CN210551234U - Bidirectional movement's transportation manipulator - Google Patents

Bidirectional movement's transportation manipulator Download PDF

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Publication number
CN210551234U
CN210551234U CN201922440406.2U CN201922440406U CN210551234U CN 210551234 U CN210551234 U CN 210551234U CN 201922440406 U CN201922440406 U CN 201922440406U CN 210551234 U CN210551234 U CN 210551234U
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China
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vertical
arm
base
moving platform
horizontal pole
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CN201922440406.2U
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Chinese (zh)
Inventor
周绍鹏
王守哲
李俊涛
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Jinan Juve Electric Technology Co Ltd
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Jinan Juve Electric Technology Co Ltd
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Abstract

The utility model relates to a two-way movement's transportation manipulator, include base, X axle mechanism and install the Y axle mechanism on the base, Y axle mechanism include the main part support frame, with the vertical movement platform of main part support frame upper and lower sliding connection, vertical installation ball in the main part support frame, ball screw's ball nut and vertical movement platform rigid coupling, X axle mechanism include horizontal migration arm and grabbing device. The utility model discloses a set up the removal that the position was controlled to the X axle mechanism can realize grabbing device gripper, realize the removal of gripper upper and lower position through Y mechanism, through first drive arrangement and second drive arrangement adjustment grabbing device's upper and lower, left and right position snatch or release the product to the given position, for prior art, the work efficiency and the range of movement of letter sorting product have been improved, and can carry out large-scale production, highly clean working environment has also been realized, the safety in utilization of product has been improved.

Description

Bidirectional movement's transportation manipulator
Technical Field
The utility model relates to a transportation manipulator technical field specifically indicates a bidirectional movement's transportation manipulator.
Background
In a plastic product production line, after demoulding, the product is placed on a weighing mechanism for weighing, when the product reaching a specified number on the weighing mechanism is detected, the product on the weighing mechanism is taken out and transported to a production line belt for classification and packaging, in the prior art, the product on the weighing mechanism needs to be taken out manually and placed on a transport belt, and the production mode consumes a large amount of human resources, has low labor efficiency and is inconvenient for large-scale production; another disadvantage of manual handling is that a highly clean working environment cannot be achieved, and bacteria are easily carried, which causes unsanitary conditions of the product.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art not enough, provide a two-way movement's transportation manipulator, through the removal of X axle mechanism realization gripper left and right sides position, through the removal of Y mechanism realization gripper upper and lower position, utilize the gripper to snatch the product automatically, place the given position, improved the work efficiency of letter sorting product to can carry out large-scale production.
The utility model discloses a through following technical scheme realizes, provides a two way movement's transportation manipulator, include base, X axle mechanism and install the Y axle mechanism on the base, Y axle mechanism include the main part support frame, with the vertical movement platform of main part support frame upper and lower sliding connection, vertical installation ball in the main part support frame, ball's ball nut and vertical movement platform rigid coupling, ball's upper end is connected with first drive arrangement, vertical movement platform's leading flank is equipped with two transverse guide and is located the gear between two transverse guide, wear to be equipped with the transmission shaft in the gear, transmission shaft and gear key-type connection, the gear is connected with the second drive arrangement who installs on vertical movement platform.
The X-axis mechanism comprises a horizontal moving mechanical arm and a grabbing device, the horizontal moving mechanical arm comprises an upper sliding arm, a left side arm, a lower sliding arm and a right side arm, the upper sliding arm, the left side arm, the lower sliding arm and the right side arm are sequentially connected into a rectangular frame from head to tail, the upper sliding arm and the lower sliding arm are transversely connected in a sliding way, one end of the upper sliding arm extends outwards, one end of the upper sliding arm extending outwards is connected with the grabbing device, a rack is fixedly arranged on the upper end face of the lower sliding arm, and the rack is meshed with a gear arranged on the front side face of the vertical moving platform.
The utility model comprises a base, an X-axis mechanism and a Y-axis mechanism arranged on the base, wherein the Y-axis mechanism comprises a main body supporting frame and a vertical moving platform which is connected with the main body supporting frame in a sliding way, a ball screw is vertically arranged in the main body supporting frame, the ball screw is the prior art, not described in detail herein, the two ends of the ball screw are connected with bearings, the upper end of the ball screw is connected with the first driving device, the ball nut of the ball screw is fixedly connected with the inner side of the vertical moving platform, the vertical moving platform is driven to move up and down through positive and negative rotation of the ball screw, the front side face of the vertical moving platform is provided with two transverse guide rails and a gear located between the two transverse guide rails, the two transverse guide rails are arranged in an up-and-down parallel mode, the gear penetrates through the front side face of the vertical moving platform, and the gear is connected with a second driving device installed on the vertical moving platform and drives the gear through the second driving device.
The X-axis mechanism comprises a horizontal moving mechanical arm and a grabbing device, the grabbing device is installed on the horizontal moving mechanical arm, the horizontal moving mechanical arm can move left and right through the horizontal moving mechanical arm, the horizontal moving mechanical arm comprises an upper sliding arm, a left side arm, a lower sliding arm and a right side arm which are sequentially connected end to form a rectangular frame, the upper sliding arm and the lower sliding arm are matched with a transverse guide rail and are transversely connected in the transverse guide rail in a sliding mode, the transverse guide rail can prevent the horizontal moving mechanical arm from derailing, one end of the upper sliding arm extends outwards, the grabbing device is connected to the end extending outwards, the grabbing length of the grabbing device can be lengthened through the arrangement, a rack is fixedly arranged on the upper end face of the lower sliding arm and is meshed with a gear installed on the front side face of the vertical moving platform, the gear rotates through a second driving device, the rack is driven to move left and right through the gear, when products on a weighing mechanism in a plastic product production line reach a specified number, the vertical moving platform is controlled by the first driving device to move downwards for a specified distance, the grabbing device grabs the products through the second driving device, the vertical moving platform rises to the original position, the grabbing device moves to the position right above a belt of the plastic production line, the vertical moving platform is controlled to move downwards for a certain distance, the grabbing device releases the products, the vertical moving platform and the horizontal moving mechanical arm return to the original position to wait for next grabbing, and therefore a conveying process is completed.
Preferably, the gripping device comprises an air claw and a mechanical claw, the mechanical claw comprises a left mechanical claw and a right mechanical claw which are symmetrically arranged, and the upper ends of the left mechanical claw and the right mechanical claw are fixedly connected with the air claw.
This preferred scheme grabbing device includes gas claw and gripper, and the gripper is including left gripper and the right gripper that the symmetry set up, the clamping jaw rigid coupling of left gripper and right gripper's upper end and gas claw lower extreme, and left gripper and right gripper symmetry set up, and the gas claw is prior art, and the gas claw is connected with the cylinder driver, does not do not describe here any more, through the left gripper of the control of opening and shutting of gas claw clamping jaw and the snatching and releasing of product of right gripper.
As preferred, left side gripper and right gripper include connecting rod and rigid coupling respectively at the connecting rod with the first horizontal pole of one side, first horizontal pole is a plurality ofly, the one end rigid coupling of first horizontal pole on the connecting rod to distribute along connecting rod length direction, the vertical rigid coupling of one side that the connecting rod was kept away from to first horizontal pole has vertical pole, the lower extreme rigid coupling of vertical pole has the second horizontal pole that extends to the inboard, first horizontal pole and second horizontal pole are isometric, and lie in vertical pole homonymy, vertical pole is perpendicular with first horizontal pole and second horizontal pole.
The left gripper and the right gripper of the utility model respectively comprise connecting rods and a first cross rod fixedly connected on the same side of the connecting rods, the two connecting rods are fixedly connected with two clamping jaws at the lower end of the gas gripper respectively, the connecting rods of the left gripper and the right gripper are the same as the cross rods, the first cross rods are multiple, one end of each first cross rod is fixedly connected on the connecting rods and distributed along the length direction of the connecting rods, one side of each first cross rod, which is far away from the connecting rods, is vertically fixedly connected with a vertical rod, the lower end of each vertical rod is fixedly connected with a second cross rod extending towards the inner side, the first cross rods and the second cross rods are equal in length and positioned at the same side of the vertical rods, the vertical rods are perpendicular to the first cross rods and the second cross rods, so that each group of the first cross rods, the vertical rods and the second cross rods of the left gripper and the right gripper are combined to form a semi-square shape respectively, the pneumatic gripper drives the left mechanical gripper and the right mechanical gripper to move, and a product is grabbed between the left mechanical gripper and the right mechanical gripper.
As preferred, the main part support frame includes vertical left branch strut, the right branch strut of installing on the base to and the last backup pad of rigid coupling in left branch strut and right branch strut upper end, the vertical left linear guide that installs of left branch strut, the vertical right linear guide that installs of right branch strut, vertical moving platform sliding joint is on left linear guide and right linear guide.
This preferred scheme main part support frame includes the vertical left branch strut of installing on the base, the right branch strut to and the rigid coupling is at the last backup pad of left branch strut and right branch strut upper end, and the vertical left linear guide rail of installing of left branch strut, and the vertical right linear guide rail of installing of right branch strut makes vertical migration platform sliding connection on the guide rail through setting up left linear guide rail and right linear guide rail, the vertical stable removal about the vertical migration platform of being convenient for.
Preferably, the first driving device comprises a first servo motor installed on the upper supporting plate, an output end of the first servo motor is connected with an upper end of the ball screw through a coupler, the second driving device comprises a second servo motor arranged at one end far away from a mounting surface of the vertical moving platform, and the second servo motor is connected with a gear.
This preferred scheme's first drive arrangement is including installing the first servo motor in the backup pad, the output through first servo motor passes through the shaft coupling and is connected with ball, first servo motor drive ball work, second drive arrangement is including establishing the second servo motor who keeps away from vertical migration platform installation face one end, the output of second servo motor passes through shaft coupling and gear connection, through gear and rack toothing, drive horizontal migration arm and grabbing device effect and remove, the product of grabbing on the weighing mechanism releases on the belt, pack.
Preferably, the base is further provided with a support rod, the support rod comprises a left support rod and a right support rod, one end of the left support rod is fixedly connected with the base, the other end of the left support rod inclines upwards and is fixedly connected with one side of the left support frame, one end of the right support rod is fixedly connected with the base, and the other end of the right support rod inclines upwards and is fixedly connected with one side of the right support frame.
Still be equipped with the bracing piece on this preferred scheme's the base, the bracing piece includes left branch vaulting pole and right branch vaulting pole, through setting up left branch vaulting pole and right branch vaulting pole, increases the stability of left branch vaulting pole and right branch vaulting pole.
Preferably, a plurality of hooves are installed on the lower end face of the base, and the hooves are in threaded connection with the base through screws.
This preferred scheme is through the lower terminal surface distribution at the base install four hooves, and the hoof passes through bolted connection with the base, can adjust through the hoof the utility model discloses a height.
The utility model has the advantages that: the X-axis mechanism is arranged to move left and right positions of a mechanical claw of the grabbing device, the Y mechanism is used for moving up and down positions of the mechanical claw, the first driving device and the second driving device are used for adjusting the upper position, the lower position, the left position and the right position of the grabbing device to grab or release a product to a given position, and compared with the prior art, the mechanical gripper has the advantages that the work efficiency and the moving range of the sorted product are improved, large-scale production can be realized, the highly-clean labor environment is also realized, and the use safety of the product is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic left side view of FIG. 1;
FIG. 3 is an enlarged view of the structure at A in FIG. 1;
fig. 4 is a schematic view of the left and right gripper in an open state.
Shown in the figure:
1. go up the backup pad, 2, left branch strut, 3, right branch strut, 4, a pedestal, 5, vertical migration platform, 51, vertical migration platform installation face, 52, transverse guide, 6, ball, 7, first servo motor, 8, second servo motor, 9, go up the slide arm, 91, the rack, 92, left side arm, 93, right side arm, 94, the lower slide arm, 10, the gas claw, 11, left gripper, 101, right gripper, 12, the gear, 13, left linear guide, 14, right linear guide, 15, the connecting rod, 16, vertical rod, 17, first horizontal pole, 18, the second horizontal pole, 19, the hoof foot, 20, the bracing piece.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in FIGS. 1 to 4, a bidirectional moving manipulator for transportation comprises a base 4, an X-axis mechanism and a Y-axis mechanism installed on the base 4, wherein the Y-axis mechanism comprises a main body supporting frame and a vertical moving platform 5 which is in up-and-down sliding connection with the main body supporting frame, a ball screw 6 is vertically arranged in the main body supporting frame, the ball screw 6 is the prior art, do not do here and give unnecessary details, 6 both ends of ball are connected with the bearing, and 6 upper ends of ball are connected with a drive arrangement, and a drive arrangement is including installing first servo motor 7 in upper support plate 1, and first servo motor 7 is selected in prior art according to actual conditions, and first servo motor 7's output shaft passes through the shaft coupling to be connected with ball's upper end, and ball's both ends are passed through the bearing respectively and are installed on upper support plate and bottom plate, the work of the ball of being convenient for.
Ball 6's ball nut and the inboard rigid coupling of vertical movement platform 5, through ball 6 just reversing, drive vertical movement platform 5 and reciprocate, 6 downside of ball are provided with the spacing photoelectric switch of vertical movement, prevent that vertical movement platform from driving the horizontal migration arm and bump ground, it is right the utility model discloses bring the damage.
The front side surface of the vertical moving platform 5 is provided with two transverse guide rails 52 and a gear 12 positioned between the two transverse guide rails 52, the two transverse guide rails 52 are arranged in an up-down parallel manner, the two transverse guide rails 52 are arranged into two groups, the gear 12 is axially arranged on the front side surface of the vertical moving platform 5 through the gear 12, the gear 12 is connected with a second driving device arranged on the vertical moving platform 5, and the gear 12 is rotated through the second driving device.
The X-axis mechanism comprises a horizontal moving mechanical arm and a grabbing device, the grabbing device is installed on the horizontal moving mechanical arm, the left and right positions are moved through the horizontal moving mechanical arm, the horizontal moving mechanical arm comprises an upper sliding arm 9, a left side arm 92, a lower sliding arm 94 and a right side arm 93 which are sequentially connected end to form a rectangular frame, the upper sliding arm 9 and the lower sliding arm 94 are matched with a transverse guide rail 52, the upper sliding arm 9 is transversely connected in the two transverse guide rails 52 which are transversely arranged and arranged on a straight line in a sliding mode, the lower sliding arm 94 is also transversely connected in the two transverse guide rails 52 which are transversely arranged and arranged on a straight line in a sliding mode, the transverse guide rail which is connected with the upper sliding arm 9 in a sliding mode is positioned above the transverse guide rail which is connected with the lower sliding arm 94, the transverse guide rail 52 can prevent the horizontal moving mechanical arm from derailing, one end of the upper sliding arm 9, the grabbing length of the grabbing device can be lengthened, a rack 91 is fixedly arranged on the upper end face of the lower sliding arm, the rack 91 is meshed with a gear 12 arranged on the front side face of the vertical moving platform 5, a horizontal moving limiting photoelectric switch is arranged on the rack 12 to prevent the gear 12 from touching a left side arm 92 or a right side arm 93 of the horizontal moving mechanical arm, the second driving device comprises a second servo motor 8 arranged at one end far away from the mounting face of the vertical moving platform 5, the output end of the second servo motor 8 is connected with the gear 12 through a coupler, the gear 12 is rotated through the second driving device, the gear 12 drives the rack 91 to move left and right to realize the movement of the horizontal moving mechanical arm, when the products on a weighing mechanism in a plastic product production line reach a specified number, the vertical moving platform 5 is controlled by the first driving device to move downwards for a specified distance, and the grabbing device grabs the products through, the vertical moving platform 5 rises to the original position, the gripping device moves right above the belt of the plastic production line, then the vertical moving platform 5 is controlled to move downwards for a certain distance, the gripping device releases products, the vertical moving platform 5 and the horizontal moving mechanical arm return to the original position to wait for the next gripping, and thus, one-time conveying flow is completed. The second servo motor 8 is selected in the prior art according to actual working conditions, and is meshed with the rack 91 through the gear 12 to drive the horizontal moving mechanical arm and the grabbing device to move, so that products on the grabbing and weighing mechanism are released onto the belt to be packaged.
The gripping device comprises a gas claw 10 and a mechanical claw, the mechanical claw comprises a left mechanical claw 11 and a right mechanical claw 101 which are symmetrically arranged, the upper ends of the left mechanical claw 11 and the right mechanical claw 101 are fixedly connected with a clamping jaw at the lower end of the gas claw 10, the left mechanical claw 11 and the right mechanical claw 101 are symmetrically arranged, the gas claw 10 is the prior art and is not described herein any more, the gas claw 10 is connected with an air cylinder driver, and the gripping and releasing of the left mechanical claw 11 and the right mechanical claw 101 to a product are controlled through the opening and closing of the clamping jaw of the gas claw 10. The left gripper 11 and the right gripper 101 respectively comprise a connecting rod 18 and a first cross rod 19 fixedly connected to the same side of the connecting rod 18, the two connecting rods 18 are fixedly connected to two clamping jaws at the lower end of the pneumatic gripper respectively, the connecting rods 18 of the left gripper 11 and the right gripper 101 are identical to the first cross rod 19, a plurality of first cross rods 19 are provided, one end of each first cross rod 19 is fixedly connected to the connecting rod 18 and distributed along the length direction of the connecting rod 18, one side of each first cross rod 19, which is far away from the connecting rod 18, is vertically fixedly connected with a vertical rod 21, the lower end of each vertical rod 21 is fixedly connected with a second cross rod 20 extending inwards, the first cross rods 19 and the second cross rods 20 are equal in length and located on the same side of the vertical rods 21, the vertical rods 21 are perpendicular to the first cross rods 19 and the second cross rods 20, so that each group of the first cross rods 19, the vertical rods 21 and the second cross rods 20 of, the semi-square openings of the left mechanical claw 11 and the right mechanical claw 101 face inwards, the grabbing area is increased, the air claw 10 drives the left mechanical claw 11 and the right mechanical claw 101 to move, and products are grabbed between the left mechanical claw 11 and the right mechanical claw 101.
The main part support frame includes vertical left branch strut 2 of installing on base 4, right branch strut 3, and the rigid coupling is at last backup pad 1 of left branch strut 2 and 3 upper ends of right branch strut, left straight line guide 13 is vertically installed to left branch strut 2, travel switch is still installed to the lower part of left branch strut 2, be used for control circuit and vertical migration platform 5, the action of horizontal migration arm, right branch strut 3 is vertical installs right straight line guide 14, through setting up left straight line guide 13 and right straight line guide 14, make vertical migration platform 5 sliding connection on the guide rail, be convenient for vertical migration platform 5 from top to bottom stable removal. A plurality of rubber hoof feet 17 are installed to the lower terminal surface of base 4, can increase the utility model discloses stability on the plastic production line reduces the vibrations that grabbing device brought when snatching or releasing the product
Still be equipped with bracing piece 20 on the base, bracing piece 20 includes left branch vaulting pole and right branch vaulting pole, and left branch vaulting pole one end and 4 rigid couplings of base, other end tilt up and one side rigid coupling of left branch vaulting pole 2, right branch vaulting pole one end and 4 rigid couplings of base, other end tilt up and one side rigid coupling of right branch vaulting pole 3 through setting up left branch vaulting pole and right branch vaulting pole, increase the stability of left branch vaulting pole 2 and right branch vaulting pole 3.
Four hoof feet 19 are installed in the lower terminal surface distribution of base, and the hoof foot 19 passes through bolted connection with base 4, can adjust through hoof foot 19 the utility model discloses a height.
The using method comprises the following steps: when the fact that the specified number of products on the weighing mechanism in the previous process is detected, taking grabbing disposable gloves as an example, the pneumatic claw 10 is opened by controlling the cylinder driver, the second servo motor 8 is controlled to control the horizontal moving mechanical arm to move to the position above the weighing mechanism, then the first servo motor 7 is controlled to control the ball screw 6 to work, the vertical moving platform 5 is further controlled to move downwards for a certain position, the left mechanical claw 11 and the right mechanical claw 101 are opened to grab a stack of disposable gloves, similarly, the vertical moving platform 5 is controlled to move upwards to the original position by the first servo motor 7, the grabbing device of the horizontal moving mechanical arm is controlled to place the products on a conveying belt of a plastic product production line, and finally the vertical moving platform 5 and the horizontal moving mechanical arm are controlled to return to the original position to wait for grabbing next time.
Of course, the above description is not limited to the above examples, and technical features of the present invention that are not described in the present application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only used for illustrating the technical solutions of the present invention and are not intended to limit the present invention, and the present invention has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions made by those skilled in the art within the spirit of the present invention should also belong to the protection scope of the claims of the present invention.

Claims (7)

1. The utility model provides a bidirectional movement's transportation manipulator, includes the base, its characterized in that: the X-axis mechanism and the Y-axis mechanism are arranged on the base, the Y-axis mechanism comprises a main body supporting frame and a vertical moving platform which is in up-and-down sliding connection with the main body supporting frame, a ball screw is vertically arranged in the main body supporting frame, a ball nut of the ball screw is fixedly connected with the vertical moving platform, the upper end of the ball screw is connected with a first driving device, two transverse guide rails and a gear positioned between the two transverse guide rails are arranged on the front side surface of the vertical moving platform, and the gear is connected with a second driving device arranged on the vertical moving platform;
the X-axis mechanism comprises a horizontal moving mechanical arm and a grabbing device, the horizontal moving mechanical arm comprises an upper sliding arm, a left side arm, a lower sliding arm and a right side arm, the upper sliding arm, the left side arm, the lower sliding arm and the right side arm are sequentially connected into a rectangular frame from head to tail, the upper sliding arm and the lower sliding arm are transversely connected in a sliding way, one end of the upper sliding arm extends outwards, one end of the upper sliding arm extending outwards is connected with the grabbing device, a rack is fixedly arranged on the upper end face of the lower sliding arm, and the rack is meshed with a gear arranged on the front side face of the vertical moving platform.
2. A bi-directional mobile transport robot as recited in claim 1, further comprising: the gripping device comprises an air claw and a mechanical claw, the mechanical claw comprises a left mechanical claw and a right mechanical claw which are symmetrically arranged, and the upper ends of the left mechanical claw and the right mechanical claw are fixedly connected with the air claw.
3. A bi-directional mobile transport robot as recited in claim 2, further comprising: left side gripper and right gripper include connecting rod and rigid coupling respectively at the same first horizontal pole of one side of connecting rod, first horizontal pole is a plurality ofly, and the one end rigid coupling of first horizontal pole is on the connecting rod to distribute along connecting rod length direction, the vertical rigid coupling in one side that the connecting rod was kept away from to first horizontal pole has vertical pole, the lower extreme rigid coupling of vertical pole has the second horizontal pole that extends to the inboard, first horizontal pole and second horizontal pole are isometric, and lie in vertical pole homonymy, vertical pole is perpendicular with first horizontal pole and second horizontal pole.
4. A bi-directional mobile transport robot as recited in claim 1, further comprising: the main part support frame includes vertical left branch strut, the right branch strut of installing on the base to and the rigid coupling is at the last backup pad of left branch strut and right branch strut upper end, the vertical left linear guide that installs of left branch strut, the vertical right linear guide that installs of right branch strut, the vertical moving platform sliding joint is on left linear guide and right linear guide.
5. A bi-directional mobile transport robot as recited in claim 1, further comprising: the first driving device comprises a first servo motor arranged on the upper supporting plate, the output end of the first servo motor is connected with the upper end of the ball screw through a coupler, the second driving device comprises a second servo motor arranged at one end far away from the mounting surface of the vertical moving platform, and the second servo motor is connected with a gear.
6. A bi-directional mobile transport robot as recited in claim 1, further comprising: the base is further provided with a supporting rod, the supporting rod comprises a left supporting rod and a right supporting rod, one end of the left supporting rod is fixedly connected with the base, the other end of the left supporting rod inclines upwards and is fixedly connected with one side of the left supporting frame, one end of the right supporting rod is fixedly connected with the base, and the other end of the right supporting rod inclines upwards and is fixedly connected with one side of the right supporting frame.
7. A bi-directional mobile transport robot as recited in claim 1, further comprising: a plurality of hoof feet are installed on the lower end face of the base and are in threaded connection with the base through screws.
CN201922440406.2U 2019-12-30 2019-12-30 Bidirectional movement's transportation manipulator Active CN210551234U (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111747104A (en) * 2020-06-11 2020-10-09 圣山集团有限公司 Automatic grabbing and spreading device
CN112091959A (en) * 2020-10-11 2020-12-18 江西创嘉智能技术有限公司 Simple two-shaft manipulator mechanism and using method thereof
CN112172079A (en) * 2020-09-16 2021-01-05 西安西古光通信有限公司 Machining device and machining method for self-supporting optical cable sheath gap
CN112320351A (en) * 2020-09-29 2021-02-05 安徽红桥金属制造有限公司 Equipment for conveying workpieces
CN114131577A (en) * 2020-09-04 2022-03-04 汤智凯 Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism
CN114566564A (en) * 2022-02-10 2022-05-31 浙江晶盛机电股份有限公司 Solar cell high-speed tile stacking and arranging device and arranging mechanism thereof

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111747104A (en) * 2020-06-11 2020-10-09 圣山集团有限公司 Automatic grabbing and spreading device
CN111747104B (en) * 2020-06-11 2022-03-25 圣山集团有限公司 Automatic grabbing and spreading device
CN114131577A (en) * 2020-09-04 2022-03-04 汤智凯 Multi-degree-of-freedom telescopic bidirectional sliding rail mechanism
CN112172079A (en) * 2020-09-16 2021-01-05 西安西古光通信有限公司 Machining device and machining method for self-supporting optical cable sheath gap
CN112320351A (en) * 2020-09-29 2021-02-05 安徽红桥金属制造有限公司 Equipment for conveying workpieces
CN112091959A (en) * 2020-10-11 2020-12-18 江西创嘉智能技术有限公司 Simple two-shaft manipulator mechanism and using method thereof
CN112091959B (en) * 2020-10-11 2023-12-19 江西创嘉智能技术有限公司 Simple two-axis mechanical arm mechanism and application method thereof
CN114566564A (en) * 2022-02-10 2022-05-31 浙江晶盛机电股份有限公司 Solar cell high-speed tile stacking and arranging device and arranging mechanism thereof
CN114566564B (en) * 2022-02-10 2023-09-05 浙江晶盛机电股份有限公司 Solar cell piece high-speed tile stacking regularization device and solar cell piece high-speed tile stacking regularization mechanism

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