CN212608257U - Low-power consumption loading robot based on flexible cable - Google Patents
Low-power consumption loading robot based on flexible cable Download PDFInfo
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- CN212608257U CN212608257U CN202021828989.2U CN202021828989U CN212608257U CN 212608257 U CN212608257 U CN 212608257U CN 202021828989 U CN202021828989 U CN 202021828989U CN 212608257 U CN212608257 U CN 212608257U
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Abstract
The utility model discloses a low-power consumption loading robot based on flexible cable, which comprises a flexible cable parallel system, a conveying system and a grabbing system, wherein the position and the posture of a movable end of the flexible cable parallel system are adjustable relative to a fixed end of the flexible cable parallel system, and the fixed end of the flexible cable parallel system moves according to a preset track; the conveying system is used for conveying the loaded and unloaded objects to or from the working space of the flexible cable parallel system; the grabbing system is arranged at the moving end of the flexible cable parallel system and can grab and release the loaded and unloaded object. The distance between the flexible cable parallel system and the conveying system can be adjusted, so that the flexible cable parallel system is prevented from interfering with the flexible cable parallel system and a loading and unloading vehicle, and the loading and unloading range of the low-power-consumption loading robot based on the flexible cables is expanded.
Description
Technical Field
The utility model relates to a loading robot technical field, in particular to low-power consumption loading robot based on flexible cable.
Background
The low-power-consumption loading robot based on the flexible cable is mainly used in the field of loading trucks and containers, plays an important role in the field of transportation of cement, gunny bags and the like, and has the advantages of simple structure, high speed, high precision, strong reconfigurability, light weight, low manufacturing cost and the like. However, the loading robot currently has a limited loading and unloading range.
Therefore, how to expand the loading and unloading range and realize high-speed loading becomes a technical problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a low-power consumption loading robot based on flexible cable to enlarge the loading and unloading scope, alleviate equipment weight, realize fast-speed loading.
In order to achieve the above object, the utility model provides a low-power consumption loading robot based on flexible cable, include:
the position and the posture of the movable end of the flexible cable parallel system are adjustable relative to the fixed end of the flexible cable parallel system, and the fixed end of the flexible cable parallel system can move according to a preset track;
a conveying system for conveying the loaded and unloaded object to or from the working space of the parallel wire system; and
and the grabbing system is arranged at the moving end of the flexible cable parallel system and can grab and release the loaded and unloaded object.
The utility model discloses in one of them embodiment, flexible cable parallel system includes:
a flexible cable mounting bracket as a fixed end of the flexible cable parallel system;
the long rod is used as a moving end of the flexible cable parallel system and is arranged in the middle of the flexible cable mounting bracket in a sliding manner;
the flexible cable mounting bracket is arranged on the long rod or the grabbing system, and is provided with a plurality of flexible cables;
a first guide rail; and
the first driving assembly and the first pulley are arranged on the flexible cable mounting bracket, and the first driving assembly drives the first pulley to move along the first guide rail.
In one embodiment of the present invention, the flexible cable mounting bracket includes a first flexible cable mounting bracket and a second flexible cable mounting bracket connected to each other, wherein the first flexible cable mounting bracket is disposed above the first guide rail; the second flexible cable mounting bracket is arranged below the first guide rail; the first pulley and the first driving assembly are arranged on the first flexible cable mounting bracket, the plurality of windlasses are arranged on the second flexible cable mounting bracket, and the long rod is slidably arranged in the middle of the first flexible cable mounting bracket and the middle of the second flexible cable mounting bracket.
The utility model discloses in one of them embodiment, first flexible cable installing support with still be provided with between the second flexible cable installing support and hold the spout of first guide rail, first pulley setting is in the top of spout.
The utility model discloses in one of them embodiment, the middle part of first flexible cable installing support is provided with the fixed plate, second flexible cable installing support is frame construction.
In one embodiment of the present invention, a rotary bearing and a linear bearing are disposed between the long rod and the fixing plate.
In one embodiment of the present invention, the long rod is detachably installed on the grasping system.
In one embodiment of the present invention, the long rod is sleeved with a compression spring, and the compression spring is abutted against the fixing plate and the gripping system.
The utility model discloses in one of them embodiment, the quantity of flexible rope is six, the quantity of hoist engine is three, every around there being two flexible ropes on the hoist engine, wherein, six the end setting of flexible rope is in on the stock.
The utility model discloses in one of them embodiment, the grasping system is including snatching installing support and sucking disc subassembly, the sucking disc subassembly sets up snatch on the installing support, the sucking disc of sucking disc subassembly can be in vacuum and the switching of pressure-fired pressure.
The utility model discloses in one of them embodiment, the grasping system still includes and can control the sucking disc of sucking disc subassembly is in the control assembly that vacuum and pressure-fired switch.
The utility model discloses in one of them embodiment, the sucking disc subassembly is including setting up snatch sucking disc and air equipment on the installing support, air equipment can to the sucking disc extraction or fill into the air.
In one embodiment of the present invention, the transfer system includes a transfer assembly and a transfer frame supporting the transfer assembly.
In one embodiment of the present invention, the conveying support comprises a conveying moving support and a conveying lifting support, wherein the conveying moving support is movably disposed on the second guide rail; the conveying lifting support is arranged on the conveying moving support in a lifting mode, and the extending direction of the second guide rail is the same as the moving direction of the fixed end of the flexible cable parallel system.
The utility model discloses in one of them embodiment, be provided with a plurality of second pulleys and second drive assembly on the conveying movable support, wherein, second drive assembly can drive the second pulley is in move on the second guide rail.
The utility model discloses in one of them embodiment, conveying assembly includes the first conveying assembly of being handled the object in first direction conveying and conveys the second conveying assembly of being handled the object in the second direction, wherein, first conveying assembly sets up on the conveying lifting support the output setting of second conveying assembly is in on the conveying lifting support, and with the input of first conveying assembly corresponds, the output of first conveying assembly with workspace corresponds, first direction with the second direction is perpendicular.
In one embodiment of the present invention, the conveying lifting support is disposed on the conveying moving support through the sprocket assembly.
Adopt the utility model discloses a when loading based on low-power consumption loading robot of flexible cable, wait to load and unload the vehicle and drive into the working space of flexible cable parallel system, adjust flexible cable parallel system and conveying system position relative position for conveying system gets into the working space of flexible cable parallel system. Starting the conveying system, conveying the loaded and unloaded object to a working space, starting the flexible cable parallel system, and adjusting the position and the posture of the moving end relative to the fixed end to control the position and the posture of the grabbing system to enable the object to reach the loaded and unloaded object; and starting the grabbing system to grab the loaded and unloaded object, and after the loaded and unloaded object is grabbed, the flexible cable parallel system transports the loaded and unloaded object to the specified position of the vehicle to be loaded and unloaded, and the grabbing system releases the loaded and unloaded object. When the loading and unloading objects are completely loaded, the loading and unloading vehicle is driven out. This process is also applicable to unloading for loading and unloading vehicles and will not be described herein. The distance between the flexible cable parallel system and the conveying system can be adjusted, so that the flexible cable parallel system is prevented from interfering with the flexible cable parallel system and a loading and unloading vehicle, and the loading and unloading range of the low-power-consumption loading robot based on the flexible cables is expanded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a low-power loading robot based on a flexible cable according to an embodiment of the present invention;
fig. 2 is an enlarged schematic view of a wire harness interconnection and grasping system according to an embodiment of the present invention;
fig. 3 is an enlarged schematic view of a conveying system according to an embodiment of the present invention.
Wherein: 100 is a flexible cable parallel system, 200 is a transmission system, 300 is a grabbing system, 101 is a flexible cable mounting bracket, 102 is a winch, 103 is a flexible cable, 104 is a long rod, 105 is a first guide rail, 106 is a first pulley, 201 is a transmission bracket, 202 is a transmission component, 301 is a grabbing mounting bracket, 302 is a sucker component, 101-1 is a first flexible cable mounting bracket, 101-2 is a second flexible cable mounting bracket, 101-3 is a fixed plate, 101-4 is a sliding groove, 101-5 is a compression spring, 201-1 is a transmission moving bracket, 201-2 is a second guide rail, 201-3 is a transmission lifting bracket, 202-1 is a first transmission component, and 202-2 is a second transmission component.
Detailed Description
The core of the utility model is to provide a low-power consumption loading robot based on flexible cable to enlarge the loading and unloading scope.
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 to 3, the present invention discloses a flexible cable-based low power consumption loading robot, which includes a flexible cable parallel system 100, a conveying system 200 and a grasping system 300, wherein the position and posture of the movable end of the flexible cable parallel system 100 are adjustable relative to the fixed end of the flexible cable parallel system 100, and the fixed end of the flexible cable parallel system 100 can move according to a preset track; the transfer system 200 is used for transferring the loaded and unloaded objects to and from the working space of the flexible cable parallel system 100; the grasping system 300 is disposed at the moving end of the flexible cable parallel system 100 and can grasp and release the object to be handled.
The loaded and unloaded objects comprise loaded objects and unloaded objects, wherein the loaded objects are used for loading, and the unloaded objects are used for unloading. Adopt the utility model discloses a when loading based on low-power consumption loading robot of flexible cable, the vehicle of waiting to load drives into the working space of flexible cable parallel system 100, adjusts flexible cable parallel system 100 and conveying system 200 position relative position for conveying system 200 gets into the working space of flexible cable parallel system 100. Starting the conveying system 200 to convey the object to be loaded to the working space, starting the flexible cable parallel system 100, and adjusting the position and the posture of the moving end relative to the fixed end to control the position and the posture of the grabbing system 300 to reach the object to be loaded; the grabbing system 300 is started to grab the object to be loaded, and after the object to be loaded is grabbed by the object to be loaded, the parallel cable system 100 transports the object to be loaded to the appointed position of the vehicle to be loaded, and the grabbing system 300 releases the object to be loaded. When the loaded object is completely loaded, the loading vehicle is driven out.
When the low-power-consumption loading robot based on the flexible cable is adopted for unloading, the vehicle to be unloaded drives in, the relative positions of the flexible cable parallel system 100 and the conveying system 200 are adjusted, so that the conveying system 200 enters the working space of the flexible cable parallel system 100, the flexible cable parallel system 100 is started, and the position and the posture of the movable end relative to the fixed end are adjusted to control the position and the posture of the grabbing system 300, so that the movable end reaches the position of the object to be unloaded; starting the grabbing system 300 to grab the unloaded object, after the unloaded object is grabbed, the flexible cable parallel system 100 transports the unloaded object to the appointed position of the conveying system 200, the grabbing system 300 releases the unloaded object, and the unloaded object of the conveying system 200 is started to be conveyed to the appointed place; and when the unloaded objects are completely unloaded, the unloading vehicle drives out.
In conclusion, the parallel wire system 100 adjusts the distance from the conveying system 200 to avoid interference with the parallel wire system 100 and the loading and unloading vehicle, thereby expanding the loading and unloading range of the low-power-consumption loading robot based on the wires.
Additionally, the utility model discloses a position and the gesture of grasping system 300 are adjusted to the flexible cable, and flexible cable itself has characteristics such as light in weight, and can be according to the length of workspace's altitude mixture control flexible cable. Therefore, the weight of the equipment can be reduced, and the loading and unloading speed is improved.
The parallel flexible cable system 100 is used for driving the grabbing system 300 to move, and the parallel flexible cable system 100 comprises a flexible cable mounting bracket 101, a plurality of windlasses 102, a long rod 104, a first guide rail 105, a first pulley 106 and a first driving component; the flexible cable mounting bracket 101 is used as a fixed end of the flexible cable parallel system 100; the long rod 104 is used as the moving end of the flexible cable parallel system 100, and the long rod 104 is slidably arranged in the middle of the flexible cable mounting bracket 101; a plurality of winches 102 are arranged on the flexible cable mounting bracket 101, and two flexible cables 103 are wound on each winch 102; the ends of all the wires are attached to either the shaft 104 or the grasping system 300; a first drive assembly and a first pulley 106 are provided on the wire mounting bracket 101, the first drive assembly driving the first pulley 106 to move along the first guide rail 105. The position and the posture of the long rod 104 are controlled by the extension and contraction of the flexible cable 103; the position of the parallel wire system 100 on the first rail 105 can be adjusted under the driving action of the first drive assembly. A first pulley 106 is provided on the wire mounting bracket 101 and engages with the first guide rail 105; when the first driving assembly is activated, the first pulley 106 rolls along the first rail 105 to move the parallel cable system 100 according to the extending direction of the first rail 105. The extending direction of the first guide rail 105 is a linear direction, or an arc direction, etc. The present invention may also employ a rack and pinion instead of the first rail 105 and the first pulley 106, but is not limited to the above.
The effect of flexible cable installing support 101 is realized all being in to the support of flexible cable parallel system 100 as long as the structure that can realize supporting the utility model discloses a protection scope. In FIG. 2, the wire mounting bracket 101 includes a first wire mounting bracket 101-1 and a second wire mounting bracket 101-2 coupled to each other, wherein the first wire mounting bracket 101-1 is disposed above the first rail 105; the second wire mounting bracket 101-2 is disposed below the first rail 105; the first pulley 106 and the first driving assembly are disposed on the first flexible cable mounting bracket 101-1, the plurality of winding machines are disposed on the second flexible cable mounting bracket 101-2, and the long rod 104 is slidably disposed in the middle of the first flexible cable mounting bracket 101-1. In the above structure, the installation of the entire wire mounting bracket 101 on the first rail 105 is achieved by the first wire mounting bracket 101-1, and the support of the hoist is achieved by the second wire mounting bracket 101-2.
In order to improve the smoothness of the movement of the first wire mounting bracket 101-1 on the first guide rail 105, a sliding groove 101-4 for accommodating the first guide rail 105 is further provided between the first wire mounting bracket 101-1 and the second wire mounting bracket 101-2, and a first pulley 106 is disposed above the sliding groove 101-4. Under the driving action of the first driving assembly, the first pulley 106 moves on the first guide rail 105, and meanwhile, under the limiting action of the chute 101-4, the falling-off phenomenon cannot occur.
The sliding groove 101-4 and the second flexible cable mounting bracket 101-2 are of an integral structure or the sliding groove 101-4 and the second flexible cable 103 are connected through bolts. It is within the scope of the present invention to provide the structure with the sliding groove 101-4 for accommodating the first guiding rail 105.
The long rod 104 is slidably disposed on the first wire mounting bracket 101-1 or the second wire mounting bracket 101-2, and there are many ways to achieve the slidable disposition, such as disposing a first sleeve between the first wire mounting bracket 101-1 and the long rod 104, or disposing a second sleeve between the second wire mounting bracket 101-2 and the long rod 104. The first sleeve is connected with the first flexible cable mounting bracket 101-1 through a connecting rod or a fixing plate 101-3; the second sleeve is connected with the second flexible cable mounting bracket 101-2 through a connecting rod or through a fixing plate 101-3.
In order to save materials, the middle part of the first wire mounting bracket 101-1 is provided with a fixing plate 101-3, and the second wire mounting bracket 101-2 is of a frame structure. Thus, the long rod 104 is slidably connected to the first flexible cable mounting bracket 101-1, and at this time, a sleeve or a bearing is disposed between the fixing plate 101-3 and the long rod 104, and when a bearing is disposed between the fixing plate 101-3 and the long rod 104, the bearing is a rotary bearing or a linear bearing. The flexible cable 103 is extended and contracted under the action of the winch 102, so as to drive the long rod 104 to move up and down and swing, thereby achieving the purpose of adjusting the posture and the position of the grabbing system 300.
The long rod 104 is sleeved with a compression spring 101-5, and the compression spring 101-5 is abutted with the fixing plate 101-3 and the grabbing system and used for providing pretightening force for the flexible cable 103.
In one embodiment of the present invention, the number of the flexible cables 103 is six, the number of the winches is three, and each winch is wound with two flexible cables 103.
In the figure, the number of the flexible cables 103 is six, the number of the windlasses 102 is three, two flexible cables 103 are wound on each windlass 102, and the tail ends of the six flexible cables are arranged on the long rod 104. The utility model is not limited to the above quantity, the quantity of the flexible cables 103 is eight, and the quantity of the windlasses 102 is four; or the number of the flexible cables 103 is ten, and the number of the windlasses 102 is five; or twelve flexible cables 103, six winches 102, etc. The utility model discloses as long as can adjust the position and the gesture of stock 104 all be in the protection scope.
The elongate rod 104 may be removably attached to the grasping system 300 or non-removably attached to the grasping system 300. Preferably, the flexible cable-based loading robot is detachably connected, so that long rods 104 with different lengths can be selected according to working spaces with different heights, and the application range of the flexible cable-based loading robot is further widened. The installation position of the hoist 102 is not limited, and the position control and posture control range of the long rod 104 can be different according to the installation skill and the position of the hoist 102.
The grabbing system 300 is used for grabbing and releasing the object to be handled, and the grabbing and releasing can be realized within the protection scope of the present invention. For example, the gripping system 300 includes a gripping mounting bracket 301 and a suction cup assembly 302, the suction cup assembly 302 is disposed on the gripping mounting bracket 301, and the suction cup of the suction cup assembly 302 can be switched between vacuum and slight positive pressure. When the grabbing system 300 moves to the position where the object to be handled is located under the action of the flexible cable parallel system 100, the grabbing mounting bracket 301 approaches to the object to be handled until the sucker contacts with the surface of the object to be handled, so that the sucker is in a vacuum state, the object to be handled is sucked by the sucker, and the object to be handled is grabbed; when the gripping system 300 moves to a designated position under the action of the flexible cable parallel system 100, the suction cup is in a micro-positive pressure state, so that the object to be loaded and unloaded is separated by the suction cup, and the object to be loaded and unloaded is released.
When the gripping system 300 includes the suction cup assembly 302, the switching between the vacuum state and the micro-positive pressure state of the suction cup assembly 302 can be realized through manual operation, and can also be realized through automatic control, and at this moment, the gripping system 300 further includes a control assembly capable of controlling the switching between the vacuum state and the micro-positive pressure state of the suction cup assembly 302.
The suction cup assembly 302 uses vacuum to grasp the object to be handled. The suction cup assembly 302 includes a suction cup disposed on the grip mounting bracket 301 and an air device capable of drawing or inflating air to the suction cup. The air device can extract air between the suction cup and the object to be loaded and unloaded, and the air device can fill air between the suction cup and the object to be loaded and unloaded. The suction cup can be a flat suction cup, a corrugated suction cup or an oval suction cup.
The transfer system 200 functions to transfer the loaded and unloaded objects to and from the working space of the wire parallel system 100. The transport system 200 includes a transport assembly 202 and a transport support 201 supporting the transport assembly 202. The conveying assembly 202 is a belt conveying assembly 202 or a conveying roller assembly or the like having a conveying function.
In order to adjust the distance between the conveying system 200 and the parallel wire system 100, the conveying bracket 201 includes a conveying movable bracket 201-1, the conveying movable bracket 201-1 is movably disposed on a second guide rail 201-2, and the second guide rail 201-2 extends in the same direction as the fixed end of the parallel wire system 100. Thus, the moving direction of the transferring-moving frame 201-1 is the same as the moving direction of the fixed end of the wire parallel system 100.
The moving manner of the transferring moving frame 201-1 is various, for example, a plurality of second pulleys 201-4 and a second driving assembly are provided on the transferring moving frame 201-1, wherein the second driving assembly can drive the second pulleys 201-4 to move on the second guide rail 201-2. Or move through setting up the gear and rack form, as long as can make this conveying move movable support 201-1 and carry out the structure that removes all be the protection scope of the utility model.
The second guide rail 201-2 can be arranged in parallel with the first guide rail 105, or the second guide rail 201-2 and the first guide rail 105 are the same guide rail, and the use of materials can be saved and the cost can be reduced by adopting the form of the same guide rail.
For further convenience of loading and unloading, the transferring bracket 201 also transfers a lifting bracket 201-3, wherein the transferring lifting bracket 201-3 is arranged on the transferring moving bracket 201-1 in a lifting way. The height of the transfer system 200 with respect to the working space can be adjusted by adjusting the height of the transfer lifting bracket 201-3, and the transfer height of the transfer assembly 202 can be adjusted by the transfer lifting bracket 201-3 when the stacked loaded and unloaded objects in the working space are high. The conveying lifting bracket 201-3 is arranged on the conveying moving bracket 201-1 through a chain wheel transmission assembly and a lead screw nut assembly. And the like as long as the structure that the conveying lifting bracket 201-3 can move up and down relative to the conveying moving bracket 201-1 is realized is within the protection scope of the invention.
The conveying assembly 202 is used for conveying the loaded and unloaded objects, and the conveying assembly 202 comprises a first conveying assembly 202-1 for conveying the loaded and unloaded objects in a first direction and a second conveying assembly 202-2 for conveying the loaded and unloaded objects in a second direction, wherein the output end of the second conveying assembly 202-2, which is arranged on the conveying lifting bracket 201-3, of the first conveying assembly 202-1 is arranged on the conveying lifting bracket 201-3 and corresponds to the input end of the first conveying assembly 202-1, the output end of the first conveying assembly 202-1 corresponds to the working space, and the first direction is perpendicular to the second direction. In the illustration, the first direction is the transverse direction and the second direction is the longitudinal direction.
In one embodiment of the present invention, the conveying lifting frame 201-3 is disposed on the conveying moving frame 201-1 through a sprocket assembly.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. A low-power consumption loading robot based on flexible cables is characterized by comprising:
the position and the posture of the movable end of the flexible cable parallel system are adjustable relative to the fixed end of the flexible cable parallel system, and the fixed end of the flexible cable parallel system can move according to a preset track;
a conveying system for conveying the loaded and unloaded object to or from the working space of the parallel wire system; and
and the grabbing system is arranged at the moving end of the flexible cable parallel system and can grab and release the loaded and unloaded object.
2. The wire-based, low-power loading robot of claim 1 wherein the wire parallel system comprises:
a flexible cable mounting bracket as a fixed end of the flexible cable parallel system;
the long rod is used as a moving end of the flexible cable parallel system and is arranged in the middle of the flexible cable mounting bracket in a sliding manner;
the flexible cable mounting bracket is arranged on the long rod or the grabbing system, and is provided with a plurality of flexible cables;
a first guide rail; and
the first driving assembly and the first pulley are arranged on the flexible cable mounting bracket, and the first driving assembly drives the first pulley to move along the first guide rail.
3. The wire-based, low-power loading robot of claim 2 wherein the wire mounting bracket comprises first and second interconnected wire mounting brackets, wherein the first wire mounting bracket is disposed above the first rail; the second flexible cable mounting bracket is arranged below the first guide rail; the first pulley and the first driving assembly are arranged on the first flexible cable mounting bracket, the plurality of windlasses are arranged on the second flexible cable mounting bracket, and the long rod is slidably arranged in the middle of the first flexible cable mounting bracket and the middle of the second flexible cable mounting bracket.
4. The wire-based low-power loading robot according to claim 3, wherein a sliding groove for accommodating the first guide rail is further provided between the first wire mounting bracket and the second wire mounting bracket, and the first pulley is disposed above the sliding groove.
5. The wire-based low-power loading robot according to claim 3, wherein the first wire mounting bracket is provided with a fixing plate at a middle portion thereof, and the second wire mounting bracket is of a frame structure.
6. The wire-based low power loading robot of claim 5, wherein a slewing bearing and a linear bearing are provided between the long rod and the fixed plate.
7. The wire-based low power loading robot of claim 5, wherein the long rod is removably mounted to the grasping system.
8. The flexible cable-based low power loading robot of claim 5, wherein the long rod is sleeved with a compression spring, and the compression spring abuts against the fixing plate and the gripping system.
9. The flexible cable-based low power consumption loading robot as claimed in claim 2, wherein the number of the flexible cables is six, the number of the winches is three, two flexible cables are wound on each of the winches, and ends of the six flexible cables are disposed on the long pole.
10. The cable-based low-power loading robot according to claim 1, wherein the gripping system comprises a gripping mounting bracket and a suction cup assembly, the suction cup assembly is disposed on the gripping mounting bracket, and a suction cup of the suction cup assembly can be switched between vacuum and micro-positive pressure.
11. The wire-based low power loading robot of claim 10, wherein the grasping system further comprises a control assembly capable of controlling switching of the suction cups of the suction cup assembly between vacuum and micro-positive pressure.
12. The wire-based low power loading robot of claim 11, wherein the suction cup assembly comprises a suction cup disposed on the grasping mounting bracket and an air device capable of drawing or inflating air to the suction cup.
13. The wire-based, low-power consumption loading robot of claim 1, wherein the transfer system comprises a transfer assembly and a transfer carriage supporting the transfer assembly.
14. The wire-based low power consumption loading robot of claim 13, wherein the transfer carriage comprises a transfer moving carriage and a transfer elevating carriage, wherein the transfer moving carriage is movably disposed on the second rail; the conveying lifting support is arranged on the conveying moving support in a lifting mode, and the extending direction of the second guide rail is the same as the moving direction of the fixed end of the flexible cable parallel system.
15. The wire-based, low-power consumption loading robot of claim 14, wherein a plurality of second pulleys and a second driving assembly are disposed on the transfer moving frame, wherein the second driving assembly is capable of driving the second pulleys to move on the second guide rail.
16. The wire-based low power consumption loading robot according to claim 14, wherein the transfer units include a first transfer unit for transferring the loaded and unloaded object in a first direction and a second transfer unit for transferring the loaded and unloaded object in a second direction, wherein the first transfer unit is provided on the transfer lifting frame, an output end of the second transfer unit is provided on the transfer lifting frame and corresponds to an input end of the first transfer unit, an output end of the first transfer unit corresponds to the working space, and the first direction is perpendicular to the second direction.
17. The wire-based, low-power consumption loading robot of claim 16, wherein the transfer lift carriage is disposed on the transfer moving carriage by a sprocket drive assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021828989.2U CN212608257U (en) | 2020-08-27 | 2020-08-27 | Low-power consumption loading robot based on flexible cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021828989.2U CN212608257U (en) | 2020-08-27 | 2020-08-27 | Low-power consumption loading robot based on flexible cable |
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| CN212608257U true CN212608257U (en) | 2021-02-26 |
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| CN202021828989.2U Active CN212608257U (en) | 2020-08-27 | 2020-08-27 | Low-power consumption loading robot based on flexible cable |
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