data, and wheelspan data feedback is fed back to by horizontal transporter from machinery to horizontal transporter
The Manipulator Controller of hand；
After manipulator obtains wheelspan data, according to the measurement result adjust automatically of range unit and the spacing of master manipulator
Until meeting wheelspan data；
Master manipulator and from manipulator synchronization marching to vehicle bottom passes through respective clamp arm system and grips corresponding vehicle
With vehicle；
Master manipulator and from manipulator synchronization marching carrying vehicle to designated position.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying carries out appropriate change and modification.Therefore, the utility model is not limited to specific implementation disclosed and described above
Mode should also be as falling into the scope of the claims of the utility model to some modifications and changes of the utility model.
In addition, although having used some specific terms in this specification, these terms merely for convenience of description, not to this reality
With novel composition any restrictions.
Claims (9)
1. a kind of separate mechanical hand, the frame body including rectangle and clamp arm system, running gear on frame body
And control system, which is characterized in that the running gear includes one or more groups of driving wheels and is separately mounted to frame body four
The driven wheel at angle, every group of driving wheel include one or more driving wheels, and every group of driving wheel is matched with movable motor, the frame respectively
Middle part of the frame body on direction of travel is power-section, and each movable motor and driving wheel are installed in the power-section；
The clamp arm system includes two pairs of clamp arm, and clamp arm motor has been separately configured in every clamp arm, and two pairs of clamp arm are arranged in
Opposite sides on frame body direction of travel, with the both sides for being located at the power-section to clamp arm and corresponding clamp arm motor；
Each movable motor, each clamp arm motor are respectively connected to and are controlled by the control system；
The super capacitor for the power supply that is connected with movable motor, clamp arm motor and control system is additionally provided with through circuit on frame body,
Super capacitor is mounted on the both sides of power-section.
2. separate mechanical hand as described in claim 1, which is characterized in that the main shaft extending direction and frame of the movable motor
Frame body direction of travel is vertical, and at the main shaft of two movable motors on the same axis, the main shaft output terminal of each movable motor is towards phase
Answer one group of driving wheel of side.
3. separate mechanical hand as described in claim 1, which is characterized in that the driving wheel quantity in every group of driving wheel is two
It is a, and be connected by transmission mechanism with the main shaft output terminal of corresponding movable motor.
4. separate mechanical hand as described in claim 1, which is characterized in that the super capacitor is two groups, is in respectively dynamic
The both sides in power area are divided to two region installations with super capacitor is organized, are the line arranged along frame body direction of travel between two regions
Slot.
5. separate mechanical hand as claimed in claim 4, which is characterized in that frame body is equipped with spaced apart supporting plate, respectively
The super capacitor in region is fixedly mounted on corresponding supporting plate.
6. separate mechanical hand as claimed in claim 4, which is characterized in that two groups of super capacitors are serially connected on circuit,
The voltage-stablizer for being connected to super capacitor output terminal and the power supply of the management super capacitor and voltage-stablizer are additionally provided on frame body
Controller, super capacitor are powered via voltage-stablizer to clamp arm motor, movable motor and control system.
7. separate mechanical hand as described in claim 1, which is characterized in that the installation site of each clamp arm motor, which is in, to be driven
The frame body edge of side where clamp arm, the main shaft of each clamp arm motor are arranged along frame body direction of travel and pass through worm gear mechanism
It links with corresponding clamp arm.
8. separate mechanical hand as described in claim 1, which is characterized in that each clamp arm is mounted on frame body by vertical shaft
On, it sticks on frame body with having to clamp arm and is arranged side by side with the folding state of side and perpendicular to the side and two clamp arm
Working condition.
9. separate mechanical hand as claimed in claim 8, which is characterized in that the clamp arm includes being connected with the vertical shaft
The swing seat connect and the armed lever being hinged on by horizontal rotating shaft in swing seat, the armed lever are set in one end far from vertical shaft
There are auxiliary weight bearing roller wheels, be the work edge contacted with wheel with the opposite side of the armed lever to clamp arm in the operating condition, each armed lever
The rotating roller being engaged with wheel is equipped at work edge.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017215568454 | 2017-11-20 | ||
| CN201721556845 | 2017-11-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207568277U true CN207568277U (en) | 2018-07-03 |
Family
ID=62692320
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721610415.6U Active CN207568277U (en) | 2017-11-20 | 2017-11-27 | A kind of separate mechanical hand |
| CN201820086905.9U Active CN207934538U (en) | 2017-11-20 | 2018-01-18 | A kind of separate mechanical hand |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820086905.9U Active CN207934538U (en) | 2017-11-20 | 2018-01-18 | A kind of separate mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN207568277U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107762210A (en) * | 2017-11-20 | 2018-03-06 | 杭州西子智能停车股份有限公司 | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle |
-
2017
- 2017-11-27 CN CN201721610415.6U patent/CN207568277U/en active Active
-
2018
- 2018-01-18 CN CN201820086905.9U patent/CN207934538U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107762210A (en) * | 2017-11-20 | 2018-03-06 | 杭州西子智能停车股份有限公司 | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN207934538U (en) | 2018-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205206441U (en) | A two segmentation centre gripping carriers for vehicle transport | |
| CN101403258B (en) | Vehicle conveying device | |
| CN111906531B (en) | Electric locomotive wheel drive unit assembly line | |
| CN206545419U (en) | A kind of automobile tire clamping device and handling device | |
| CN106827603A (en) | Steel ring automatic grabbing device is used in a kind of wheel production | |
| CN211032326U (en) | AGV floor truck | |
| CN114013975A (en) | Multi freedom goods upset transfer device | |
| CN102900256B (en) | Intelligent automobile lengthways handling device | |
| CN106836916A (en) | A kind of automobile tire clamping device and Handling device | |
| CN107762210A (en) | A kind of separate mechanical hand and the method using the separate mechanical hand carrying vehicle | |
| CN207436601U (en) | A kind of carrying device for stereo garbage and the multi-storied garage using the carrier | |
| CN112357429B (en) | Box type four-way shuttle vehicle control system and control method | |
| CN105839964A (en) | Car transportation device of intelligent stereoscopic garage and car transportation method | |
| CN207568277U (en) | A kind of separate mechanical hand | |
| CN104511733B (en) | The rotation table device that can be lifted on a large scale | |
| CN104120906B (en) | Multi-storied garage intelligent floor truck | |
| CN205935866U (en) | Ziche structure of car during stopping, intelligence is used for realizing holding in palm | |
| CN109848614B (en) | Intelligent full-automatic equipment platform for multi-vehicle type passenger car | |
| CN106988585A (en) | A kind of adaptive parking systems automatic device for parking vehicle | |
| CN106065725A (en) | A kind of intelligent carrying cart that can automatically adjust Transport Vehicle | |
| CN209939109U (en) | Full-automatic granular traditional Chinese medicine storage bin | |
| CN108116378B (en) | Electric automobile trades electric installation | |
| CN107269053B (en) | Modularization parking apparatus | |
| CN207436607U (en) | A kind of vehicle conveying system | |
| CN113802903B (en) | Stopping and taking method based on AGV trolley transfer vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |