CN207876824U - A kind of handling system with anti-skidding elevation and subsidence mechanical hand - Google Patents

Abstract

The utility model discloses a kind of handling systems with anti-skidding elevation and subsidence mechanical hand, including transmission mechanism, material pile component, manipulator and executing agency；The manipulator includes holder, driving chain, mobile platform and drive sprocket, the drive sprocket is between driving chain and holder, the drive sprocket center of circle is more than the radius of drive sprocket at a distance from holder, the A driven sprockets for being provided on the mobile platform above drive sprocket and being engaged with driving chain, the A driven sprockets are located at the both sides of driving chain with drive sprocket；Suction cup assembly is provided with below the mobile platform, the mobile platform is sequentially connected with executing agency.The utility model has the beneficial effects that：The utility model can utilize chain sprocket to realize that the big weight of the long range of vertical direction is transported, and sprocket wheel is made to have the function of self-locking, ensure that manipulator will not rotate under the gravity of dead weight and damage motor output shaft or accident occur.

Description

A kind of handling system with anti-skidding elevation and subsidence mechanical hand

Technical field

The utility model is related to material handling system regions, are a kind of dresses with anti-skidding elevation and subsidence mechanical hand specifically Unloading system.

Background technology

Cargo handling system is the system for carrying out transfer stacking to cargo.Being generally used for warehouse, harbour and other items needs Want the place of centralised or decentralised processing.Cargo handling system under the conditions of the prior art generally comprise transmission mechanism, manipulator and Executing agency.The long distance transportation of cargo is realized using transmission mechanism.Cargo is shifted using manipulator, such as from vehicle It is transferred on transmission mechanism, or is transferred on vehicle by transmission mechanism.It is moved using executing agency's driving manipulator.

Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance Have the advantage of people and robotics respectively concurrently.

Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people Heavy work can be operated under hostile environment to protect personal safety with realizing the mechanization and automation of production, thus be answered extensively For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work Part（Or tool）Component, according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape Formula, such as clamp-type, holding type and absorbent-type.Motion makes hand complete various rotations（It swings）, mobile or compound motion It realizes defined action, changes by the position of grasping object and posture.Motion such as lifts, stretches, rotating at the independent fortune Flowing mode, the referred to as degree of freedom of manipulator.In order to capture the object of any position and orientation in space, there need to be 6 degree of freedom.From It is the key parameter of manipulator design by degree.Degree of freedom is more, and the flexibility of manipulator is bigger, and versatility is wider, structure It is more complicated.General special manipulator has 2~3 degree of freedom.Control system is by the motor to each degree of freedom of manipulator Control, to complete specific action.Receiving sensor feedack simultaneously, the closed-loop control that stroke is stablized.The core of control system The heart is typically to be made of microcontroller chips such as microcontroller or dsp, and wanted function is realized by being programmed to it.

Manipulator under the conditions of the prior art when placing article, generally have mobile article to after other article contacts again Unclamp or be moved to above other articles the mode for discharging and being stacked under the effect of gravity by article.Make article be moved to and its His article contacts make the stroke of manipulator larger, and article is easy under the driving effect of manipulator to occur with other articles It scrapes, the mobile control of manipulator needs to consider the factors such as shape feature, structure feature, the precision of article, leads to control difficulty Larger, programming is complicated.Article is only moved to hair on other articles to discharge so that article lands under the effect of gravity, uncomfortable Movement for breakables, the article that cannot be absorbed impact and other items.And larger noise can be sent out after article landing, Easy to produce airborne dust.

Since cargo may be identical with different shapes or shape but pass through after Transmission system transport with different Position, angle, thus when need by cargo fitly code chops when, need to make corresponding adjust using executing agency driving manipulator It is whole, in order to adjust angle when cargo stacking.Make corresponding angle using executing agency's driving manipulator to adjust, needs to drive Manipulator and cargo are integrally moved, and need to consume the larger energy.And need the angle adjusted needed for accurate calculate Degree, thus a variety of components is needed to come subsidiary and calculating, increase the input of equipment so that equipment cost is higher.Adjustment Angle needs the regular hour, the additional actuation time for occupying manipulator, causes the whole cycle of stacking to increase so that code Pile it is inefficient.

Utility model content

The purpose of this utility model is to provide a kind of handling systems with anti-skidding elevation and subsidence mechanical hand, for improving stacking Efficiency and manipulator security performance, reduce the stroke of manipulator, and can avoid generating after placing article release Airborne dust.

The utility model is achieved through the following technical solutions：A kind of handling system with anti-skidding elevation and subsidence mechanical hand, including For transport cargo transmission mechanism, with the material pile component that transmission mechanism is connected to, be arranged above material pile component The executing agency of manipulator and driving manipulator movement；

The manipulator includes holder, is arranged on holder driving chain, the movement being slidably mounted on holder are flat The drive sprocket that platform and setting are engaged on a mobile platform and with driving chain, the drive sprocket are located at driving chain and branch Between frame, the drive sprocket center of circle is more than the radius of drive sprocket at a distance from holder, is provided with and is located on the mobile platform The A driven sprockets engaged above drive sprocket and with driving chain, the A driven sprockets are located at transmission with drive sprocket The both sides of chain；

Suction cup assembly is provided with below the mobile platform, the mobile platform is sequentially connected with executing agency. Driving chain is arranged on holder this programme, and the both ends of driving chain is made to be fixedly connected with holder, utilizes drive sprocket and biography The engagement of dynamic chain, can drive mobile platform to be moved along the length direction of driving chain when drive sprocket rotates.Utilize A Driven sprocket can make driving chain bend, and driving chain is made to be in contact in transverse direction and drive sprocket, to increase The contact length of driving chain and drive sprocket, the bonding strength of driving chain and drive sprocket can be improved with this, and is increased Add the load-bearing capacity of drive sprocket.It can also be tensioned driving chain using A driven sprockets, prevent driving chain from loosening and taking off The phenomenon that chain, skidding.

The B driven sprockets engaged below drive sprocket and with driving chain, institute are provided on the mobile platform The B driven sprockets stated are located at the both sides of driving chain with drive sprocket；The cornerite of the A driven sprockets is greater than or equal to 90°；The cornerite of B driven sprockets is greater than or equal to 90 °.With this transmission below drive sprocket can be tensioned using B driven sprockets Chain, and the driving chain below drive sprocket is made to be contacted with drive sprocket in horizontal direction, to be conducive to improve actively The bearing capacity of sprocket wheel.The cornerite that drive sprocket can be adjusted using the position relationship of A driven sprockets and drive sprocket, make A from The cornerite of movable sprocket is greater than or equal to 90 °, can increase packet of the cornerite of drive sprocket top half greatly as low as with A driven sprockets Angle is identical, to increase the contact length and bonding strength of driving chain and drive sprocket.It can be tensioned using B driven sprockets Driving chain below drive sprocket, and the driving chain below drive sprocket is made to be contacted with drive sprocket in horizontal direction, To be conducive to improve the bearing capacity of drive sprocket.

The Suction cup assembly includes the mounting base being connect with holder, is arranged in mounting base mounting bracket, several In mounting bracket and it can realize the control mechanism linearly driven and be sequentially connected with control mechanism Sucker；The control mechanism includes the B control mechanisms that A control mechanisms and stroke are more than A control mechanisms.Goods is captured using sucker Object, then drive sucker to be moved to suitable position by driving mechanism, it is driven by motive objects using the larger B control mechanisms of stroke The preferential landing of a part of product, then absorption of the sucker to article is unlocked, to make article be detached from sucker.The weight of control mechanism is remote Less than the weight of manipulator, the driving of control mechanism is more prone to than driving manipulator, the energy that is consumed it is also less.Cause And the stroke of control mechanism can be utilized to replace the formation of a part of manipulator to play simplify control, energy saving work With.So that part objects is preferentially landed and discharge other positions again, the impact being subject to when article landing can be reduced, made an uproar to reduce Sound avoids generating airborne dust.It is particularly suitable for the movement of the packed granular goods of big weight.

The control cabinet for being connect with holder and capableing of output torque, the control are provided between the mounting base and holder Case processed is sequentially connected with shaft, and the shaft is connect with mounting base, and the control cabinet is sequentially connected with driving motor, described Control cabinet in be provided with the belt being connected between shaft and driving motor output shaft.Article can be driven using driving motor It rotates, to be conducive to adjust the angle of article landing or stacking.Article can be driven to rotate using driving motor Movement, to be conducive to adjust the angle of article landing or stacking.

The executing agency includes being sequentially connected with mobile platform to control the Y-direction that mobile platform is moved in Y direction The X that driving mechanism and being sequentially connected with Y-direction driving mechanism is moved with Y-direction driving mechanism in X-direction is to driving mechanism.

The Y-direction driving mechanism includes two Y-direction belt support frames, the Y-direction being connected between two Y-direction belt support frames company Connect holder, the Y-direction driving pulley that is separately positioned on Y-direction belt support frame and Y-direction driven pulley, respectively with Y-direction driving pulley and Y The Y-direction belt being sequentially connected to driven pulley, the Y-direction electricity for being sequentially connected and being arranged in Y-direction connecting bracket with Y-direction driving pulley Machine；It is provided with the Y-direction clamping device for Y-direction belt to be clamped on the mobile platform and is rolled with Y-direction belt support frame and connects Y-direction holder idler wheel.

The X includes two X to belt support frame, is connected to two X to the X between belt support frame to even to driving mechanism It connects holder, be separately positioned on Xs of the X on belt support frame to driving pulley and X to driven pulley, respectively with X to driving pulley and X To driven pulley be sequentially connected X to belt and be sequentially connected to driving pulley with X and be arranged the X in X in connecting bracket to Motor；Be provided in the Y-direction connecting bracket for be clamped X to the X of belt to clamping device and with X to belt support frame roll The X of connection is to holder idler wheel.

Y-direction driving pulley on two Y-direction belt support frames is coaxially connected by Y-direction connecting shaft, Y-direction electricity Machine is arranged in Y-direction connecting bracket and is sequentially connected with Y-direction connecting shaft；It is provided on the Y-direction belt support frame and Y-direction belt The Y-direction tensioning wheel of drive connection；Xs of two X on belt support frame is coaxially connected by X to connecting shaft to driving pulley It connects, the X is arranged in X in connecting bracket to motor and is sequentially connected with X to connecting shaft；The X includes to connecting shaft Two short axles and by the coaxially connected shaft coupling of two short axles；The X is provided on belt support frame to be connected with X to belt transmission The X connect is to tensioning wheel.

The material pile component include for arrangement of goods pusher pedestal, be slidably arranged in pushing away on pusher pedestal Flitch, several be rotatably installed on pusher pedestal and be parallel to scraping wings moving direction A feeding rollers and several rotation peace B feeding rollers on pusher pedestal and perpendicular to scraping wings moving direction；It is provided with driving pusher on the pusher pedestal The pusher driving structure of plate movement；Several are provided on the pusher pedestal around forming rectangular postive stop baffle, institute The A feeding rollers stated are located at postive stop baffle with B feeding rollers and surround in the space formed；The rectangular length direction with push away The moving direction of flitch is parallel；The length of the scraping wings is more than the maximum length of cargo；The spacing of the A feeding rollers is small In or be equal to 5mm, the B feeding rollers be smaller than or be equal to 5mm.So that material pile component is connect with transmission mechanism, makes Transmission mechanism drives above cargo transport to pusher pedestal scraping wings using pusher driving structure, scraping wings is made to drive cargo Moved above A feeding rollers and B feeding rollers, since A feeding rollers are different from the rotation direction of B feeding rollers, using A feeding rollers and B feeding rollers can play the role of guiding with cargo contacts respectively, to guide cargo to required angle position.Utilize limit Position baffle can play the role of limit, make cargo that can only be pulled to the position contacted with postive stop baffle, so as to make to own The position of cargo keeps certain, is conducive to the precision and efficiency that improve stacking.And manipulator is kept fixed Stroke is conducive to the time for shortening stacking and simplifies the programming code of manipulator movement control.

The pusher driving structure includes the crossbeam being arranged on pusher pedestal, is arranged on crossbeam pusher motor, With pusher motor output shaft be sequentially connected active pusher belt wheel, connect with active pusher belt wheel transmission pusher belt, with push away Expect the driven pusher belt wheel of belt transmission connection；The scraping wings is connect with pusher belt transmission.With this convenient for driving pusher Plate moves back and forth on pusher pedestal.

The utility model compared with prior art, has the following advantages and advantageous effect：

The utility model can utilize chain sprocket to realize that the big weight of the long range of vertical direction is transported, and sprocket wheel is made to have The function of standby self-locking ensures that manipulator will not rotate under the gravity of dead weight and damage motor output shaft or thing occur Therefore.

Description of the drawings

Fig. 1 is the structural schematic diagram of this programme；

Fig. 2 is enlarged drawing at the B of Fig. 1

Fig. 3 is the structural schematic diagram of manipulator；

Fig. 4 is the scheme of installation of drive sprocket, A driven sprockets and B driven sprockets；

Fig. 5 is the structural schematic diagram of Suction cup assembly；

Fig. 6 is the structural schematic diagram of Suction cup assembly in embodiment 15；

Fig. 7 is the structural schematic diagram of Y-direction driving mechanism；

Fig. 8 is the structural schematic diagram of Y-direction clamping device and Y-direction holder idler wheel；

Fig. 9 is the connection diagram of mobile platform and Y-direction driving mechanism；

Figure 10 is structural schematic diagrams of the X to driving mechanism；

Figure 11 is scheme of installation of the X to driving mechanism and Y-direction driving mechanism；

Figure 12 is the structural schematic diagram of material pile component；

Figure 13 is enlarged drawing at the A of Figure 11；

Wherein 11- holders, 12- mobile platforms, 13- driving chains, 14- drive sprockets, 15-A driven sprockets, 16-B are driven Sprocket wheel, 17- idler wheels, 18-Y are controlled to holder idler wheel, 110-Y to support wheel, 21- driving motors, 22- to clamping device, 19-Y Case, 23- belts, 24- shafts, 25- mounting bases, 26- mounting brackets, 27- vaccum suction pipes, 28- suckers, 29-A control mechanisms, 210-B control mechanisms, 31-Y is to belt support frame, and 32-Y is to motor, and 33-Y is to connecting shaft, and 34-Y is to driving pulley, and 35-Y is to skin Band, 36-Y to driven pulley, 37-Y to tensioning wheel, 38-Y to connecting bracket, 39-X to holder idler wheel, 310-X to support wheel, 311-X to clamping device, 41-X to belt support frame, 42-X to motor, 43-X to connecting shaft, 44-X to driving pulley, 45-X to Belt, 46-X is to driven pulley, and 47-X is to tensioning wheel, and 48-X is to connecting bracket, 51- pusher pedestals, 52- crossbeams, 53- pusher electricity Machine, 54- pusher belts, the driven pusher belt wheels of 55-, 56- active pusher belt wheels, 57- pusher driver plates, 571- fix pusher folder Plate, 58- scraping wings, 59-A feeding rollers, 510-B feeding rollers, 511- pusher guide rails, 512- pusher idler wheels.

Specific implementation mode

The utility model is described in further detail with reference to embodiment, but the embodiment of the utility model is not It is limited to this.

Embodiment 1：

As shown in Figure 1 and Figure 2, in the present embodiment, a kind of handling system with anti-skidding elevation and subsidence mechanical hand, including be used to transport The transmission mechanism of defeated cargo, the material pile component with transmission mechanism is connected to, the manipulator being arranged above material pile component With the executing agency of driving manipulator movement.

As shown in figure 3, the manipulator includes holder 11, the driving chain 13 that is arranged on holder 11, is slidably installed Mobile platform 12 on holder 11 and the drive sprocket 14 for being arranged on mobile platform 12 and being engaged with driving chain 13, it is described Drive sprocket 14 between driving chain 13 and holder 11,14 center of circle of drive sprocket at a distance from holder 11 be more than drive chain The radius of wheel 14, be provided with above drive sprocket 14 on the mobile platform 12 and the A that is engaged with driving chain 13 from Movable sprocket 15, the A driven sprockets 15 are located at the both sides of driving chain 13 with drive sprocket 14.

The lower section of the mobile platform 12 is provided with Suction cup assembly, the mobile platform 12 and transmission company of executing agency It connects.

This programme, by above the cargo transport to material pile component for needing stacking, is picked up using transmission mechanism by manipulator Cargo on material pile component, and by cargo movement to the position of stacking cargo, such as in movement to compartment.Utilize the machine of execution Structure is driven to realize movement of the manipulator again in spatial dimension.In the present embodiment, the transmission mechanism uses existing skill Ripe transmission mechanism under the conditions of art, such as belt transmission system, to realize the transport of cargo, those skilled in the art are according to this The content combination common knowledge that scheme is recorded can realize said effect, not go to live in the household of one's in-laws on getting married herein to the concrete structure of transmission mechanism It states.

By fixing mobile platform 12, when drive sprocket 14 rotates, pass through drive sprocket 14 and driving chain 13 Engaged transmission drives holder 11 to move, to drive Suction cup assembly to move using holder 11, when the sucker 28 of Suction cup assembly adsorbs When having cargo, cargo can be driven to be moved along the length direction of driving chain 13.To realize movement of the cargo in Z-direction.

Driving chain 13 can be made to bend using A driven sprockets 15, make driving chain 13 in transverse direction and drive sprocket 14 are in contact, to increase the contact length of driving chain 13 and drive sprocket 14, and the drive chain within the same time Wheel 14 and the at a fully engaged number of teeth of driving chain 13, the bonding strength of driving chain 13 and drive sprocket 14 can be improved with this, And increase the load-bearing capacity of drive sprocket 14.Avoid mobile platform 12 and drive sprocket 14 under the action of self-weight, make shifting Moving platform 12 moves down and drive sprocket 14 is driven to drive electric machine main shaft torsional deflection by transmission chain.Utilize A driven sprockets 15 can also play the role of being tensioned driving chain 13, prevent driving chain 13 from loosening and the phenomenon that de- chain, skid occur.

In the present embodiment, mobile platform 12 is made to be distributed in a ring around holder 11.That is the trepanning on mobile platform 12, makes Holder 11 passes through the hole on mobile platform 12.The matching relationship of hole and axis can be utilized from circumference using the mobile platform 12 of annular Direction limits holder 11, prevents holder 11 from toppling.

In the present embodiment, using motor as the power source of drive sprocket 14.It is arranged on the mobile platform 12 useful In the support construction of support drive sprocket 14, specific supporting way is the customary means of those skilled in the art, this field The content that technical staff records according to this programme can realize said effect, not go to live in the household of one's in-laws on getting married herein to the concrete structure of support construction It states

Embodiment 2：

As shown in figure 4, on the basis of the above embodiments, in the present embodiment, position is provided on the mobile platform 12 In the B driven sprockets 16 drive sprocket 14 lower section and engaged with driving chain 13, the B driven sprockets 16 and drive sprocket 14 It is located at the both sides of driving chain 13.The driving chain of 14 lower section of drive sprocket can be tensioned using B driven sprockets 16 with this 13, and the driving chain 13 of 14 lower section of drive sprocket is made to be contacted with drive sprocket 14 in horizontal direction, to be conducive to improve The bearing capacity and self-locking property of drive sprocket 14.It is provided on the mobile platform 12 and is used to support B driven sprockets 16 Support construction, specific supporting way be those skilled in the art customary means, those skilled in the art are according to we The content that case is recorded can realize said effect, not repeat herein the concrete structure of support construction.

The cornerite of the A driven sprockets 15 is greater than or equal to 90 °.Make the minimum point and drive sprocket of A driven sprockets 15 14 peak, which flushes, can make the cornerite of A driven sprockets 15 be 90 °.The minimum point of A driven sprockets 15 is set to be less than drive sprocket 14 peak can make the cornerite of A driven sprockets 15 be more than 90 °.The cornerite refers to that driving chain 13 is contacted with sprocket wheel Central angle corresponding to arc, sprocket wheel herein includes A driven sprockets 15 and drive sprocket 14.

It follows that the packet of drive sprocket 14 can be adjusted using the position relationship of A driven sprockets 15 and drive sprocket 14 Angle.So that the cornerite of A driven sprockets 15 is greater than or equal to 90 °, can increase by the cornerite of 14 top half of drive sprocket greatly as low as with A The cornerite of driven sprocket 15 is identical, to increase the contact length and bonding strength of driving chain 13 and drive sprocket 14.This The top half at place is top half and lower half to divide drive sprocket 14 across the horizontal plane of 14 circle central axis of drive sprocket Point.Be conducive to improve what the stability and drive sprocket 14 when mobile platform 12 is relatively moved with holder 11 can carry with this Weight.The support construction for being used to support A driven sprockets 15 is provided on the mobile platform 12, specific supporting way is The customary means of those skilled in the art, the content that those skilled in the art record according to this programme can realize said effect, The concrete structure of support construction is not repeated herein

The cornerite of B driven sprockets 16 is greater than or equal to 90 °.The cornerite that 14 lower half portion of drive sprocket can be increased with this is big It is as low as identical as the cornerite of B driven sprockets 16, to increase driving chain 13 and the contact length of drive sprocket 14 and connect Intensity.Influence in conjunction with A driven sprockets 15 to 14 cornerite of drive sprocket can be made using A driven sprockets 15 and B driven sprockets 16 The cornerite of drive sprocket 14 is greater than or equal to 180 °.Enable at least half of drive sprocket 14 tooth and driving chain 13 it is complete Full engagement, to be conducive to improve driving chain 13 and the bonding strength of drive sprocket 14 and the carrying energy of drive sprocket 14 Power.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 5：

On the basis of the above embodiments, it in the present embodiment, is provided on the holder 11 for installing driving chain 13 chain.With this so that driving chain 13 is in embedded installation, is conducive to the occupied space for reducing whole device, makes knot Structure is compacter.A driven sprockets 15 are made to be extend into chain with B driven sprockets 16, in A driven sprockets 15 or B driven sprockets 16 with the engaged transmission of driving chain 13 when, can utilize A driven sprockets 15 or B driven sprockets 16 that driving chain 13 is pressed into chain In bar groove, prevent the part that driving chain 13 does not engage from arbitrarily shaking and causing the accident for taking off chain.In the present embodiment, other are not retouched The part stated is identical as the content of above-described embodiment, therefore does not repeat.

Embodiment 6：

On the basis of above-described embodiment 5, in the present embodiment, it is useful for carrying out driving chain 13 in the chain The limited block of limit.The position that driving chain 13 is limited using limited block is avoided driving chain 13 from arbitrarily shaking and occurs taking off chain Risk.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 7：

As shown in figure 3, on the basis of the above embodiments, in the present embodiment, if being provided on the mobile platform 12 The dry idler wheel 17 for being distributed in a ring around holder 11 and rolling connection with holder 11.Since the presence of mismachining tolerance can cause Mobile platform 12 and holder 11 coordinate precision not high, mobile platform 12 and holder 11 are opposite slide when, may will produce collision, It shakes, be unfavorable for the engaged transmission of driving chain 13 and drive sprocket 14 and generate larger noise, utilize idler wheel 17 and holder 11 connections make idler wheel 17 form support to keep the fixation of 12 position of mobile platform, are conducive to avoid mismachining tolerance to transmission chain Item 13 and the engaged transmission of drive sprocket 14 cause harmful effect.In the present embodiment, other parts not described and above-mentioned implementation The content of example is identical, therefore does not repeat.

Embodiment 8：

On the basis of the above embodiments, in the present embodiment, drive sprocket rotation is provided on the mobile platform 12 Sprocket drive.Transmission chain can be simplified by making sprocket drive that mobile platform 12 be followed to move together.In the present embodiment, Drive sprocket 14 is driven with reduction box using motor, the motor is arranged with reduction box on mobile platform 12.Institute The reduction box stated is the customary means of those skilled in the art, and those skilled in the art can be real according to the content that this programme is recorded Existing said effect, does not repeat the concrete structure of reduction box and setting form herein.In the present embodiment, what other were not described Part is identical as the content of above-described embodiment, therefore does not repeat.

Embodiment 9：

On the basis of the above embodiments, in the present embodiment, the quantity of the driving chain 13 is according to specific needs It is arranged multiple.The drive sprocket 14, A driven sprockets 15 and B driven sprockets 16 are identical as the quantity of driving chain 13.Institute The drive sprocket 14 and the quantity of driving chain 13 stated are more, and the stability of mobile control is higher, and bearing capacity is also stronger.This reality It applies in example, using four driving chains 13, four drive sprockets 14 is set accordingly.And four drive sprockets 14 is made to be coaxially disposed It is rotated synchronously with realizing.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 10：

On the basis of the above embodiments, in the present embodiment, chain driving chain 13 is substituted using tooth band, using with tooth band The belt wheel of engagement substitutes drive sprocket 14, A driven sprockets 15 and B driven sprockets 16.Length is disclosure satisfy that using tooth band and belt wheel The conveying of distance, and tooth band, compared with belt, bearing capacity is stronger, disclosure satisfy that self-locking demand using the tooth on tooth band. According to being specifically required to process different width, it need not be arranged as driving chain 13 and multiple carry need to meet It asks.And it not will produce noise when running, need not lubricate and lubricating oil is avoided to pollute.In the present embodiment, other are not retouched The part stated is identical as the content of above-described embodiment, therefore does not repeat.

Embodiment 11：

As shown in figure 5, on the basis of the above embodiments, in the present embodiment, the Suction cup assembly includes and holder 11 The mounting base 25 of connection, the mounting bracket 26 being arranged in mounting base 25, several be mounted on mounting bracket 26 on and can be real The control mechanism now linearly driven and the sucker 28 being sequentially connected with control mechanism.The control mechanism includes A control mechanisms 29 and stroke are more than the B control mechanisms 210 of A control mechanisms 29.

This programme is sequentially connected using driving mechanism and mounting base 25, and driving mechanism drive installation seat 25 is made to drive sucker 28 It is mobile, the movement of cargo is realized using the absorption cargo of sucker 28.In the present embodiment, the driving mechanism is art technology The customary means of personnel, not as the improvement of this programme, those skilled in the art record concrete structure according to this programme Content can realize said effect, not repeat herein the concrete structure of driving mechanism.

When article is carried by sucker 28 to the position to be placed top, the B control mechanisms 210 for utilizing stroke larger drive By a part for mobile article preferentially drop to ground or other article contacts, then unlock absorption of the sucker 28 to article, from And article is made to be detached from sucker 28 under gravity.Since a part for article has first been contacted to earth, thus when entire article is complete When portion is put down, the impact that article is subject to can be reduced, to reduce noise, avoid generating airborne dust.It is particularly suitable for big heavy bag Fill the movement of granular goods.

The weight for being significantly less weight than manipulator of control mechanism more holds the driving of control mechanism than driving manipulator Easily, the energy consumed is also less.The stroke of control mechanism can be thus utilized to replace the formation of a part of manipulator to rise To simplify control, energy saving effect.

Embodiment 12：

On the basis of the above embodiments, in the present embodiment, the sucker 28 is uniformly distributed by array.With this convenient for profit Uniform adsorption capacity is provided to article with sucker 28, the bonding strength of article and sucker 28 is improved, makes center of gravity and the installation of article The center of gravity of seat 25 is maintained on same vertical line, is avoided article unbalance stress and is fallen off with sucker 28.Improve this programme transport Security performance when article.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 13：

On the basis of the above embodiments, in the present embodiment, there are two the B control mechanisms 210 settings and diagonally divides Cloth.It can be when controlling article landing with this, the part for keeping article diagonal is first landed, then the part among article is allowed to land, with Uniform disperses impact forces when this is conducive to that article is enable to land reduce the impact being subject to when article landing, avoid generating and raise Dirt.In the present embodiment, the quantity of the B control mechanisms 210, which is more than two, can also realize said effect.In the present embodiment, Other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 14：

On the basis of the above embodiments, in the present embodiment, the control mechanism is using hydraulic cylinder, electrical pushing cylinder, air pressure It is one or more in cylinder.It is convenient for realizing the mobile control of sucker 28 using hydraulic cylinder with this, and is easy to implement remote control. When using hydraulic cylinder, the hydraulic cylinder is connected with hydraulic system, and the hydraulic system is the usual of those skilled in the art Means do not repeat the specific structure of hydraulic system herein.When using pneumatic cylinder, the pneumatic cylinder is connected with air pressure system System, the baric systerm are the customary means of those skilled in the art, are not gone to live in the household of one's in-laws on getting married herein to the specific structure of baric systerm It states.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 15：

As shown in fig. 6, on the basis of the above embodiments, in the present embodiment, between the mounting base 25 and holder 11 It is provided with the control cabinet 22 that output torque is connect and be capable of with holder 11, the control cabinet 22 is sequentially connected with shaft 24, institute The shaft 24 stated is connect with mounting base 25, and the control cabinet 22 is sequentially connected with driving motor 21.It is logical using driving motor 21 Control cabinet 22 is crossed to 24 output torque of shaft, drives article to rotate using shaft 24, to be conducive to adjust article drop It falls or the angle of stacking.

The belt 23 being connected between 21 output shaft of shaft 24 and driving motor is provided in the control cabinet 22.It utilizes Belt can play the role of buffering absorbing, and the vibration of driving motor 21 is avoided to be transmitted on sucker 28, and sucker 28 is caused to vibrate And article is made to be loosened with sucker 28.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not go to live in the household of one's in-laws on getting married It states.

Embodiment 16：

On the basis of the above embodiments, in the present embodiment, the sucker 28 is vacuum cup, on the sucker 28 It is provided with the vaccum suction pipe 27 for being connected to evacuator.When sucker 28 and article contacts, passed through using evacuator true Space of the suction pipe 27 between sucker 28 and article vacuumizes, and larger adsorption capacity is capable of providing with this, increases article and inhales Bonding strength between disk 28.In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not go to live in the household of one's in-laws on getting married It states.

Embodiment 17：

On the basis of the above embodiments, in the present embodiment, the executing agency includes being driven to connect with mobile platform 12 It connects to control Y-direction driving mechanism that mobile platform 12 is moved in Y direction and be driven with Y-direction with the drive connection of Y-direction driving mechanism The X that mechanism is moved in X-direction is to driving mechanism.

As shown in fig. 7, the Y-direction driving mechanism includes two Y-direction belt support frames 31, is separately positioned on Y-direction belt branch Y-direction driving pulley 34 and Y-direction driven pulley 36 on frame 31 connect with Y-direction driving pulley 34 and the transmission of Y-direction driven pulley 36 respectively The Y-direction belt 35 connect and the Y-direction motor 32 being sequentially connected with Y-direction driving pulley 34.It is both provided on each Y-direction belt support frame 31 Y-direction driving pulley 34, Y-direction driven pulley 36 and Y-direction belt 35.Two Y-direction belt support frames 31 are made to be arranged in parallel.By mobile platform 12 are arranged between two Y-direction belt support frames 31.

As shown in figure 8, being provided with 18 He of Y-direction clamping device for Y-direction belt 35 to be clamped on the mobile platform 12 The Y-direction holder idler wheel 19 of connection is rolled with Y-direction belt support frame 31.As shown in figure 9, dress is clamped using the Y-direction on mobile platform 12 It sets 18 to connect with Y-direction belt 35, when Y-direction driving pulley 34 drives Y-direction belt 35 to rotate, Y-direction belt 35 is clamped by Y-direction and is filled It sets 18 drive mobile platforms 12 to move along the rotation direction of Y-direction belt 35, to realize the work(of the overall movement of driving arm 11 Energy.The position for acting to keep mobile platform 12 and the shifting of support can be played to mobile platform 12 using Y-direction holder idler wheel 19 Stability when moving platform 12 moves, and sliding friction is become into rolling friction to reduce resistance when mobile platform 12 moves Power.It can realize that holder 11 moves in planar range using the combined use of Y-direction driving mechanism and drive sprocket 14, to Cargo is driven to be moved in planar range.

As shown in Figure 10, the X to driving mechanism include two X to belt support frame 41, be connected to two X to belt branch X between frame 41 to connecting bracket 48, be separately positioned on Xs of the X on belt support frame 41 to driving pulley 44 and X to driven pulley 46, it is driven respectively to driving pulley 44 and X to the X that driven pulley 46 is sequentially connected to belt 45, with X to driving pulley 44 with X It connects and the X in X in connecting bracket 48 is set to motor 42.

As shown in Fig. 7, Figure 11, it is provided in the Y-direction connecting bracket 38 for X to be clamped to the X of belt 45 to clamping Device 311 and the X of connection is rolled to holder idler wheel 39 to belt support frame 41 with X.

X is clamped to belt 45 to clamping device 311 using X, makes the setting of Y-direction driving mechanism in two X to belt support frame 41 Between, when X drives X to be rotated to driving pulley 44 to motor 42 and then X is driven to be rotated to belt 45, using X to belt 45 and X Connection to clamping device 311 can drive Y-direction driving mechanism to be moved to the length direction of belt 45 along X.Using X to driving The combined use of mechanism, Y-direction driving mechanism and drive sprocket 14 can realize that holder 11 moves in spatial dimension, to band Dynamic cargo moves in spatial dimension.

Embodiment 18：

On the basis of above-described embodiment 17, in the present embodiment, the Y-direction on described two Y-direction belt support frames 31 is actively Belt wheel 34 is coaxially connected by Y-direction connecting shaft 33, and the Y-direction motor 32 is arranged in Y-direction connecting bracket 38 and is connect with Y-direction Axis 33 is sequentially connected；The Y-direction tensioning wheel 37 being sequentially connected with Y-direction belt 35 is provided on the Y-direction belt support frame 31.It utilizes Y-direction connecting shaft 33 can be such that two Y-direction driving pulleys 34 rotate synchronously, and mobile put down is pulled to make two Y-direction belts 35 synchronize Platform 12 is conducive to the mobile accuracy and stability that improve mobile platform 12.

Xs of two X on belt support frame 41 is coaxially connected to connecting shaft 43 by X to driving pulley 44, described X to motor 42 be arranged X in connecting bracket 48 and with X to connecting shaft 43 be sequentially connected.It can be made to connecting shaft 43 using X Two X are rotated synchronously to driving pulley 44, are pulled Y-direction driving mechanism to make two X be synchronized to belt 45, are conducive to improve Y To the mobile accuracy and stability of driving mechanism.

Embodiment 19：

On the basis of the above embodiments, in the present embodiment, the X is to connecting shaft 43 including two short axles and by two The coaxially connected shaft coupling of short axle.Because the length of X to connecting shaft 43 is larger in this programme, after being driven using motor, can go out The phenomenon that existing X is distorted to connecting shaft 43.It connect to form X to connecting shaft 43 with shaft coupling using two short axles, X can be reduced The angle reversed to connecting shaft 43, to protect X to the safe to use of connecting shaft 43, avoid X to connecting shaft 43 because bear compared with Big torque and damage.

Embodiment 20：

On the basis of the above embodiments, it in the present embodiment, is provided on the Y-direction belt support frame 31 and Y-direction belt The 35 Y-direction tensioning wheels 37 being sequentially connected.It is tensioned Y-direction belt 35 using Y-direction tensioning wheel 37, Y-direction belt 35 is avoided to loosen and occur The phenomenon that skidding.The Y-direction tensioning wheel 37 is located at Y-direction driving pulley 34 and Y-direction driven pulley with Y-direction clamping device 18 The both sides up and down of 36 circle center line connectings.It avoids Y-direction tensioning wheel 37 from being interfered with Y-direction clamping device 18 with this and limits mobile platform 12 movement.

In the present embodiment, the Y-direction clamping device 18 include the fixed plate being fixedly connected with mobile platform 12 and with it is solid The movable plate that fixed board is threadedly coupled, the Y-direction belt 35 are clamped between fixed plate and movable plate, make activity using screw Plate shrinks to fixed plate and clamps Y-direction belt 35, on the side of the movable plate and/or fixed plate contact Y-direction belt 35 With teeth or skid resistance strip is set, increases the friction of movable plate and/or fixed plate and Y-direction belt 35 with this, prevents movable plate Y-direction skin The phenomenon that band 35 or fixed plate have skidded with Y-direction belt 35.In the present embodiment, other parts not described and above-described embodiment Content it is identical, therefore do not repeat.

Embodiment 21：

On the basis of the above embodiments, in the present embodiment, the Y-direction belt support frame 31 is designed as L-type and opening court The transverse slat of interior setting, the Y-direction holder idler wheel 19 and Y-direction belt support frame 31, which rolls, to be connected, and is set on the mobile platform 12 Be equipped with several Y-direction support wheels 110, the Y-direction support wheel 110 be distributed in the opposite both sides of mobile platform 12 and with Y-direction branch Frame idler wheel 19 is located at the same side, and the maximum spacing of the Y-direction support wheel 110 of opposite sides is more than the Y-direction holder idler wheel of opposite sides 19 maximum spacing, and the maximum spacing of the Y-direction support wheel 110 of opposite sides is made to be equal to 31 vertical face of Y-direction belt support frame Spacing enables Y-direction support wheel 110 to be rolled with 31 vertical face of Y-direction belt support frame and connects with this.Utilize 110 energy of Y-direction support wheel The case where enough playing the role of limiting mobile platform 12, preventing mobile platform 12 from swinging in the process of moving.This reality It applies in example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 22：

On the basis of the above embodiments, in the present embodiment, the X is provided with X on belt support frame 41 to belt 45 X being sequentially connected are to tensioning wheel 47.X is tensioned to belt 45 to tensioning wheel 47 using X, avoids X from being loosened to belt 45 and occurs The phenomenon that skidding.The X is located at X to driving pulley 44 and X to driven belt to tensioning wheel 47 and X to clamping device 311 Take turns the both sides up and down of 46 circle center line connectings.It avoids X from being interfered to tensioning wheel 47 and X to clamping device 311 with this and limits movement The movement of platform 12.

In the present embodiment, the X to clamping device 311 include the fixed plate being fixedly connected with mobile platform 12 and with it is solid The movable plate that fixed board is threadedly coupled, the X are clamped in belt 45 between fixed plate and movable plate, make activity using screw Plate shrinks to fixed plate and clamps X to belt 45, and the movable plate and/or fixed plate contact X on the side of belt 45 With teeth or skid resistance strip is set, movable plate and/or fixed plate and frictions of the X to belt 45 are increased with this, prevent movable plate X to skin The phenomenon that band 45 or fixed plate have skidded with X to belt 45.In the present embodiment, other parts not described and above-described embodiment Content it is identical, therefore do not repeat.

Embodiment 23：

On the basis of the above embodiments, in the present embodiment, the X is designed as L-type and opening court to belt support frame 41 Interior setting, the X is rolled to the transverse slat of belt support frame 41 to holder idler wheel 39 and X and is connected, in the Y-direction connecting bracket 38 Several X are provided with to support wheel 310, the X is distributed in 38 outside of Y-direction connecting bracket and with X to holder to support wheel 310 Idler wheel 39 is located at the same side, and the X of opposite sides is more than the X of opposite sides to holder idler wheel 39 to the maximum spacing of support wheel 310 Maximum spacing, and the X of opposite sides is made to be equal to X between 41 vertical face of belt support frame to the maximum spacing of support wheel 310 Away from, with this enable X to support wheel 310 and X to 41 vertical face of belt support frame roll connect.It can to support wheel 310 using X The case where playing the role of limiting Y-direction driving mechanism, preventing Y-direction driving mechanism from swinging in the process of moving.This reality It applies in example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 24：

As shown in figure 12, on the basis of the above embodiments, in the present embodiment, the material pile component includes being used for The pusher pedestal 51 of arrangement of goods, the scraping wings 58 being slidably arranged on pusher pedestal 51, several be rotatably installed in pusher bottom On seat 51 and be parallel to 58 moving direction of scraping wings A feeding rollers 59 and several be rotatably installed on pusher pedestal 51 and vertical In the B feeding rollers 510 of 58 moving direction of scraping wings；The pusher that driving scraping wings 58 moves is provided on the pusher pedestal 51 Driving structure；Several are provided on the pusher pedestal 51 around forming rectangular postive stop baffle, the A feeding rollers 59 are located at postive stop baffle with B feeding rollers 510 surrounds in the space formed；The rectangular length direction and scraping wings 58 Moving direction it is parallel；The length of the scraping wings 58 is more than the maximum length of cargo；The spacing of the A feeding rollers 59 is small In or be equal to 5mm, the B feeding rollers 510 be smaller than or be equal to 5mm.

So that A feeding rollers 59 and B feeding rollers 510 is arranged in column respectively, so that A feeding rollers 59 is obtained axis and be directed toward B feeding rollers 510. This programme is set to be connect with transmission mechanism, it will be above cargo transport to pusher A feeding rollers 59 using transmission mechanism.When using scraping wings When 58 promotion cargo, rub between cargo and A feeding rollers 59, scraping wings 58 plays certain position-limiting action, in scraping wings 58, under the action of A feeding rollers 59, adjust the position of cargo, cargo are shifted onto from A feeding rollers 59 above B feeding rollers 510, utilize B feeding rollers 510 further adjust the position of cargo.Using A feeding rollers 59, B feeding rollers 510 respectively with cargo contacts, cargo with Friction between pusher pedestal 51 is rolling friction so that cargo, which facilitates, to be pushed, and utilizes A feeding rollers 59 and B feeding rollers 510 can play guiding role, and position is adjusted convenient for cargo.When scraping wings 58 push cargo to certain angle, make scraping wings 58 It resets, manipulator is recycled to capture cargo, to avoid adjusting the angle of cargo using manipulator, to be conducive to shorten work Skill flow.And the components such as the sensor for collecting cargo location information are saved, it has saved the manufacturing cost of equipment and has made Use cost.

It can play the role of limit using postive stop baffle, make cargo that can only be pulled to the position contacted with postive stop baffle, So as to make the position of all cargos keep certain, be conducive to the precision and efficiency that improve stacking.And make manipulator The stroke that can be kept fixed is conducive to the time for shortening stacking and simplifies the programming code of manipulator movement control.This reality It applies in example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 25：

As shown in figure 13, on the basis of the above embodiments, in the present embodiment, the pusher driving structure includes setting Crossbeam 52 on pusher pedestal 51, the pusher motor 53 being arranged on crossbeam 52 are sequentially connected with 53 output shaft of pusher motor Active pusher belt wheel 56, with active pusher belt wheel 56 be sequentially connected pusher belt 54, with pusher belt 54 be sequentially connected Driven pusher belt wheel 55；The scraping wings 58 is sequentially connected with pusher belt 54.Active pusher is driven using pusher motor 53 Belt wheel 56 rotates, and drives pusher belt 54 to rotate using active pusher belt wheel 56, and then drive scraping wings using pusher belt 54 58 directions rotated along pusher belt 54 are moved, and make the reversion of pusher motor 53 that scraping wings 58 can be driven to reset.

It is moved back and forth on pusher pedestal 51 convenient for driving scraping wings 58 with this.In the present embodiment, other portions not described It is point identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 26：

As shown in figure 13, on the basis of the above embodiments, in the present embodiment, the scraping wings 58 is connected with pusher biography Movable plate 57；The pusher driver plate 57 is slidably mounted on crossbeam 52 and is sequentially connected with pusher belt 54；The crossbeam 52 are arranged in parallel with pusher belt 54.With this convenient for limiting scraping wings 58 using crossbeam 52, be conducive to improve scraping wings 58 rigidity and holding position precision, the form for enabling scraping wings 58 to be kept fixed simultaneously are moved along fixed track, are prevented The position of scraping wings 58 changes and the position of cargo is caused deviation occur.In the present embodiment, other parts not described with The content of above-described embodiment is identical, therefore does not repeat.

Embodiment 27：

On the basis of the above embodiments, it in the present embodiment, is provided on the crossbeam 52 parallel with pusher belt 54 Pusher guide rail 511, the pusher idler wheel 512 that connection is rolled with pusher guide rail 511 is provided on the pusher driver plate 57.With This can utilize pusher idler wheel 512 that sliding friction is become rolling friction, reduce the resistance being subject to when scraping wings 58 moves.This reality It applies in example, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 28：

On the basis of the above embodiments, in the present embodiment, fixed pusher folder is provided on the pusher driver plate 57 Plate 571, the fixation pusher clamping plate have been connected by screw activity pusher clamping plate；The pusher belt 54 is arranged in fixation Between pusher clamping plate and activity pusher clamping plate.Utilize fixed pusher clamping plate and activity pusher clamping plate clamping pusher belt 54, then profit The phenomenon that being locked with screw, the bonding strength of scraping wings 58 and pusher belt 54 can be improved with this, prevents skidding. In the present embodiment, other parts not described are identical as the content of above-described embodiment, therefore do not repeat.

Embodiment 29：

On the basis of the above embodiments, in the present embodiment, the fixation pusher clamping plate and/or activity pusher clamping plate with It is provided with skid resistance strip or anti-slop serrations on the side that pusher belt 54 contacts.Scraping wings 58 and pusher belt 54 can be improved with this Bonding strength, the phenomenon that preventing from having skidded between scraping wings 58 and pusher belt 54.In the present embodiment, what other were not described Part is identical as the content of above-described embodiment, therefore does not repeat.

The above is only the preferred embodiment of the utility model, not does limit in any form to the utility model System, any simple modification made by the above technical examples according to the technical essence of the present invention, equivalent variations, each falls within Within the scope of protection of the utility model.

Claims (10)

1. a kind of handling system with anti-skidding elevation and subsidence mechanical hand, it is characterised in that：Include for transport the transmission mechanism of cargo, With the movement of the material pile component that transmission mechanism is connected to, the manipulator being arranged above material pile component and driving manipulator Executing agency；

The manipulator includes holder（11）, be arranged in holder（11）On driving chain（13）, be slidably mounted on holder （11）On mobile platform（12）With setting in mobile platform（12）Upper and and driving chain（13）The drive sprocket of engagement（14）, The drive sprocket（14）Positioned at driving chain（13）With holder（11）Between, drive sprocket（14）The center of circle and holder（11）'s Distance is more than drive sprocket（14）Radius, the mobile platform（12）On be provided with positioned at drive sprocket（14）Top and with Driving chain（13）The A driven sprockets of engagement（15）, the A driven sprockets（15）With drive sprocket（14）It is located at transmission Chain（13）Both sides；

The mobile platform（12）Lower section be provided with Suction cup assembly, the mobile platform（12）It is driven and connects with executing agency It connects.

2. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 1, it is characterised in that：The shifting Moving platform（12）On be provided with positioned at drive sprocket（14）Lower section and and driving chain（13）The B driven sprockets of engagement（16）, institute The B driven sprockets stated（16）With drive sprocket（14）It is located at driving chain（13）Both sides；The A driven sprockets（15） Cornerite be greater than or equal to 90 °；B driven sprockets（16）Cornerite be greater than or equal to 90 °.

3. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 1 or 2, it is characterised in that：It is described Suction cup assembly include and holder（11）The mounting base of connection（25）, be arranged in mounting base（25）On mounting bracket（26）If, Dry is mounted on mounting bracket（26）Above and it can realize the control mechanism linearly driven and be passed with control mechanism The sucker of dynamic connection（28）；The control mechanism includes A control mechanisms（29）It is more than A control mechanisms with stroke（29）B control Mechanism processed（210）.

4. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 3, it is characterised in that：The peace Fill seat（25）With holder（11）Between be provided with and holder（11）Connection and the control cabinet for capableing of output torque（22）, the control Case processed（22）It is sequentially connected with shaft（24）, the shaft（24）With mounting base（25）Connection, the control cabinet（22）It passes It is dynamic to be connected with driving motor（21）, the control cabinet（22）It is inside provided with and is connected to shaft（24）With driving motor（21）Output Belt between axis（23）.

5. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 1, it is characterised in that：Described holds Row mechanism includes and mobile platform（12）It is sequentially connected to control mobile platform（12）In the Y-direction driving mechanism of Y direction movement With the X that is moved in X-direction with Y-direction driving mechanism of being sequentially connected with Y-direction driving mechanism to driving mechanism.

6. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 5, it is characterised in that：The Y Include two Y-direction belt support frames to driving mechanism（31）, be connected to two Y-direction belt support frames（31）Between Y-direction connecting bracket （38）, be separately positioned on Y-direction belt support frame（31）On Y-direction driving pulley（34）With Y-direction driven pulley（36）, respectively with Y-direction Driving pulley（34）With Y-direction driven pulley（36）The Y-direction belt of drive connection（35）And Y-direction driving pulley（34）It is sequentially connected And it is arranged in Y-direction connecting bracket（38）On Y-direction motor（32）；The mobile platform（12）On be provided with for Y-direction to be clamped Belt（35）Y-direction clamping device（18）With with Y-direction belt support frame（31）Roll the Y-direction holder idler wheel of connection（19）.

7. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 6, it is characterised in that：The X Include two X to belt support frame to driving mechanism（41）, be connected to two X to belt support frame（41）Between X to connecting bracket （48）, be separately positioned on X to belt support frame（41）On X to driving pulley（44）With X to driven pulley（46）, respectively with X to Driving pulley（44）With X to driven pulley（46）The X of drive connection is to belt（45）With with X to driving pulley（44）It is sequentially connected And it is arranged in X to connecting bracket（48）On X to motor（42）；The Y-direction connecting bracket（38）On be provided with for X to be clamped To belt（45）X to clamping device（311）With with X to belt support frame（41）The X of connection is rolled to holder idler wheel（39）.

8. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 7, it is characterised in that：Described two A Y-direction belt support frame（31）On Y-direction driving pulley（34）Pass through Y-direction connecting shaft（33）Coaxially connected, described Y-direction motor （32）It is arranged in Y-direction connecting bracket（38）It is upper and with Y-direction connecting shaft（33）It is sequentially connected；The Y-direction belt support frame（31）On It is provided with and Y-direction belt（35）The Y-direction tensioning wheel of drive connection（37）；Two X are to belt support frame（41）On X to master Movable belt pulley（44）By X to connecting shaft（43）Coaxially connected, the X is to motor（42）Setting is in X to connecting bracket（48）On And with X to connecting shaft（43）It is sequentially connected；The X is to connecting shaft（43）It is coaxially connected including two short axles and by two short axles Shaft coupling；The X is to belt support frame（41）On be provided with X to belt（45）The X of drive connection is to tensioning wheel（47）.

9. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 1, it is characterised in that：The object Material heap code character part includes the pusher pedestal for arrangement of goods（51）, be slidably arranged in pusher pedestal（51）On scraping wings （58）, several be rotatably installed in pusher pedestal（51）Above and it is parallel to scraping wings（58）The A feeding rollers of moving direction（59）With Several are rotatably installed in pusher pedestal（51）Above and perpendicular to scraping wings（58）The B feeding rollers of moving direction（510）；Described Pusher pedestal（51）On be provided with driving scraping wings（58）Mobile pusher driving structure；The pusher pedestal（51）Upper setting There are several to surround and forms rectangular postive stop baffle, the A feeding rollers（59）With B feeding rollers（510）Positioned at postive stop baffle It surrounds in the space formed；The rectangular length direction and scraping wings（58）Moving direction it is parallel；Described pushes away Flitch（58）Length be more than cargo maximum length；The A feeding rollers（59）Be smaller than or be equal to 5mm, the B Feeding roller（510）Be smaller than or be equal to 5mm.

10. a kind of handling system with anti-skidding elevation and subsidence mechanical hand according to claim 9, it is characterised in that：Described Pusher driving structure includes being arranged in pusher pedestal（51）On crossbeam（52）, be arranged in crossbeam（52）On pusher motor （53）And pusher motor（53）The active pusher belt wheel that output shaft is sequentially connected（56）And active pusher belt wheel（56）Transmission connects The pusher belt connect（54）And pusher belt（54）The driven pusher belt wheel being sequentially connected（55）；The scraping wings（58）With Pusher belt（54）It is sequentially connected.