CN209160604U - A kind of mechanism of achievable automatic clamping and placing pallet - Google Patents
A kind of mechanism of achievable automatic clamping and placing pallet Download PDFInfo
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- CN209160604U CN209160604U CN201821752617.9U CN201821752617U CN209160604U CN 209160604 U CN209160604 U CN 209160604U CN 201821752617 U CN201821752617 U CN 201821752617U CN 209160604 U CN209160604 U CN 209160604U
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Abstract
The utility model relates to a kind of mechanisms of achievable automatic clamping and placing pallet, including stretching structure (220), and the pick-and-place material arm configuration connecting with stretching structure (220)；Stretching structure (220) includes telescopic drive motor, the separable drive mechanism (222) being connect with telescopic drive motor, and connect separable drive mechanism (222) and pick and place the linear transmission structure (224) of material arm configuration, linear transmission structure (224) picks and places material arm configuration linear expansion for driving；When telescopic drive motor rotates forward, drive mechanism (222) driving linear transmission structure (224) movement is separated；When telescopic drive motor rotates backward trend, separable drive mechanism (222) are separated with linear transmission structure (224).Technical solution provided by the utility model, the automatic clamping and placing that material may be implemented are carried, and without manually being loaded and unloaded, not only save manpower, additionally it is possible to improve working efficiency.
Description
Technical field
The utility model relates to haulage equipment technical fields, more particularly to a kind of machine of achievable automatic clamping and placing pallet
Structure.
Background technique
It improves with the development of science and technology, the application of the automatic transportation equipments such as unmanned fork lift, electri forklift in the factory is also got over
Come it is more so that the degree of automation of factory is also higher and higher.But in the conventional technology, either unmanned fork lift is still electric
Electrical forklift cannot achieve automatic loading/unloading mostly.Especially for the material of pallet class, it is still desirable to by manually carrying out material
Pick-and-place.Although part shelf bears robot realizes certain automation, can be with Automatic-searching shelf, and bears shelf shifting
It is dynamic, however, there remains by manually take depositing to the material (or article) on shelf, to the material of pallet class then more beam
Hand is without plan, it is necessary to by manually being loaded and unloaded, cannot achieve automatic transporting, not only efficiency is relatively low, but also waste of manpower.
Utility model content
Based on this, the utility model provides a kind of mechanism of achievable automatic clamping and placing pallet, and the automatic of material may be implemented
It picks and places and carries, without manually being loaded and unloaded, not only save manpower, additionally it is possible to improve working efficiency.
To achieve the above object, the utility model proposes following technical solutions:
A kind of mechanism of achievable automatic clamping and placing pallet, including rack, the stretching structure in the rack, Yi Jiyu
The pick-and-place material arm configuration of the stretching structure connection；
The stretching structure includes the telescopic drive motor in the rack, is connect with the telescopic drive motor
Separable drive mechanism, and the connection separable drive mechanism and the linear transmission structure for picking and placing material arm configuration, institute
Linear transmission structure is stated for driving the pick-and-place material arm configuration linear expansion；
When the telescopic drive motor rotates forward, the separable drive mechanism drives the linear transmission structure fortune
It is dynamic；When the telescopic drive motor rotates backward trend, the separable drive mechanism is separated with the linear transmission structure.
Its further technical scheme is as follows:
The linear transmission structure includes the driving connecting with the separable drive mechanism in one of the embodiments,
Gear, and the driving rack engaged with the driving gear, the driving rack are fixedly connected with pick-and-place material arm configuration.
The linear transmission structure includes the driving connecting with the separable drive mechanism in one of the embodiments,
Nut, and the drive lead screw with the driving nut cooperation, the drive lead screw are fixedly connected with pick-and-place material arm configuration.
The separable drive mechanism includes connecting with the output shaft of the telescopic drive motor in one of the embodiments,
The transmission wheel structure connect, and it is sheathed on outer and coaxially connected with the driving gear ratchet structure of the transmission wheel structure,
The ratchet structure and the transmission wheel structure are detachably connectable；
The ratchet structure includes the ratchet circle coaxially connected with the driving gear, set on the ratchet circle inner ring side
Multiple hook tooths, and the ratchet slot being formed between two adjacent hook tooths；
The transmission wheel structure includes the transmission wheel body with the output axis connection of the telescopic drive motor, and is set to
Elastic connection structure on the outside of the transmission wheel body, the elastic connection structure are corresponding with the ratchet slot；
When the transmission wheel body rotates forward under the driving of the telescopic drive motor, the elastic connection structure
It is arranged in the ratchet slot of the ratchet structure, the transmission wheel structure drives the ratchet structure and the driving gear positive
Rotation；When the driving gear and the ratchet structure rotate backward, the elastic connection structure and the ratchet slot are detached from.
The elastic connection structure includes the connection for being articulated with the driving wheel body side in one of the embodiments,
The body of rod, and it is fixed on the elastic supporting member for supporting optical member of the transmission wheel body other side, the elastic supporting member for supporting optical member is for flexibly supporting institute
Stating connecting-rod body makes it keep the state in the ratchet slot；
Described connecting-rod body one end is articulated on the transmission wheel body, the other end is corresponding with the ratchet slot；The bullet
Property supporting element one end is fixed on the transmission wheel body, other end elasticity pushes against in the middle part of the connecting-rod body；
When the transmission wheel body rotates forward, the connecting-rod body blocks under the elastic force effect of the elastic supporting member for supporting optical member
Tightly in the ratchet slot；When the ratchet structure rotates backward, the connecting-rod body overcomes the bullet of the elastic supporting member for supporting optical member
Power effect is detached from the ratchet slot.
In one of the embodiments, the ratchet slot include from the top of the hook tooth to another adjacent institute
State ratchet root portion gradually deep arc inlet portion, and be set at the ratchet root portion and with the arc inlet portion
The hook-shaped sticking department of connection；
When the transmission wheel body rotates forward, the end of the connecting-rod body is made in the elastic force of the elastic supporting member for supporting optical member
Under, the root in the hook-shaped sticking department and with the hook tooth is slid into along the arc inlet portion of the ratchet slot
It pushes against；When the ratchet structure rotates backward, the end of the connecting-rod body overcomes the elastic force of the elastic supporting member for supporting optical member to act on,
It is skidded off along the arc inlet portion and is detached from the ratchet slot.
The transmission wheel structure includes the first limit for being opened in the driving wheel body side in one of the embodiments,
The opening direction of position slot, first limiting slot faces the ratchet slot, and one end of the connecting-rod body is articulated with described first
In limiting slot；
It further include the second limiting slot for being opened in the transmission wheel body other side, the opening direction of second limiting slot
In the middle part of the connecting-rod body, one end of the elastic supporting member for supporting optical member is fixedly arranged in second limiting slot.
The transmission wheel structure includes be opened in the transmission wheel body two sides respectively one in one of the embodiments,
A elastic connection structure, each elastic connection structure with a ratchet slot corresponding matching.
The driving gear can be integrated with the ratchet structure in one of the embodiments,；Alternatively, the sliding tooth
Wheel is set as the outer ring of the ratchet circle of the ratchet structure.
The separable drive mechanism includes connecting with the output shaft of the telescopic drive motor in one of the embodiments,
The transmission wheel structure connect, and it is sheathed on outer and coaxially connected with the driving gear gear structure of the transmission wheel structure,
The gear structure and the transmission wheel structure are detachably connectable；
The gear structure includes the gear ring coaxially connected with the driving gear, set on gear ring inner ring side
Multiple gear teeth, and the tooth socket being formed between two adjacent gear teeth；
The transmission wheel structure includes the transmission wheel body with the output axis connection of the telescopic drive motor, and is set to
Elastic connection structure on the outside of the transmission wheel body, the elastic connection structure are corresponding with the tooth socket；
When the transmission wheel body rotates forward under the driving of the telescopic drive motor, the elastic connection structure
It is arranged in the tooth socket of the gear structure, the transmission wheel structure drives the gear structure and the driving gear forward direction to turn
It is dynamic；When the driving gear and the gear structure rotate backward, the elastic connection structure and the tooth socket are detached from.
The pick-and-place material arm configuration includes the understructure connecting with the stretching structure in one of the embodiments,
Lifting structure on the understructure, and the pick-and-place material arm body on the lifting structure.
The utility model proposes technical solution in, during taking material, can use achievable automatic clamping and placing support
The stretching structure of the mechanism of disk will pick and place material arm body and reach below material, and be held up material using lifting structure, then protect
The mechanism for holding achievable automatic clamping and placing pallet is motionless, and keeps car body mobile to material direction, in the separable transmission of stretching structure
Under the action of structure, stretching structure can be shunk relative to car body to be moved, and is moved to material above car body, lifting structure decline can
So that material is propped up on car body, to be achieved that the loading of material；During discharging material, first make to prop up material
Car body is moved to discharge location, is then held up material using lifting structure, then keeps the machine that automatic clamping and placing pallet can be achieved
Structure is motionless and makes that car body is mobile to the direction far from discharge location, makes stretching structure phase under the action of separable drive mechanism
Car body is stretched out, material is moved to discharge location, then general who has surrendered's material is put down under lifting structure, then stretching structure is retracted
(car body can be made mobile in the case where keeping the mechanism that automatic clamping and placing pallet can be achieved motionless equally to realize) in car body, from
And complete discharging for material.In this way, not only may be implemented automatically to move to take cargo on motor dolly, but also may be implemented automatic
Material is unloaded into the purpose to designated position, does not need to realize the automation for moving to take material by other tools or manpower.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the schematic perspective view that the mechanism of automatic clamping and placing pallet can be achieved described in the utility model embodiment；
Fig. 2 is the forward sight perspective structure signal for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment
Figure；
Fig. 3 be the utility model embodiment described in can be achieved automatic clamping and placing pallet mechanism stretching structure stretch out when can
Separate the configuration state schematic diagram of drive mechanism；
Fig. 4 be the utility model embodiment described in can be achieved automatic clamping and placing pallet mechanism stretching structure retract when can
Separate the configuration state schematic diagram of drive mechanism；
Fig. 5 is can be achieved when the mechanism of automatic clamping and placing pallet is aligned with item to get material described in the utility model embodiment before
Depending on perspective structure schematic diagram；
Fig. 6 is the stretching structure for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment to stretching under material
Forward sight perspective structure schematic diagram when out；
Fig. 7 is the stretching structure for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment to complete under material
Forward sight perspective structure schematic diagram when full stretching；
Fig. 8 is that the lifting structure for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment rises and by object
Forward sight perspective structure schematic diagram when material is held up completely；
Fig. 9 is that the stretching structure for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment contracts with respect to car body
Forward sight perspective structure schematic diagram when returning；
Figure 10 is the stretching structure for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment with respect to car body
Forward sight perspective structure schematic diagram when being fully retracted；
Figure 11 be the utility model embodiment described in can be achieved automatic clamping and placing pallet mechanism lifting structure decline and incite somebody to action
Forward sight perspective structure schematic diagram when material is placed on car body；
Figure 12 is when the car body for the mechanism that automatic clamping and placing pallet can be achieved described in the utility model embodiment holds material
Schematic perspective view.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction is only used for explaining opposite between each component under a certain particular pose (as shown in the picture)
Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection scope of the requires of the utility model.
As shown in Figure 1, the utility model proposes a kind of mechanism of achievable automatic clamping and placing pallet, including motor dolly
100, discharge mechanism 200 is taken on the motor dolly 100.Discharge mechanism 200 is taken using this, material may be implemented
Automatic dress takes and discharges automatically, and can be transported to the material for taking discharge mechanism 200 and dress to take using motor dolly 100
Conveying.
Specifically, as shown in Figure 1 to Figure 2, above-mentioned motor dolly 100 includes car body 110, is set to 110 two sides of car body
Multiple (referring to two or more, similarly hereinafter) driving wheel structures 120.It can be realized using driving wheel structure 120 to car body 110
Driving, and realize the driving for taking discharge mechanism 200 to connecting with car body 110, so as to being placed on car body 110
Material or pallet are moved.Moreover, can be in multiple drivings of 110 two sides of car body about the center line symmetrical setting of car body 100
Wheel construction 120, it is ensured that integrally-built stability in the handling process prevents the material because of carrying from leading to very much car body 110 again
The problem of toppling.Counterweight needed for overall structure can also be reduced simultaneously, it is energy efficient during guarantee whole service
It utilizes.In addition, above-mentioned driving wheel structure 120 may include the driving wheel motor on car body 110, it is connect with driving wheel motor
Retarder, and the driving wheel body being connect with retarder.The drive can be driven after retarder slows down by driving wheel motor 110
Dynamic wheeling thereof, to drive car body 110 and motor dolly 100 mobile.
Moreover, above-mentioned motor dolly 100 may also include the accommodation groove 112 being opened on car body 110, it is above-mentioned to take feeding machine
Structure 200 can be set in the accommodation groove 112.By the way that accommodation groove 112 is arranged, discharge mechanism 200 can will be taken to accommodate, so that taking
Discharge mechanism 200 is located in car body 110 without protruding from outside car body 110, not only saves space, moreover it is possible to mitigate the weight of total
Amount, also to take discharge mechanism 200 not interfere with material during carrying material.Moreover, above-mentioned accommodation groove 112
Top opening is located at the top of car body 110, and the side opening of the accommodation groove 112 is located at the side of car body 110, i.e., above-mentioned accommodation groove
112 top is in communication with the outside convenient for taking discharge mechanism 200 to stretch out in outside the top of car body or retract in the top of car body, is somebody's turn to do
The side of accommodation groove 112 is in communication with the outside, convenient for taking, discharge mechanism 200 is stretched out in outside the side of car body 110 or retraction is in car body
Side in.In addition, above-mentioned accommodation groove 112 can also be pushed up through car body 110 simultaneously only through the top of car body 110
Portion and bottom.Moreover, in the present embodiment, above-mentioned motor dolly 100 may include two accommodatings being opened on car body 110
One is respectively set in two accommodation grooves 112 and above-mentioned takes discharge mechanism 200 for slot 112.By accommodation groove 112 and feeding machine can be taken
The quantity of structure 200 is two, and two take discharge mechanism 200 to keep apart by an interval 114, that is to say, that is being carried
During material, discharge mechanism 200 can be taken to carry simultaneously to material by two, while improving carrying stability,
The intensity requirement for individually taking discharge mechanism 200, good economy performance can also be reduced.In addition it is also possible to which the accommodation groove 112 of more is arranged
In on car body 110.
In addition, above-mentioned motor dolly 100 may include the visual identity mechanism being set on car body 110, and this is removed automatically
Fortune equipment further includes the control structure connecting with visual identity mechanism, and the control structure and motor dolly 100 and pick-and-place are expected
Mechanism 200 connects.Can be to 110 surrounding of car body by visual identity mechanism the case where, carries out image recognition to obtain surrounding ring
Border, and control structure can be adjusted the moving direction of motor dolly 100 according to the ambient enviroment that dress takes, and can also treat and remove
The material position of fortune and state are identified, and are controlled taking the pick-and-place material of discharge mechanism 200 to act, so as to control
The automatic transportation equipment is made to carry out picking and placing material and carry material, it is simple and convenient.
In addition, above-mentioned, to take discharge mechanism 200 may include the stretching structure 220 in car body 110 (that is, rack),
And the pick-and-place material arm configuration being connect with the stretching structure 220.Pick-and-place material arm configuration can be driven by the stretching structure 220
It reaches outside car body 110 and extend into below material, and driving picks and places material arm configuration and retracts from material lower section and be retracted to vehicle
In body 110.In addition, the mechanism of above-mentioned achievable automatic clamping and placing pallet is equivalent to when not including above-mentioned motor dolly 100
Take discharge mechanism 200.
Moreover, the stretching structure 220 includes the telescopic drive motor on rack (i.e. car body 110), with the flexible drive
The separable drive mechanism 222 of dynamic motor connection, and connect the separable drive mechanism 222 and pick and place the straight of material arm configuration
Line drive mechanism 224, the linear transmission structure 224 pick and place material arm configuration linear expansion for driving.Moreover, the flexible driving electricity
Machine, which rotates forward, (can set the normal rotation direction of motor to rotate forward, and the direction contrary with normal rotation is anti-
To rotation) when, it separates drive mechanism 222 and linear transmission structure 224 is driven to move；And when telescopic drive motor rotates backward
When trend, separable drive mechanism 222 is separated with linear transmission structure 224.Flexible driving electricity i.e. by being set on car body 110
Machine can drive above-mentioned linear transmission structure 224 to move, and carry out so that the driving of linear transmission structure 224 picks and places material arm configuration
Reciprocating linear is mobile, stretched out in outside the side of car body 110 so as to make to pick and place material arm configuration by the side of accommodation groove 112,
Or it shrinks outside car body 110 in 110 side of car body.Moreover, in the process, separable transferring structure 222 can be played and be prevented
The effect of telescopic drive motor reversion, plays a protective role to motor.
In this way, when stretching structure 220 is located on the inside of car body 110, and when telescopic drive motor starts and rotates forward, can divide
It is combined from transferring structure 222 with linear transmission structure 224, the power of telescopic drive motor normally can be passed through into separable transmitting knot
Structure 222 is transferred to linear transmission structure 224, can drive linear transmission structure 224 that will pick and place by telescopic drive motor at this time and expect
Arm configuration actively stretches out in outside car body 110；In addition, Linear transmission can also be made when stretching structure 220 is located at 110 inside of car body
Structure 224 and pick-and-place material arm configuration are fixed, and make car body 110 under the drive of driving wheel 120 to far from pick-and-place material arm configuration
Direction linear movement, linear transmission structure 224 and pick-and-place material arm configuration can also move linearly and stretch out in respect to car body 110 at this time
Outside car body 110, the separable transferring structure 222 that cooperates at this time with linear transmission structure 224 can also passively forward motion so that
Telescopic drive motor also passively rotates forward；In addition, straight-line transmitting can also be made when stretching structure 220 is located at 110 outside of car body
Dynamic structure 224 and pick-and-place material arm configuration are fixed, and make car body 110 under the drive of driving wheel 120 to close to pick-and-place material arm configuration
Direction linear movement, linear transmission structure 224 and pick and place material arm configuration at this time and the opposite linear movement of car body 110 and can also retract
In in car body 110, the separable transferring structure 222 that cooperates at this time with linear transmission structure 224 can passively counter motion and should
Separable transferring structure 222 is separated with telescopic drive motor, so that telescopic drive motor will not rotate backward.
Moreover, in some embodiments, above-mentioned linear transmission structure 224 may include be set on car body 110 and with it is separable
The driving gear that drive mechanism 222 connects, and the driving rack with driving gear cooperation, the driving rack and pick-and-place material arm
Structure is fixedly connected.Rack and pinion drive mechanism can be set by above-mentioned linear transmission structure 224, using flexible driving electricity
Machine drives the driving gear to rotate forward and (is set in the rotation that gear is driven to carry out under the normal rotation direction of telescopic drive motor
For driving gear rotate forward), so that driving gear band move driving rack linear movement so that pick and place material arm configuration can
It moves linearly and stretches out on the outside of car body.
In addition, in further embodiments, above-mentioned linear transmission structure 224 may include being set on above-mentioned car body 110, simultaneously
The driving nut being connect with separable drive mechanism, and the drive lead screw with driving nut cooperation, the drive lead screw and pick-and-place
Material arm configuration is fixedly connected.Can setting above-mentioned linear transmission structure 224 to nut-screw rod drive mechanism, (i.e. screw thread passes
Dynamic structure), the driving nut can be driven to rotate by telescopic drive motor, to make drive lead screw along own axes straight line
It is mobile, the pick-and-place material arm configuration connecting with drive lead screw can be driven to move linearly.Moreover, in the present embodiment, the driving spiral shell
Mother may be disposed in car body 110, picks and places and expects that arm configuration can lead to fitting and be connected and fixed with drive lead screw.Moreover, by above-mentioned straight
Line drive mechanism is set as nut-screw rod drive mechanism, can accurately, reliable control the moving distance for picking and placing material arm configuration.This
Outside, above-mentioned linear transmission structure can also set screw rod to actuator, and set driving member for nut.I.e. above-mentioned Linear transmission
Structure 224 may include driving screw rod connect on the above-mentioned car body 110 and with separable drive mechanism, and with drive silk
The transmission nut of bar cooperation, the transmission nut are fixedly connected with material arm configuration is picked and placed.In addition, above-mentioned linear transmission structure 224 is also
It may be configured as other similar structure, such as turbine and worm drive mechanism.
Moreover, as shown in Figure 3 to Figure 4, in some embodiments, above-mentioned separable drive mechanism 222 may include and stretch
The transmission wheel structure 2222 of the output axis connection of driving motor, and be sheathed on the transmission wheel structure 2222 it is outer and with above-mentioned drive
Moving gear or the ratchet structure 2224 for driving nut coaxially connected, the ratchet structure 2224 and the separable company of transmission wheel structure 2222
It connects.When telescopic drive motor rotates forward, transmission wheel structure 2222 is also rotated forward, at this time transmission wheel structure 2222 and ratchet
Structure 2224 combines, so as to drive driving gear and driving rack (or driving nut and drive lead screw) forward motion (can set
Determining motion state of the driving rack (or drive lead screw) when telescopic drive motor rotates forward is forward motion)；And driving cog
When item (or drive lead screw) moves backward, driving gear (or driving nut) is also rotated backward, to drive ratchet structure 2224
It rotates backward, ratchet structure 2224 is separated with transmission wheel structure 2222 at this time, not will drive transmission wheel structure 2222 and flexible drive
Dynamic motor rotates backward.Moreover, the combination of above-mentioned ratchet structure 2224 and transmission wheel structure 2222 and separating and can pass through clutch
It realizes, can also be designed by the structure of its own to realize.
Specifically, above-mentioned ratchet structure 2224 may include the ratchet coaxially connected with above-mentioned driving gear (or driving nut)
Circle, multiple hook tooth 2224b set on the ratchet circle inner ring side, and be formed between two adjacent hook tooth 2224b
Ratchet slot 2224a.Moreover, above-mentioned transmission wheel structure 2222 may include the driving wheel master with the output axis connection of telescopic drive motor
Body, and the elastic connection structure on the outside of the transmission wheel body, the elastic connection structure is corresponding with ratchet slot 2224a to match
It closes.Moreover, the elastic connection structure can be set in ratchet slot 2224a using its own elastic card, it can also be in the rotation of ratchet circle
Under be detached from elastic connection structure and ratchet slot 2224a.Turn when transmission wheel body is positive under the driving of telescopic drive motor
When dynamic, the elastic connection structure on the outside of transmission wheel body can successfully be arranged in the ratchet slot 2224a of ratchet structure 2224
In, so that transmission wheel body links together with ratchet structure 2224, transmission wheel structure 2222 can drive flexible at this time
Ratchet structure 2224 and driving gear (or driving nut) is driven to rotate forward under the driving of dynamic motor；When driving gear (or drive
Dynamic nut) and ratchet structure 2224 when rotating backward, block with can not be successfully set on the elastic connection structure being driven on the outside of wheel body
In the ratchet slot 2224a of ratchet structure 2224, i.e. elastic connection structure and ratchet slot 2224a is in disengaged position, thus
So that transmission wheel body is separated from each other with ratchet structure 2224, ratchet structure 2224 is just unable to drive transmission wheel structure at this time
2222 and telescopic drive motor rotation.
Further, above-mentioned elastic connection structure may include the connecting-rod body 2226 for being articulated with driving wheel body side, with
And it is fixed on the elastic supporting member for supporting optical member 2228 of the transmission wheel body other side, the elastic supporting member for supporting optical member 2228 is for flexibly supporting the company
Extension bar body 2226 makes it keep the state in ratchet slot 2224a.Moreover, 2226 one end of connecting-rod body is articulated with driving wheel master
On body, the other end it is corresponding with ratchet slot 2224a so that connecting-rod body 2226 can transmission wheel body on occur certain angle turn
It is dynamic, thus the end of connecting-rod body 2226 can be made to be caught in ratchet slot 2224a, can be also detached from from ratchet slot 2224a；Bullet
Property 2228 one end of supporting element is fixed on transmission wheel body, other end elasticity is pushed against in the middle part of connecting-rod body 2226, resilient support
Part 2228 can flexibly support connecting-rod body 2226, have connecting-rod body 2226 and be maintained at becoming in ratchet slot 2224a
Gesture.When be driven wheel body rotate forward when, set on transmission wheel body on connecting-rod body 2226 elastic supporting member for supporting optical member 2228 bullet
Under power effect, direction rotation of the meeting into the ratchet slot 2224a for being clamped in ratchet structure 2224, thus with ratchet slot 2224a card
Tightly to realize the combination of transmission wheel body and ratchet structure 2224, transmission wheel structure 2222 can drive 2224 turns of ratchet structure
It is dynamic；When ratchet structure 2224 rotates backward, ratchet structure 2224 can be rotated to the direction isolated with connecting-rod body 2226, and this
Shi Chuandong wheel body is remain stationary, and connecting-rod body 2226 will receive the compressing of the ratchet circle of ratchet structure 2224, and make connecting rod
Body 2224 overcomes the elastic force of elastic supporting member for supporting optical member to act on, is detached from ratchet slot 2224a, so that ratchet structure 2224 and transmission
Wheel body separation, ratchet structure 2224 are unable to drive the rotation of transmission wheel structure 2222.
Further, above-mentioned ratchet slot 2224a include from the top of a hook tooth 2224b to another adjacent ratchet
The root tooth 2224b gradually deep arc inlet portion, and be set at the root hook tooth 2224b and be connected to arc inlet portion
Hook-shaped sticking department.Moreover, the arc inlet portion can be corresponding with the end of connecting-rod body 2226, and the arc inlet portion
Inclination go deep into direction and transmission wheel body to rotate forward direction identical, contrary with rotating backward for ratchet structure 2224.
Therefore, when transmission wheel body rotates forward, which understands under the drive of transmission wheel body and connecting-rod body
2226 end slides into hook-shaped lock under the elastic force effect of elastic supporting member for supporting optical member 2228, along the arc inlet portion of ratchet slot 2224a
Determine to push against in portion and with the root of hook tooth 2224b, so that the combination of transmission wheel structure 2222 and ratchet structure 2224；
And when ratchet structure 2224 rotates backward, since transmission wheel body is remain stationary, connecting-rod body 2226, which also has, to be remain stationary
Trend, so that the end of connecting-rod body 2226 overcomes elastic supporting member for supporting optical member 2228 under the compressing of the ratchet circle of ratchet structure 2224
Elastic force effect, can ratchet slot 2224a is skidded off and is detached from along arc inlet portion from the hook-shaped sticking department of ratchet slot 2224a, from
And realize the separation of ratchet structure 2224 Yu transmission wheel structure 2222.
Moreover, above-mentioned transmission wheel structure 2222 may also include the first limiting slot for being opened in driving wheel body side, this
The opening direction of one limiting slot faces a ratchet slot 2224a, and one end of above-mentioned connecting-rod body 2226 is articulated with the first limiting slot
In.The rotational angle of connecting-rod body 2226 can be limited by the way that first limiting slot is arranged, connecting-rod body 2226 can be made
Slewing area in a ratchet slot 2224a, avoid 2226 rotational angle of connecting-rod body excessive and can not reset.On in addition,
Stating transmission wheel structure 2222 may also include the second limiting slot for being opened in the transmission wheel body other side, the opening side of the second limiting slot
To in face of 2226 middle part of connecting-rod body, one end of elastic supporting member for supporting optical member 2228 is fixedly arranged in the second limiting slot.It similarly, should by setting
Second limiting slot can limit the fixed-direction of elastic supporting member for supporting optical member 2228, and the end of the elastic supporting member for supporting optical member 2228 is made to begin
It is corresponding in the middle part of connecting-rod body 2226 eventually, it will not be completely disengaged with connecting-rod body 2226 and lose the elasticity to connecting-rod body 2226
Supporting role.
Moreover, above-mentioned transmission wheel structure 2222 may include an elastic connection knot for being opened in transmission wheel body two sides respectively
Structure, each elastic connection structure with a ratchet slot 2224a corresponding matching.It can distinguish in the two sides of transmission wheel structure 2222
One elastic connection structure is set, can be realized simultaneously from two positions transmission wheel structure 2222 and ratchet structure 2224 combination or
Separation.In addition it is also possible to which more elastic connection structures are arranged simultaneously, transmission wheel structure 2222 and ratchet are realized from more multiposition
The combination or separation of structure 2224.In addition, for stress equalization, it can be by two or more elastic connection structures equably
The side of transmission wheel body is set.In addition, can also be in the ratchet slot of the side setting and ratchet structure 2224 of transmission wheel body
The resettlement groove of the corresponding connection of 2224a, and elastic connection structure is set in the resettlement groove, elastic connection structure can be held in this way
It is contained in transmission wheel body, without protruding from outside transmission wheel body, but also elastic connection structure is more reliable and more stable.Moreover,
Each elastic connection structure can be correspondingly arranged in a resettlement groove.
In addition, in the present embodiment, above-mentioned driving gear (or driving nut) can be integrated with ratchet structure 2224,
The structure of stretching structure 220 can be simplified in this way.Further, driving gear can be set as to the outer of the ratchet circle of ratchet structure 2224
Circle, the side that furthermore gear can also will be driven to be installed in ratchet structure 2224.In addition, can also be by driving gear and ratchet structure
2224 are detachably connected, and the two is fixed in same root rotation axis.In addition, in the present embodiment, above-mentioned elastic supporting member for supporting optical member
2228 may be configured as spring leaf.
In addition, in further embodiments, above-mentioned separable drive mechanism 222 may include the output with telescopic drive motor
The transmission wheel structure 2222 of axis connection, and it is sheathed on outer and coaxially connected with the driving gear tooth of the transmission wheel structure 2222
Wheel construction, the gear structure and transmission wheel structure are detachably connectable.Similarly, when telescopic drive motor rotates forward, driving wheel
Structure 2222 also rotates forward, and transmission wheel structure 2222 is in conjunction with gear structure at this time, so as to drive driving gear and transmission
Rack gear (or driving nut and drive lead screw) forward motion (can set driving rack (or drive lead screw) telescopic drive motor just
It is forward motion to motion state when rotation)；And when driving rack (or drive lead screw) reverse movement, driving gear (or drive
Dynamic nut) also rotate backward, so that gear structure be driven to rotate backward, gear structure is separated with transmission wheel structure 2222 at this time,
It not will drive transmission wheel structure 2222 and telescopic drive motor rotate backward.Moreover, said gear structure and transmission wheel structure
2222 combination and separation can be realized by clutch, can also be designed by the structure of its own to realize.
Specifically, said gear structure may include the gear ring coaxially connected with driving gear (or driving nut), be set to
Multiple gear teeth of gear ring inner ring side, and the tooth socket being formed between two adjacent gear teeth.Moreover, above-mentioned transmission wheel structure
2222 can transmission wheel structure include transmission wheel body with the output axis connection of telescopic drive motor, and be set to transmission wheel body
The elastic connection structure in outside, elastic connection structure and tooth socket corresponding matching.Moreover, the elastic connection structure can utilize its own
Elastic card is set in tooth socket, and elastic connection structure and tooth socket can also be made to be detached under the rotation of gear ring.When transmission wheel body exists
When rotating forward under the driving of telescopic drive motor, elastic connection structure is arranged in the tooth socket of gear structure, transmission wheel structure
Gear structure and driving gear (or driving nut) is driven to rotate forward；When driving gear (or driving nut) and gear structure are anti-
To when rotation, elastic connection structure and tooth socket are detached from, and gear structure is just unable to drive transmission wheel structure 2222 and flexible drive at this time
Dynamic motor rotation.
In addition, in the specific structure and matching relationship, with above-described embodiment of said gear structure and transmission wheel structure 2222
Ratchet structure and the specific structure of transmission wheel structure 2222 and matching relationship are substantially similar, and details are not described herein.
In addition, above-mentioned take discharge mechanism 200 to may also include the chute of base structure being set to pick and place on material arm configuration or bottom
Seat rail structure, and carriage slide rails structure or vehicle frame sliding groove structure on above-mentioned 112 inner wall of accommodation groove, the vehicle frame are sliding
Rail structure can cooperate with chute of base structure, which can cooperate with base slide structure.Arm can be expected picking and placing
Guide rail structure is set between structure and accommodation groove 112, is guided to material arm configuration is picked and placed, guarantees to pick and place the flexible of material arm configuration
It is mobile stable precisely reliable.Moreover, the guide rail structure may be disposed between pick-and-place material arm configuration side and 112 side of accommodation groove,
It may also set up in picking and placing between material arm configuration bottom and 112 bottom of accommodation groove when car body top (accommodation groove only through).
In addition, as shown in Figure 1 to Figure 2, the above-mentioned pick-and-place material arm configuration for taking discharge mechanism 200 may include and the stretching structure
The understructure 210 (can be set to rack gear or drive lead screw on the understructure 210) of 220 connections, is set to the understructure
Lifting structure 230 on 210, and the pick-and-place material arm body 240 on the lifting structure 230.Above-mentioned stretching structure 220 can
It stretches out in outside 110 side of car body or shrinks for driving understructure 210 and picking and placing material arm body 240 in 110 side of car body,
Above-mentioned lifting structure 220 can be used for that pick-and-place material arm body 240 is driven to be increased to 110 over top of car body or drop to car body 110
Below top.I.e. above-mentioned stretching structure 220 can drive understructure 210 and pick and place the accommodation groove that material arm body 240 stretches out in car body
It outside 112 sides or shrinks in 112 side of accommodation groove, above-mentioned lifting structure 230 can drive pick-and-place material arm body 240 to be increased to
112 over top of accommodation groove of car body drops to the 112 top lower section of accommodation groove.
Moreover, above-mentioned lifting structure 230 may include at least one on understructure 210 as shown in Fig. 8 to Figure 10
A folding rises the height of a house, and above-mentioned pick-and-place material arm body 240 is fixed on the folding and rises at the top of the height of a house.I.e. by folding and opening the folding liter
The height of a house, so that it may realize the lifting to material arm body 240 is picked and placed, it is stable and firm, it is simple and convenient.Moreover, when not in use, the folding
It rises the height of a house after folding, can make to pick and place material arm body 240 and understructure 210 close to reduction takes the occupancy of discharge mechanism 200 empty
Between, the volume of the automatic transportation equipment can be further decreased, and then reduce its occupied space.Moreover, can also be in understructure 210
And pick and place and be uniformly arranged multiple foldings liter height of a house between material arm body 240, keep the stress of total more balanced, when loading and unloading material
It is more reliable and more stable.Moreover, above-mentioned folding fold rise the height of a house may include be connected to understructure 210 and pick and place material arm body 240 it
Between folding frame body 234, and for stretch the folding frame body make its be unfolded or shrink stretching rod structure 232, can pass through
Pull stretching rod structure 232 folding stand body 234 can be unfolded, by stretching rod structure 232 to reversed pull to side
Folding stand body 234 can be shunk.
In addition, above-mentioned lifting structure 230 may also comprise at least one hydraulic lifting bar assembly on understructure 210
(such as hydraulic jack) is gone up and down using hydraulic structure to material arm body is picked and placed.Further, it is also possible to which the lifting structure is arranged
For the structure with vertical rail, picking and placing material arm body can move along the vertical rail.
In addition, the mechanism that automatic clamping and placing pallet can be achieved is charged, is carried and the process of discharging is as follows: extremely such as Fig. 5
Above-mentioned to take discharge mechanism 200 in loading shown in Fig. 7, the telescopic drive motor of stretching structure 220 is by separating drive mechanism
The linear transmission structure 224 that 222 drivings are connect with understructure 210 moves linearly to outside car body 110, so that pick-and-place be driven to expect
Arm body 240 stretches out in outside 110 side of car body, the lower section until being moved to material 300 (pallet as stored cargo)；Then, such as
Shown in Fig. 8, lifting structure 230, which drives to pick and place, expects that arm body 240 is increased to 110 over top of car body, until mobile until storage goods
The height of the pallet of object simultaneously holds up pallet；As shown in Fig. 9 to Figure 10, holding takes discharge mechanism 200 motionless, can make to stretch
Structure 220 remains stationary and is moved to car body 110 below pallet in the drive of driving wheel 120, at this time telescopic drive motor
(linear transmission structure 224 and telescopic drive motor point will not be rotated backward under the action of separable drive mechanism 222
From), that is, it may make the lower section for picking and placing the pallet that material arm body 240 is moved to storage cargo relative to car body 110, so that pallet
Above car body 110；Then, as shown in Figure 11 to Figure 12, lifting structure 230, which drives, picks and places the material reverse movement of arm body 240,
Drop to 110 top lower section of car body, so that pallet is located at the top of car body 110, that is, effect shipment process.During transportation,
It picks and places material arm body 240 not stressing, the pallet for storing cargo undertakes by car body, can reduce the requirement to material arm body 240 is picked and placed, mention
The high life and reliability of lifting structure.In addition, picking and placing material arm body 240 can keep after pick-and-place material arm body 240 lifts pallet
It is motionless, and it is moved to car body 110 below pallet relative to pick-and-place material arm body 240, it is being stretched relative to material arm body 240 is picked and placed
For the scheme moved under the drive of shrinking structure 220 to car body 110, the pick-and-place material arm body 240 of support pallet can avoid in movement
In shake, protection pallet be in stable state, be also avoided that drive telescope motor cause to damage.
Moreover, picking and placing material arm body 240 in above-mentioned loading process and remaining stationary, car body 110 expects arm body relative to pick-and-place
When 240 movement, which can achieve the goal to remain stationary by the effect of external force.For example, can be the bottom of at
The front end of holder structure 210 is equipped with brake member, it is fixed for resisting understructure 210, to avoid understructure 210
It is moved forward with car body 110.Wherein, which can be supporting leg, cushion block etc., herein with no restrictions.Moreover, above-mentioned pick-and-place
Material mechanism 200 may also include the support wheel construction set on 210 bottom of understructure, and the pallet for being loaded with cargo will compress support wheel knot
Structure makes it have certain frictional force between ground (or other body surfaces), so that the car body pick-and-place material arm body when moving
240 can remain stationary.
In addition, the mechanism of above-mentioned achievable automatic clamping and placing pallet is in unloading, car body 110, which is first moved to, discharges material 300
Position at, lifting structure 230 drive pick and place material arm body 240 be increased to 110 over top of car body, until being moved to storage cargo
Pallet height, the pallet that will store cargo holds up, and is detached from pallet and car body 110；Then, it keeps taking discharge mechanism 200
It is motionless, stretching structure 220 can be made to remain stationary and move car body 110 under the drive of driving wheel structure 120, this
When telescopic drive motor occur passively to rotate forward under the action of separable drive mechanism 222 (linear transmission structure 224 with
Telescopic drive motor passively combines), it is discharged at position until being moved to material 300；Then, lifting structure 230, which drives, picks and places material
Arm body 240 moves backward, that is, drops to and discharge at the position of material, pallet is made to be held on the material frame for discharging material or other objects
On body, makes to pick and place and expect that arm body 240 is separated with pallet；Then, lifting structure 230 drops to initial position, stretching structure 220
It can also be retracted by the opposite of the mobile realization stretching structure 220 of car body 110, that is, effect shipment process.
The utility model proposes technical solution in, when carry be loaded with the pallet of cargo when, can will be taken by stretching structure
Blowing arm body extend out to the bottom of the pallet equipped with cargo relative to car body, is promoted to pick and place by lifting structure and expects that arm body to hold in the palm
Height where the bottom surface of disk is higher than the height of car body, and the position which unloads needed for being moved to passes through lifting
Pallet is placed in target position by structure and the synergistic effect of stretching structure.Alternatively, may be used also by the automatic transportation equipment
Cargo on shelf is subjected to upper and lower level transfer, i.e., in the handling process, car body is without movement.Pass through lifting structure and stretches
Cargo can be loaded into automatically on car body and can be automatically performed unloading operation by the synergistic effect of structure, the automatic transportation equipment, from
Dynamicization degree height, good economy performance.Also, it in the handling process, picks and places material arm body support pallet and is located at the top of car body, so as to
It is operated in implementing to carry in narrow space, use is more flexible.Moreover, in above-mentioned handling process, stretching structure and lifting knot
Structure is respectively independent to the adjusting for the position for picking and placing material arm body, flexible operation.In addition, car body is equipped with accommodation groove, it can be achieved that automatic
The mechanism for picking and placing pallet is set in the accommodation groove, and picking and placing material arm body can stretch out on the outside of the accommodation groove under the drive of stretching structure.
And under use state, stretching structure can will pick and place material arm body as needed and stretch out outside car body；And under without using state, it picks and places
Expect that arm body can be located in the accommodation groove of car body, it can be reduced and taken up space.In addition, by the way that separable pass is arranged in stretching structure
Dynamic structure, can invert, securely and reliably to avoid telescopic drive motor.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
Under all utility models in the utility model are conceived, equivalent structure made based on the specification and figures of the utility model
Transformation, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (10)
1. a kind of mechanism of achievable automatic clamping and placing pallet, which is characterized in that the flexible knot including rack, in the rack
Structure (220), and the pick-and-place material arm configuration being connect with the stretching structure (220)；
The stretching structure (220) includes the telescopic drive motor in the rack, is connect with the telescopic drive motor
Separable drive mechanism (222), and the connection separable drive mechanism (222) and described pick and place the straight line for expecting arm configuration
Drive mechanism (224), the linear transmission structure (224) is for driving the pick-and-place material arm configuration linear expansion；
When the telescopic drive motor rotates forward, the separable drive mechanism (222) drives the linear transmission structure
(224) it moves；When the telescopic drive motor rotates backward trend, the separable drive mechanism (222) and the straight line
Drive mechanism (224) separation.
2. the mechanism of achievable automatic clamping and placing pallet according to claim 1, which is characterized in that the linear transmission structure
It (224) include the driving gear being connect with the separable drive mechanism (222), and the transmission engaged with the driving gear
Rack gear, the driving rack are fixedly connected with pick-and-place material arm configuration.
3. the mechanism of achievable automatic clamping and placing pallet according to claim 1, which is characterized in that the linear transmission structure
It (224) include the driving nut being connect with the separable drive mechanism (222), and the transmission with the driving nut cooperation
Screw rod, the drive lead screw are fixedly connected with pick-and-place material arm configuration.
4. the mechanism of achievable automatic clamping and placing pallet according to claim 2, which is characterized in that the separable transmission knot
Structure (222) includes the transmission wheel structure (2222) with the output axis connection of the telescopic drive motor, and is sheathed on the biography
Driving wheel structure (2222) ratchet structure (2224) coaxially connected outside and with the driving gear, the ratchet structure (2224)
It is detachably connectable with the transmission wheel structure (2222)；
The ratchet structure (2224) includes the ratchet circle coaxially connected with the driving gear, is set to the ratchet circle inner ring side
Multiple hook tooths (2224b), and the ratchet slot (2224a) being formed between the hook tooth (2224b) of adjacent two；
The transmission wheel structure (2222) includes the transmission wheel body with the output axis connection of the telescopic drive motor, Yi Jishe
Elastic connection structure on the outside of the transmission wheel body, the elastic connection structure are corresponding with the ratchet slot (2224a)；
When the transmission wheel body rotates forward under the driving of the telescopic drive motor, the elastic connection structure card is set
In the ratchet slot (2224a) of the ratchet structure (2224), the transmission wheel structure (2222) drives the ratchet structure
(2224) it is rotated forward with the driving gear；When the driving gear and the ratchet structure (2224) rotate backward, institute
It states elastic connection structure and the ratchet slot (2224a) is detached from.
5. the mechanism of achievable automatic clamping and placing pallet according to claim 4, which is characterized in that the elastic connection structure
Including being articulated with the connecting-rod body (2226) of the driving wheel body side, and it is fixed on the transmission wheel body other side
Elastic supporting member for supporting optical member (2228), the elastic supporting member for supporting optical member (2228) make at its holding for flexibly supporting the connecting-rod body (2226)
State in the ratchet slot (2224a)；
Described connecting-rod body (2226) one end is articulated on the transmission wheel body, the other end and the ratchet slot (2224a) are right
It answers；Described elastic supporting member for supporting optical member (2228) one end is fixed on the transmission wheel body, other end elasticity is pushed against in the connecting rod
In the middle part of body (2226)；
When the transmission wheel body rotates forward, elastic force of the connecting-rod body (2226) in the elastic supporting member for supporting optical member (2228)
It is clamped under effect in the ratchet slot (2224a)；When the ratchet structure (2224) rotates backward, the connecting-rod body
(2226) overcome the elastic force of the elastic supporting member for supporting optical member (2228) to act on, be detached from the ratchet slot (2224a).
6. the mechanism of achievable automatic clamping and placing pallet according to claim 5, which is characterized in that the ratchet slot
(2224a) include from the top of the hook tooth (2224b) to another adjacent described hook tooth (2224b) root gradually
Deep arc inlet portion, and be set at the root the hook tooth (2224b) and be connected to the arc inlet portion hook-shaped
Sticking department；
When the transmission wheel body rotates forward, the end of the connecting-rod body (2226) is in the elastic supporting member for supporting optical member (2228)
Elastic force effect under, slid into the hook-shaped sticking department along the arc inlet portion of the ratchet slot (2224a) and with institute
The root for stating hook tooth (2224b) pushes against；When the ratchet structure (2224) rotates backward, the connecting-rod body (2226)
End overcomes the elastic force of the elastic supporting member for supporting optical member (2228) to act on, and skids off along the arc inlet portion and is detached from the ratchet slot
(2224a)。
7. the mechanism of achievable automatic clamping and placing pallet according to claim 5, which is characterized in that the transmission wheel structure
It (2222) include the first limiting slot for being opened in the driving wheel body side, the opening direction of first limiting slot faces institute
It states ratchet slot (2224a), one end of the connecting-rod body (2226) is articulated in first limiting slot；
It further include the second limiting slot for being opened in the transmission wheel body other side, the opening direction of second limiting slot faces
In the middle part of the connecting-rod body (2226), one end of the elastic supporting member for supporting optical member (2228) is fixedly arranged in second limiting slot.
8. the mechanism of achievable automatic clamping and placing pallet according to claim 5, which is characterized in that the transmission wheel structure
It (2222) include an elastic connection structure for being opened in the transmission wheel body two sides respectively, each elastic connection
Structure with ratchet slot (2224a) corresponding matching.
9. the mechanism of achievable automatic clamping and placing pallet according to claim 2, which is characterized in that the separable transmission knot
Structure (222) includes the transmission wheel structure (2222) with the output axis connection of the telescopic drive motor, and is sheathed on the biography
Driving wheel structure (2222) gear structure coaxially connected outside and with the driving gear, the gear structure and the driving wheel
Structure (2222) is detachably connectable；
The gear structure includes the gear ring coaxially connected with the driving gear, set on the multiple of gear ring inner ring side
The gear teeth, and the tooth socket being formed between two adjacent gear teeth；
The transmission wheel structure (2222) includes the transmission wheel body with the output axis connection of the telescopic drive motor, Yi Jishe
Elastic connection structure on the outside of the transmission wheel body, the elastic connection structure are corresponding with the tooth socket；
When the transmission wheel body rotates forward under the driving of the telescopic drive motor, the elastic connection structure card is set
In the tooth socket of the gear structure, the transmission wheel structure (2222) drives the gear structure and the driving gear positive
Rotation；When the driving gear and the gear structure rotate backward, the elastic connection structure and the tooth socket are detached from.
10. the mechanism of achievable automatic clamping and placing pallet described in -9 any one according to claim 1, which is characterized in that described
Picking and placing material arm configuration includes the understructure (210) connecting with the stretching structure (220), is set to the understructure (210)
On lifting structure (230), and be set to the lifting structure (230) on pick-and-place material arm body (240).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821752617.9U CN209160604U (en) | 2018-10-26 | 2018-10-26 | A kind of mechanism of achievable automatic clamping and placing pallet |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821752617.9U CN209160604U (en) | 2018-10-26 | 2018-10-26 | A kind of mechanism of achievable automatic clamping and placing pallet |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722067A (en) * | 2020-12-24 | 2021-04-30 | 黄日民 | Storage conveying robot |
| CN115557143A (en) * | 2022-11-25 | 2023-01-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
-
2018
- 2018-10-26 CN CN201821752617.9U patent/CN209160604U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722067A (en) * | 2020-12-24 | 2021-04-30 | 黄日民 | Storage conveying robot |
| CN115557143A (en) * | 2022-11-25 | 2023-01-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
| CN115557143B (en) * | 2022-11-25 | 2023-03-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
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